Epson C8 Series, Manipulator Manual

Page: 34 / 346

Setup & Operation 2. Specifications
20 C8 Rev.13
2.5 Standard Motion Range
2.5.1 C8-A701*** (C8)
[Unit: mm]
Arm #1
0 pulse position
Arm #2
0 pulse position
P point*
Arms #4, #6
0 pulse position
Arms #3, #5
0 pulse position
Top View
Lateral View Front View
P point*
Motion range of P point*
Motion range of P point*
a
b
c
d
e
f
a +135 ° d -61 °
b -135 ° e R181.8
*3
c +202
°
f R317.3
*4
(deg.= ° )
* P point : Intersection of the rotation centers for Joints #4, #5, and #6
*1 : P point from top with Joint #3 declining − 61 ° (Joint #1 center – P point center)
*2 : P point from top with Joint #3 tilting up + 202 ° (Joint #1 center – P point center)
*3 : P point from lateral with Joint #3 declining -61 ° (Joint #2 center – P point center)
*4 : P point from lateral with Joint #3 tilting up +202 ° (Joint #2 center – P point center)
CAUTION
■
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. The collision may cause equipment damage to
and/or malfunction of the Manipulator.