Epson C Series Manual page 37

* P point : Intersection of the rotation centers for Joint #4, #5, and #6
*1
*2
*3
*4
*5
*6
■ 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.
C series Rev.2
: Joint #1 without mechanical stop (±180°)
For the mechanical stop removal procedure, refer to "5.2.1 Motion Range Setting of Arm #1".
: P point from top with Joint #3 declining −50° (Joint #1 center – P point center)
: P point from top with Joint #3 tilting up +210° (Joint #1 center – P point center)
: P point from lateral with Joint #3 declining -50° (Joint #2 center – P point center)
: P point from lateral with Joint #3 tilting up +210° (Joint #2 center – P point center)
: Max. motion range of Joint #1 for UL specification of C4L is ±160°.
C4 Manipulator 2. Specifications
The collision may cause equipment damage to
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