Max. Pulse Range Of Joint #1; Max. Pulse Range Of Joint #2 - Epson RS Series Manual

RS3 RS4 Manipulator 5. Motion Range

5.1.1 Max. Pulse Range of Joint #1

The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive
(+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
View from
this point
A : Max. motion range : ± 225 °
B : Max. pulse range

5.1.2 Max. Pulse Range of Joint #2

The 0 (zero) pulse position of Joint #2 is where Arm #2 overlaps straight with Arm #1 as
shown in the figure below. With the 0 pulse as a starting point, the counterclockwise pulse
value is defined as the positive (+) and the clockwise pulse value is defined as the negative
(-).
View from
this point
A : Max. motion range : ± 225 °
B : Max. pulse range
50
: − 2560000 to +5973334 pulse (RS3-351*)
− 4096000 to + 9557334 pulse (RS4-551*)
: − 4177920 to + 4177920 pulse
0 pulse
RS series Rev.4