Epson LS20-B Series

Setup & Operation 5. Motion Range
56
LS20-B Rev.4
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
LS20-B804*
LS20-BA04*
a
Arm #1 + Arm #2 length [mm]
800
1000
b
Arm #1 length [mm]
350
550
c
Arm #2 length [mm]
450
d
Joint #1 motion angle [°]
132
e
Joint #2 motion angle [°]
152
f
(Motion range)
216.5
260.7
g
(Motion range at the rear)
684.2
818
h
Angle of the Joint #1 mechanical stop [°]
2.0
i
Angle of the Joint #2 mechanical stop [°]
3.6
j
(Mechanical stop area)
195.3
232.8
k
(Mechanical stop area at the rear)
693.1
832.1
m (Joint #3 motion range)
LS20-B***S
420
LS20-B***C
390
n (Distance from the base mounting face)
LS20-B***S
26.5
LS20-B***C
33.7
p (Joint #3 mechanical stop area upper end)
LS20-B***S
4
LS20-B***C
3.2
q (Joint #3 mechanical stop area lower end)
LS20-B***S
3
LS20-B***C
1.8