Standard Motion Range - Epson LS-B Series Manual

LS3-B LS6-B Manipulator 5. Motion Range

5.4 Standard Motion Range

The following "motion range" diagrams show the standard (maximum) specification.
When each Joint motor is under servo control, the center of Joint #3's (shaft's) lowest point
moves in the areas shown in the figure.
"Area limited by mechanical stop" is the area where the center of Joint #3's lowest point
can be moved when each joint motor is not under servo control.
"Mechanical stop" sets the limited motion range so that the center of Joint #3 cannot move
beyond the area mechanically.
"Maximum space" is the area that contains the farthest reach of the arms. If the maximum
radius of the end effector is over 60 mm, add the "Area limited by mechanical stop" and
"radius of the end effector". The total value is specified as the maximum area.
A Center of Joint #3
B Motion range
C Maximum range
D Base mounting face
E Area limited by a mechanical stop
a Arm #1 + Arm #2 length [mm]
b Arm #1 length [mm]
c Arm #2 length [mm]
d
Joint #1 motion angle [
e Joint #2 motion angle [
f (Motion range)
g (Motion range at the rear)
h Angle of the Joint #1 mechanical stop [
i Angle of the Joint #2 mechanical stop [
j (Mechanical stop area)
k (Mechanical stop area at the rear)
m (Joint #3 motion range)
(Distance from the base
n
mounting face)
(Joint #3 mechanical stop
p
area upper end)
(Joint #3 mechanical stop
q
area lower end)
62
°
]
°
]
°
]
°
]
Standard
Cleanroom
Standard
Cleanroom
Standard
Cleanroom
Standard
Cleanroom
LS3-B401* LS6-B502*
500
400
225
175
225
132
141
138.1
141.6
425.6
325.5
2.8
4.2
121.8
128.8
433.5
333.5
150
120
5.5
9.5
6.5
10.5
6.5
10.5
LS6-B602* LS6-B702*
600 700
325 425
275
132
150
162.6 232
492.5 559.4
2.8
4.2
142.5 214
504 574.5
200
170
51
53
10
6
11.8
9.8
LS-B series Rev.5