Standard Motion Range - Epson C12 Series Manipulator Manual

2.5 Standard Motion Range

Front View
* P point
*1
*2
*3
*4
■ Pay attention to the arm pose of the basic arms (Arms #1, #2, and #3) when
operating the Manipulator. Arm #5 moves keeping a constant angle regardless
of the arm pose. Depending on the arm pose of the basic arms, the wrist may
collide with the Manipulator.
CAUTION
and/or malfunction of the Manipulator.
C12 Rev.3
Top View
Arm #1
0 pulse position
Motion range of P point*
Arms #4, #6
0 pulse position
Arms #3, #5
0 pulse position
Motion range of P point*
: Intersection of the rotation centers for Joints #4, #5, and #6
: P point from top with Joint #3 declining −61° (Joint #1 center – P point center)
: P point from top with Joint #3 tilting up +202° (Joint #1 center – P point center)
: P point from lateral with Joint #3 declining -61° (Joint #2 center – P point center)
: P point from lateral with Joint #3 tilting up +202° (Joint #2 center – P point center)
Setup & Operation 2. Specifications
P point*
Lateral View
0 pulse position
P point*
The collision may cause equipment damage to
[Unit: mm]
Arm #2
(deg.=°)
17