Epson C12 Series, Руководство манипулятора

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Setup & Operation 5. Motion Range
56 C12 Rev.3
5.3 Restriction of Manipulator Operation by Joint Angle Combination
To prevent the arms of the Manipulator from interfering each other, the Manipulator
operation is restricted in the specified motion range according to the joint angle combination
of the Arm #1, #2, and #3.
The Manipulator operation is restricted and the Manipulator stops when the joint angles of
the Arm are within the colored area in the following figures.
The restriction to Manipulator operation is enabled:
- During CP motion command execution
- When you attempt to execute the motion command for moving the Manipulator to a target
point (or pose) in the specified motion range.
The restriction to the Manipulator operation is disabled:
- The Arms of the Manipulator momentarily go through the specified motion range during
the PTP motion command execution even though the joint angles of the Arms are in the
colored area of the figures above.
Combination of Joint #2 and #3
−
110
°
<= J1 <= 11 0
°
Joint #2 Angle
Joi
nt
#3 A
ngl
e
− 140
°
< J1 < − 110
°
or 110
°
< J1 < 140
°
−
240
°
< J1 <
−
220
°
or 220
°
< J1 < 240
°
Joint #2 Angle
Joi
nt
#3 A
ngl
e
−
220
°
<= J 1<=
−
140
°
or 140
°
< J1< 220
°
Joint #2 Angle
Joi
nt
#3 A
ngl
e