System Configuration; Manipulator - YASKAWA MOTOMAN-EPX1750 Instructions Manual

154771-1CD

6 System Configuration

Fig. 6-1 "System Configuration" shows the system configuration of the MOTOMAN-EPX1750
& EPX2050.
6.1

Manipulator

The explosion-proof manipulator can be installed in hazardous locations such as in the
painting booth. For painting, a spray gun is mounted on the end of the wrist with special
fixtures.
Fig. 6-2 "Dimensions and P-point Maximum Envelope" shows the dimensions and the range
of motion of the EPX1750 & EPX2050. The manipulator is driven by the servo motors in
vertically articulated operation mode with 6 degrees of freedom on the manipulator base. The
motion of the manipulator is made by six axis:
The three main axes are used for positioning the spray gun: the S-axis which turns the arm,
the L-axis which moves the arm left and right, and the U-axis which moves the arm up and
down.
The three wrist axis are used for changing the direction of the spray gun: the R-, B-, and T-
axis.
The range of motion shown in Fig. 6-2 "Dimensions and P-point Maximum Envelope" is that
of the wrist axis center P-point that is made by the combination of the motions of the three
main axis.
When taking safety precautions, consider the range of motion of the manipulator shown in
Fig. 6-2 "Dimensions and P-point Maximum Envelope".
WARNING
6-1
6 System Configuration
6.1 Manipulator
HW1480052
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