Motion Range Setting Of Joint #3; Restriction Of Manipulator Operation By Joint Angle Combination - Epson C Series Manual

5.2.3 Motion Range Setting of Joint #3

Remove the mechanical stop installed as standard and install the adjustable mechanical stop
(J3). (Joint #3 standard motion range−61 to +202°)
Angle (°)
Pulse(pulse)
Adjustable mechanical stop (J3)

5.3 Restriction of Manipulator Operation by Joint Angle Combination

To prevent the arms of the Manipulator from interfering each other, the Manipulator
operation is restricted in the specified motion range according to the joint angle combination
of the Arm #1, #2, and #3.
The Manipulator operation is restricted and the Manipulator stops when the joint angles of
the Arm are within the gray areas in the following figure.
The restriction to Manipulator operation is enabled:
- During CP motion command execution
- When you attempt to execute the motion command for moving the Manipulator to a target
point (or pose) in the specified motion range.
The restriction to the Manipulator operation is disabled:
- The Arms of the Manipulator momentarily go through the specified motion range during
the PTP motion command execution even though the joint angles of the Arms are in the
colored area of the figures above.
C series Rev.2
Hexagon socket head cap bolt M6×15×2 bolts
Strength
Tightening torque
f
C8-A701***
C8-A901***
C8-A1401*** (C8XL)
C8 Manipulator 5. Motion Range
Equivalent to ISO898-1 property class 10.9 or 12.9
13.0 ± 0.6 N·m (133 ± 6 kgf·cm)
g
−51, +192
−1485483
(C8)
+5592406
−1856859
(C8L)
+6990528
−3342336
+12582912
Applied
f g
−61, +202
−1776754
+5883677
−2220949
+7354618
−3997696
+13238272
Applied (standard)
145