Motion Range Setting By Mechanical Stops; Motion Range Setting Of Arm #1 - Epson C Series Manual

C4 Manipulator 5. Motion Range

5.2 Motion Range Setting by Mechanical Stops

Mechanical stops physically limit the absolute area that the Manipulator can move.
Be sure to turn OFF the Controller in advance.
Use bolts conforming to the specified length and surface processing (ex:
high corrosion resistance.
Specify the pulse range again after changing the position of the mechanical stop.
For details on the pulse range setting, refer to "5.1 Motion Range Setting by Pulse Range
(for All Arms)".
Be sure to set the pulse range not to exceed the setting angles of the mechanical stop.

5.2.1 Motion Range Setting of Arm #1

Install the bolt to the threaded hole corresponding to the
angle you want to set.
Normally a mechanical stop is equipped at [ b ].
[ a ] and [ c ] limit the one side of motion range.
Remove the bolts when the motion range of the Arm #1
is set to ±180°.
Angle (°)
Pulse
(pulse)
Bolt
Mechanical stop for UL specification
There is a specified mechanical stop for UL specification.
Mount the mechanical stop as shown in the figure below.
C4
56
M8×15 hexagon socket head cap bolt
Strength Equivalent to ISO898-1 property class
10.9 or 12.9
Tightening torque 37.2 N·m (380 kgf·cm)
C4-A601**
C4-A901**
C4-A901**-UL
a
−125 ±170
−3640889 ±4951609
±8102633
−5957819
±7626008
Applied
Applied
standard
(
C4L
The setting angle differs
from the non-UL
compliant model.
(refer to the above table)
nickel plating
b
±180
+3640889
±5242880
+5957819
±8579259
Applied
Not applied
)
C series Rev.2
) with
a
b
c
c
+125