Epson SCARA ROBOT User Manual

Setup & Operation 5. Motion Range
G6 Rev.21 69
5.1.2 Max. Pulse Range of Joint #2
The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1.
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
- B
+ B
0 pulse
- A
+ A
Model
Table Top Mounting
Ceiling, Wall Mountings
A
Max. Motion
Range
G6-45*S*, D*
Z : 0 to –270 mm
±147.5 degrees
±130 degrees
Z : –270 to –330 mm
±145 degrees
G6-45*C*, P*,
D* bellows
Z : 0 to –240 mm
±147.5 degrees
Z : –240 to –300 mm
±142 degrees
G6-55*C*, P*, D* bellows
±147.5 degrees
±145 degrees
G6-55*S*, D*
±147.5 degrees
G6-65***
B
Max. Pulse
Range
G6-45*S*, D*
Z : 0 to –270 mm
±2685156
±2366578
Z : –270 to –330 mm
±2369645
G6-45*C*, P*,
D* bellows
Z : 0 to –240 mm
±2685156
Z : –240 to –300 mm
±2585031
G6-55*C*, P*, D* bellows
±2685156
±2639645
G6-55*S*, D*
±2685156
G6-65***
The bellows for G6-***D are options at shipment.
In the range Z: 0 to –270 mm, the area is limited by interference of the Manipulator body and the
arm.

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English