Epson C12 Series, Manipulator Manual

Page: 69 / 314

Setup & Operation 5. Motion Range
C12 Rev.3 55
5.2.2 Motion Range Setting of Joint #2
Remove the mechanical stop installed as standard and install the adjustable mechanical stop
(J2). (Joint #2 standard motion range
− 135
°
to +55
°
)
Hexagon socket head cap bolt M10×35×2 bolts
Tightening torque
32.0 ± 1.6 N·m (326 ± 16 kgf·cm)
d
e
d e
Angle (
°
)
− 125, +45 − 135, +55
Pulse(pulse)
−
9830500
+3538980
−
10616940
+4325420
Adjustable mechanical stop (J2)
Applied Applied (standard)
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
°
)
Hexagon socket head cap bolt M6×15×2 bolts
Tightening torque
13.0 ± 0.6 N·m (133 ± 6 kgf·cm)
f
g
f g
Angle (
°
)
−
51, +192
−
61, +202
Pulse(pulse)
− 3342336
+12582912
− 3997696
+13238272
Adjustable mechanical stop (J3)
Applied Applied (standard)