Standard Motion Range; C4-A601 - Epson C Series Manual

2.4 Standard Motion Range

2.4.1 C4-A601**

Front View
Joints #4, #6
0 pulse position
* P point : Intersection of the rotation centers for Joint #4, #5, and #6
*1 : Joint #1 without mechanical stop (±180°)
For the mechanical stop removal procedure, refer to "5.2.1 Motion Range Setting of Arm #1".
*2 : P point from top with Joint #3 declining −51° (Joint #1 center – P point center)
*3 : P point from top with Joint #3 tilting up +225° (Joint #1 center – P point center)
*4 : P point from lateral with Joint #3 declining -51° (Joint #2 center – P point center)
*5 : P point from lateral with Joint #3 tilting up +225° (Joint #2 center – P point center)
 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
Top View
Joint #1
0 pulse position
P point*
Motion range of P point*
Lateral view
P point*
Joints #3, #5
0 pulse position
Motion range of P point*
The collision may cause equipment damage to
C4 Manipulator 2. Specifications
*2
Joint #2
0 pulse position
*5
*4
[Unit: mm]
*1
*3
(deg. = °)
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