Part 1: Setup & Operation 8. Motion Range and Robot Coordinates
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8. Motion Range and Robot Coordinates
8.1 Standard motion range
The motion range and the robot coordinate of the ES / EL series is described below.
The following motion range shows the standard (maximum) specification. When each axis
motor is engaged, the center of Joint #3’s lowest point moves in the area shown below.
“Area limited by mechanical stops” is the area where the center of Joint #3’s lowest point
can be moved when each axis motor is not engaged. The center of Joint #3 cannot move
beyond this 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, then it will extend beyond the maximum space. If
this is the case, then the end effector itself dictates the maximum space.
The physical relationship of the manipulator’s anchor holes and point P varies from one
manipulator to another, but the maximum variance is ±2° referenced to the center of the
manipulator base. Take this into account when you lay out your system equipment if you
use the outermost circumference of the motion range.
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