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Industrial Robot: SCARA Robots GX series Manual
By drilling holes in the base table in advance, the Joint #1 motor can be replaced while the Manipulator is fixed to the base
table for improved ease of maintenance.
a
b
Symbol
a
Joint #1 reduction gear
b
Cross-sectional view along SS-SS
c
Joint #1 motor
d
Minimum hole on the base table required to remove the Joint #1 motor and reduction gear
e
Minimum space on the base table required to remove the Joint #1 motor and reduction gear
3.3.3 Manipulator Mounting Dimensions
The maximum envelope of the Manipulator is shown in the figures below. The maximum envelope shown in each figure shows
the case when the radius of the hand is 60 mm or less. If the radius of the hand exceeds 60 mm, define the radius as the
distance to the outer edge of the maximum envelope. In addition to the hand, if a camera, solenoid valve, or other component
attached to the arm is large, set the maximum envelope to include the range that the component may reach.
Also, besides the area required for installation of the Manipulator, Controller, peripheral equipment, and other devices, the
following space should be provided at a minimum.
Space for teaching
Space for maintenance and inspection (Space for working safely in the safety barriers)
c
Description
e
d
e
Rev.7
183
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