Epson C Series Manual page 12

Table of Contents
4. End Effectors
5. Motion Range
6. Options
x
4.1 Attaching an End Effector .................................................................. 124
4.2 Attaching Camera and Air Valves ...................................................... 124
4.3 WEIGHT and INERTIA Settings ......................................................... 126
4.3.1 WEIGHT setting ..................................................................... 128
4.3.2 INERTIA setting ...................................................................... 132
4.4 Precautions for Auto Acceleration/Deceleration ................................ 137
5.1 Motion Range Setting by Pulse Range (for Each Joint) .................... 138
5.1.1 Max. Pulse Range of Joint #1 ................................................ 139
5.1.2 Max. Pulse Range of Joint #2 ................................................ 139
5.1.3 Max. Pulse Range of Joint #3 ................................................ 140
5.1.4 Max. Pulse Range of Joint #4 ................................................ 140
5.1.5 Max. Pulse Range of Joint #5 ................................................ 141
5.1.6 Max. Pulse Range of Joint #6 ................................................ 141
5.2 Motion Range Setting by Mechanical Stops ...................................... 142
5.2.1 Motion Range Setting of Joint #1 ........................................... 142
5.2.2 Motion Range Setting of Joint #2 ........................................... 143
5.2.3 Motion Range Setting of Joint #3 ........................................... 145
5.3 Restriction of Manipulator Operation by Joint Angle Combination .... 145
5.4 Coordinate System ............................................................................. 149
5.5 Changing the Robot ........................................................................... 150
5.6 Setting the Cartesian (Rectangular) Range in the XY Coordinate
...................................................................... System of the Manipulator
........................................................................................................... 151
6.1 Brake Release Unit ............................................................................ 152
Power Cable....................................................................................... 153
Mount the brake release unit ............................................................. 155
Remove the brake release unit .......................................................... 155
How to use the brake release unit ..................................................... 156
6.2 Camera Plate Unit .............................................................................. 157
6.3 Tool Adapter (ISO Flange) ................................................................. 160
6.4 Adjustable Mechanical Stops ............................................................. 162
6.5 User Wires and Pneumatic Tubes ..................................................... 163
124
138
152
C series Rev.2