YASKAWA MOTOMAN-MPL80 II - B-Axis Operating Range

5 Basic Specifications
5.5 B-Axis Operating Range
5-4
170904-1CD
HW1482870
MPL80 II
5.5 B-Axis Operating Range
The operating range of the B-axis maintaining a constant angle to the
center of U-axis is shown in Fig. 5-4 “B-Axis Operating Range”.
By “B-axis adjustable motion function”, the B-axis maintains the same
posture to the ground regardless of the L- or U-axis angle.
The operating range is ±15° (0 degree is defined as the angle when the
wrist flange is horizontal and facing to the ground.) When the B-axis
position exceeds this limit, ”Special Soft Limit” occurs.
Note: In relation with interference with the upper arm, the range of motion
can be limited.
Fig. 5-4: B-Axis Operating Range
15°
B-axis rotation center
Wrist flange
15°
15°
15°
15°
55°
(*1)
U-axis rotation center
15°
15°
15°
15°
S-axis rotation center
L-axis rotation center
55°
Upper arm
(U-arm)
(*1)
15
15°
15°
15
15°
15°
15°
15°
15
15°
15°
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