Epson C8 Series Manipulator Manual page 10

Table of Contents
4. End Effectors
5. Motion Range
6. Options
viii
4.1 Attaching an End Effector .................................................................... 46
4.2 Attaching Camera and Air Valves ........................................................ 46
4.3 WEIGHT and INERTIA Settings ........................................................... 48
4.3.1 WEIGHT setting ....................................................................... 50
4.3.2 INERTIA setting ........................................................................ 54
4.4 Precautions for Auto Acceleration/Deceleration .................................. 59
5.1 Motion Range Setting by Pulse Range (for Each Joint) ...................... 60
5.1.1 Max. Pulse Range of Joint #1 .................................................. 61
5.1.2 Max. Pulse Range of Joint #2 .................................................. 61
5.1.3 Max. Pulse Range of Joint #3 .................................................. 62
5.1.4 Max. Pulse Range of Joint #4 .................................................. 62
5.1.5 Max. Pulse Range of Joint #5 .................................................. 63
5.1.6 Max. Pulse Range of Joint #6 .................................................. 63
5.2 Motion Range Setting by Mechanical Stops ........................................ 64
5.2.1 Motion Range Setting of Joint #1 ............................................. 64
5.2.2 Motion Range Setting of Joint #2 ............................................. 65
5.2.3 Motion Range Setting of Joint #3 ............................................. 66
5.3 Restriction of Manipulator Operation by Joint Angle Combination ...... 67
5.4 Coordinate System ............................................................................... 71
5.5 Changing the Robot ............................................................................. 72
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator ................................ 73
6.1 Brake Release Unit .............................................................................. 74
Mount the brake release unit ............................................................... 76
Remove the brake release unit ............................................................ 76
How to use the brake release unit ....................................................... 77
6.2 Camera Plate Unit ................................................................................ 78
6.3 Tool Adapter (ISO Flange) ................................................................... 80
6.4 Adjustable Mechanical Stops ............................................................... 81
6.5 User Wires and Pneumatic Tubes ....................................................... 82
46
60
74
C8 Rev.13