2. Installation Requirements
Part 1: Setup & Operation
6
2.3 Base Table
A base table for anchoring the manipulator is not supplied. Users must make or obtain
such a table independently. The size and shape of the base table differs depending on the
robot’s application. For your reference, when designing or obtaining a base table, we have
listed some manipulator requirements.
If the controller will be mounted inside the table, please refer to the controller manual or
user’s guide, which describes space requirements and environmental conditions.
Area limited by
mechanical stop
for
Joint #3
Standard range of the manipulator
ES45** ES55** ES65** EL65** EL85**
A
(arm #1 length)
B
(arm #2 length)
C
D
(motion range of the Joint #1)
E
(motion range of the Joint #2)
F
G
(
range to the stop of
J
oint #1
)
H
(
range to the stop of
J
oint #2
)
215 mm
235 mm
156 mm
125 °
140 °
136 mm
130 °
145 °
315 mm
235 mm
203 mm
125 °
140 °
182 mm
130 °
145 °
415 mm
235 mm
280 mm
125 °
140 °
260 mm
130 °
145 °
300 mm
350 mm
228 mm
130 °
140 °
201 mm
132 °
145 °
500 mm
350 mm
324 mm
130 °
140 °
292 mm
132 °
145 °
I
(range to the safeguard )
approx. 100 mm *
* In this case the safeguard completely prevents a person from touching the robot, such as a
transparent acrylic cover, for example. Refer to the
Safety
chapter in the “User’s Guide”
or “SRC5**/SPEL 95 Introduction manual” or “User’s manual” for the actual dimension
of “I”.
Figure 2. Manipulator installation dimensions [unit: mm]
Summary of Contents for EL Series
Page 1: ...ES EL series Rev 9 EM019R893F SCARA ROBOT MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL ES EL series Rev 9 ...
Page 12: ...x ...
Page 14: ...2 ...
Page 16: ...1 Manipulator Part Names Part 1 Setup Operation 4 ...
Page 30: ...4 User Wires and Pneumatic Tubes Part 1 Setup Operation 18 ...
Page 42: ...5 End Effectors Part 1 Setup Operation 30 ...
Page 44: ...6 Attaching a Camera Valve and Other Devices Part 1 Setup Operation 32 ...
Page 68: ...8 Motion Range and Robot Coordinates Part 1 Setup Operation 56 ...
Page 70: ...9 Emergency Stop Part 1 Setup Operation 58 ...
Page 80: ...11 Clean Model Part 1 Setup Operation 68 ...
Page 92: ...80 ...
Page 94: ...Maintenance Safety Precautions Part 2 Maintenance 82 ...
Page 104: ...2 Opening the Covers Part 2 Maintenance 92 ...
Page 112: ...3 Replacing the Cable Unit Part 2 Maintenance 100 ...
Page 138: ...5 Replacing the Motors Part 2 Maintenance 126 ...
Page 162: ...6 Replacing the Reduction Gear Units Part 2 Maintenance 150 ...
Page 186: ...9 Replacing the Ball Screw Spline Unit Part 2 Maintenance 174 ...
Page 210: ...11 Calibration Part 2 Maintenance 198 ...
Page 214: ...12 Clean Model Maintenance Part 2 Maintenance 202 ...
Page 224: ...13 Protected Model Maintenance Part 2 Maintenance 212 13 6 Wiring Schematic 2 ...
Page 236: ...14 Maintenance Part Lists Part 2 Maintenance 224 ...