Epson GX Series Manual page 351

Industrial Robot: SCARA Robots GX series Manual
5. Prepare the 2 × M4 × 8 set screws removed in step 4 of "To change from the factory default position."
Adjust so that the shaft groove and set screws (2 × M4 × 8) are in the positions shown below, and insert the set screws (2 ×
M4 × 8).
Adjust so that the upper end face of the shaft is aligned with the upper end face of the mechanical stop. Securely tighten the
set screws (2 × M4 × 8).
Recommended tightening torque: 2.4 ± 0.1 N⋅m(24 ± 1 kgf⋅cm)
Symbol Description
a Upper end of shaft
b Groove on shaft
c Set screw
d Upper end of mechanical stop
6. Insert the set screws (2 × M6 × 6) of the lower limit mechanical stop from the outer surface of the lower limit mechanical
stop.
7. Turn on the Controller.
8. Press down Joint #3 while pressing the brake release switch, and then check the lower limit position. Do not lower the
mechanical stop too far. Otherwise, the joint may not reach a target position.
9. Calculate the lower limit pulse value of the pulse range using the formula shown below, and set the value.
The result of the calculation is always negative because the lower limit Z coordinate value is negative.
GX10-B**1S (Z: -180 mm): Lower limit of pulse = (-180)/50 × 131072 × (66/32) = -973210
GX10-B**4S (Z: -420 mm): Lower limit of pulse = (-420)/50 × 131072 × (66/32) = -2270823
Example: To return the mechanical stop to its factory default position after being lowered by 80 mm with a stroke of
180 mm
EPSON
RC+
Execute the following command in [Command Window].
>JRANGE 3,-973210,0
10. Using the Pulse statement (Go Pulse statement), move Joint #3 to the lower limit position of the pulse range that was set at
low speed.
If the mechanical stop range is less than the pulse range, Joint #3 will hit the mechanical stop and an error will occur. When
'Sets the pulse range of Joint #3
Rev.7
351