Setup & Operation 2. Specifications

2.5 Standard Motion Range

2.5.1 C4-A601** [Unit: mm]

Joint #1 0 pulse position

Joint #2 0 pulse position

Motion range of P point*

P point*

Joints #4, #6 0 pulse position

Joints #3, #5 0 pulse position

Top View

Lateral viewFront View

P point*

Motion range of P point*

*4

*5

*1

*2*3

* P point : Intersection of the rotation centers for Joint #4, #5, and #6 *1 : Joint #1 without mechanical stop ( 180 deg.)

For the mechanical stop removal procedure, refer to Setup & Operation: 5.2.1 Motion Range Setting of Arm #1.

*2 : P point from top with Joint #3 declining 51 deg. (Joint #1 center P point center) *3 : P point from top with Joint #3 tilting up 225 deg. (Joint #1 center P point center) *4 : P point from lateral with Joint #3 declining -51 deg. (Joint #2 center P point center) *5 : P point from lateral with Joint #3 tilting up +225 deg. (Joint #2 center P point center)

CAUTION

Pay attention to the arm pose of the basic arms (Arms #1, #2, and #3) when operating the Manipulator. Arm #5 moves keeping a constant angle regardless of the arm pose. Depending on the arm pose of the basic arms, the wrist may collide with the Manipulator. The collision may cause equipment damage to and/or malfunction of the Manipulator.

16 C4 Rev.4