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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.
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.
Table Top Mounting
Center of Joint #3
G10-65**
Motion range
Base mounting face
Area limited by mechanical stop
G10-65**
G10/G20-85*S, D
Z: 0 to –360
G10/G20-85*C, P,
D bellows
Z: –360 to –
G20-A0**
G10-65**
G10/G20-85**
G20-A0**
G10/G20-**1S, D
G10/G20-**4S, D
G10/G20-**1C, P, D bellows
G10/G20-**4C, P, D bellows
The bellows for G10/G20-***D* are options at shipment.
In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator
NOTE
F
body and the arm.
G10 / G20 Rev.20
G10/G20-85**
Maximum space
**** : G10/G20-85*S : 207.8
G10/G20-85*C : 218.3
a
b
c
152.5° 3.5°
152°
3°
151°
390
152.5° 3.5°
r
s
139.4
156
123.3
225.4
m
n
p
180
5
5
420
150
1
1.8
390
Setup & Operation 5. Motion Range
G20-A0**
d
e
f
g
199.4 212.4
250
207.8
183.3
450
5°
218.3
285.4
307
600
t
393.5
355.5
If the
(°: degree)
h
j
k
q
650 620.7 626.6
152.5
850 797.3 807.8
151
1000 929.8 943.8 152.5
87
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