Base Table - Epson ES Series Manipulator Manual

2. Installation Requirements

2.3 Base Table

Standard range of the manipulator
A (arm #1 length)
B (arm #2 length)
C
D (motion range of the Joint #1)
E (motion range of the Joint #2)
F
G (
range to the stop of
H (
range to the stop of
I (range to the safeguard )
6
A base table for anchoring the manipulator is not supplied. Users must make or obtain
such a table independently. The size and shape of the base table differs depending on the
robot's application. For your reference, when designing or obtaining a base table, we have
listed some manipulator requirements.
If the controller will be mounted inside the table, please refer to the controller manual or
user's guide, which describes space requirements and environmental conditions.
for
J )
oint #1
J )
oint #2
* In this case the safeguard completely prevents a person from touching the robot, such as a
transparent acrylic cover, for example. Refer to the Safety chapter in the "User's Guide"
or "SRC5**/SPEL 95 Introduction manual" or "User's manual" for the actual dimension
of "I".
Figure 2. Manipulator installation dimensions [unit: mm]
Joint #3
ES45** ES55**
215 mm 315 mm
235 mm 235 mm
156 mm 203 mm
125 ° 125 °
140 ° 140 °
136 mm 182 mm
130 ° 130 °
145 ° 145 °
approx. 100 mm *
Part 1: Setup & Operation
Area limited by
mechanical stop
ES65** EL65**
415 mm 300 mm
235 mm 350 mm
280 mm 228 mm
125 ° 130 °
140 ° 140 °
260 mm 201 mm
130 ° 132 °
145 ° 145 °
EL85**
500 mm
350 mm
324 mm
130 °
140 °
292 mm
132 °
145 °