Epson C12 Series Manipulator Manual page 10

Table of Contents
5. Motion Range
6. Options
Maintenance
1. Safety Maintenance
2. General Maintenance
viii
5.1 Motion Range Setting by Pulse Range (for Each Joint) ...................... 50
5.1.1 Max. Pulse Range of Joint #1 .................................................. 51
5.1.2 Max. Pulse Range of Joint #2 .................................................. 51
5.1.3 Max. Pulse Range of Joint #3 .................................................. 52
5.1.4 Max. Pulse Range of Joint #4 .................................................. 52
5.1.5 Max. Pulse Range of Joint #5 .................................................. 53
5.1.6 Max. Pulse Range of Joint #6 .................................................. 53
5.2 Motion Range Setting by Mechanical Stops ........................................ 54
5.2.1 Motion Range Setting of Joint #1 ............................................. 54
5.2.2 Motion Range Setting of Joint #2 ............................................. 55
5.2.3 Motion Range Setting of Joint #3 ............................................. 55
5.3 Restriction of Manipulator Operation by Joint Angle Combination ...... 56
5.4 Coordinate System ............................................................................... 57
5.5 Changing the Robot ............................................................................. 58
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator ................................ 59
6.1 Brake Release Unit .............................................................................. 60
6.2 Camera Plate Unit ................................................................................ 64
6.3 Tool Adapter (ISO Flange) ................................................................... 66
6.4 Adjustable Mechanical Stops ............................................................... 67
6.5 User Wires and Pneumatic Tubes ....................................................... 68
2.1 Maintenance Inspection ....................................................................... 72
2.1.1 Schedule for Maintenance Inspection ...................................... 72
2.1.2 Inspection Point ........................................................................ 73
2.2 Overhaul (Parts Replacement) ............................................................ 75
2.3 Greasing ............................................................................................... 77
2.3.1 Joint #1 Reduction Gear Unit ................................................... 79
2.3.2 Joint #2 Reduction Gear Unit ................................................... 80
2.3.3 Joint #3 Reduction Gear Unit ................................................... 81
2.3.4 Joint #4 Reduction Gear Unit ................................................... 82
2.3.5 Joint #5 Reduction Gear Unit ................................................... 83
2.3.6 Joint #6 Reduction Gear Unit ................................................... 84
2.3.7 Joint #6 Bevel Gear .................................................................. 85
2.4 Tightening Hexagon Socket Head Bolts .............................................. 86
2.5 Layout of Maintenance Parts ............................................................... 87
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C12 Rev.3