Work Envelope Setting by Pulse Range
Pulses are the basic unit of Manipulator motion. The motion range (work envelope) of the Manipulator is set by the pulse lower limit value and pulse upper limit value (pulse range) for each joint.
Pulse values are read from the encoder output of the servomotor.
For the maximum pulse range, refer to the following sections.
The pulse range must be set inside the mechanical stop settings.
- Joint #1 Maximum Pulse Range
- Joint #2 Maximum Pulse Range
- Joint #3 Maximum Pulse Range
- Joint #4 Maximum Pulse Range
KEY POINTS
Once the Manipulator receives a motion command, it checks whether the target position specified by the command is within the pulse range before operating. If the target position is outside of the pulse range that was set, an error occurs and the Manipulator does not move.
Go to [Tools] - [Robot Manager] - [Range] panel, and make the setting.
This can also be set using the Range statement in [Command Window].
Joint #1 Maximum Pulse Range
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 is facing the positive (+) direction on the X-coordinate axis.
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
A: Max. motion range (deg.)
±270
B: Max. pulse range (pulse)
-3413334 to +6826667(RS4-C351*)
-5520753 to +11041506(RS6-C552*)
Joint #2 Maximum Pulse Range
The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is aligned with Arm #1. (The orientation of Arm #1 does not matter.)
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
A: Max. motion range (deg.)
±225
B: Max. pulse range (pulse)
-4177920 to +4177920 (RS4-C351*)
-4096000 to +4096000 (RS6-C552*)
Joint #3 Maximum Pulse Range
The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 moves down from the 0 pulse position.
| Symbol | Description |
|---|---|
| a | Upper limit: 0 pulse |
| Type | Joint #3 Stroke | Lower Limit Pulse |
|---|---|---|
| RS4-C351S | 130 mm | -1479112 pulse |
| RS4-C351C | 100 mm | -1137778 pulse |
| RS6-C552S | 200 mm | -1820445 pulse |
| RS6-C552C | 150 mm | -1365334 pulse |
Joint #4 Maximum Pulse Range
The 0 (zero) pulse position of Joint #4 is the position where the flat surface near the end of the shaft faces toward the end of Arm #2. (The orientation of Arm #2 does not matter.)
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
| Symbol | Description |
|---|---|
| a | 0±3145728 pulse (RS4-C351*) 0±2634548 pulse (RS6-C552*) |