Restriction Of Manipulator Operation By Joint Angle Combination - Epson VT Series Manipulator Manual

5.3 Restriction of Manipulator Operation by Joint Angle Combination

To prevent the arms of the Manipulator from interfering each other, the Manipulator
operation is restricted in the specified motion range according to the joint angle
combination of the Arm #1, #2, and #3.
The Manipulator operation is restricted and the Manipulator stops when the joint angles of
the Arm are within the gray areas in the following figure.
The restriction to Manipulator operation is enabled:
- During CP motion command execution
- When you attempt to execute the motion command for moving the Manipulator to a
target point (or pose) in the specified motion range.
The restriction to the Manipulator operation is disabled:
- The Arms of the Manipulator momentarily go through the specified motion range
during the PTP motion command execution even though the joint angles of the Arms are
in the colored area of the figures above.
Combination of Joint #2 and #3
VT Rev.1
J1: −110 deg ~ 110 deg
J1: −110 deg ~ −170 deg or 110 deg ~ 170 deg
Setup & Operation 5. Motion Range
Joint #2 Angle
Joint #2 Angle
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