Epson LS10-B, User Manual

Page: 64 / 180

Setup & Operation 5. Motion Range
52 LS10-B Rev.6
5.4 Standard Motion Range
The following “motion range” diagrams show the standard (maximum) specification.
When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point
moves in the areas shown in the figure.
“Area limited by mechanical stop” is the area where the center of Joint #3’s lowest point
can be moved when each joint motor is not under servo control.
“Mechanical stop” sets the limited motion range so that the center of Joint #3 cannot move
beyond the area mechanically.
“Maximum space” is the area that contains the farthest reach of the arms. If the maximum
radius of the end effector is over 60 mm, add the “Area limited by mechanical stop” and
“radius of the end effector”. The total value is specified as the maximum area.
A Center of Joint #3
B Motion range
C Maximum range
D Base mounting face
E Area limited by a mechanical stop
LS10-B60** LS10-B70** LS10-B80**
a Arm #1 + Arm #2 length [mm] 600 700 800
b Arm #1 length [mm] 225 325 425
c Arm #2 length [mm] 375
d Joint #1 motion angle [°] 132
e Joint #2 motion angle [°] 150
f (Motion range) 212 188 213
g (Motion range at the rear) 526 592 659
h Angle of the Joint #1 mechanical stop [°] 2.0
i Angle of the Joint #2 mechanical stop [°] 2.0
j (Mechanical stop area) 206 176 200
k (Mechanical stop area at the rear) 531 601 670
m (Joint #3 motion range)
LS10-B**2S 200
LS10-B**3S 300
LS10-B**2C 170
LS10-B**3C 270
n
(Distance from the base mounting
face)
LS10-B**2* 53
LS10-B**3* 153
p
(Joint #3 mechanical stop area upper
end)
LS10-B***S 4
LS10-B***C 1
q (Joint #3 mechanical stop area lower end) 3