Changing the R-axis Motion Range Using WINCAPSIII

The R-axis motion range data held in the robot controller can be changed using WINCAPSIII.

1

Start WINCAPSIII and log on as a Programmer.

Create a project for the XR series in WINCAPSIII.

2

Choose Project | Property | R Range tab.

3

Select the R-axis motion range and press [OK].

Refer to "2nd-axis (R-axis) Mechanical End Change".

4

The following message appears, prompting you to check the motion range angles and the mechanical stop position.
If they are [OK], press the [Yes].

5

Check that the R-axis motion range of the project in WINCAPSIII has been changed.

6

To transfer the arm data of the project from WINCAPSIII to the robot controller, choose Connect | Transfer data.

The following confirmation message appears since the R-axis motion range data held in the robot controller is different from the one specified in WINCAPSIII.

Press [OK].

7

In the Transfer data window, select Parameters | Arm parameters.

The confirmation message appears. Press [Yes].

Then, press [Send].

8

The confirmation message appears.

Press [Yes].

9

The following message appears, indicating that the R-axis motion range data has been transferred to the robot controller and the one held in the controller has been updated.

Move the robot's R-axis and confirm that the motion range is properly changed.