Mechanical Operations and Maintenance Manual for Industrial Robot ER10-1600
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2.4 Body Part Composition and Direction Identification of Each Axis
The robot mechanical body is mainly composed of the base part, the rotating part, the big arm part, the
small arm part, the wrist body part and the wrist part. The joints of the machine body are driven by servo
motors, and the joints cooperate with each other to realize the adjustment of the position and posture of the
robot end in space.
The names of the various components of the machine body and the identification of each axis
direction are shown in Figure2-3:
Fig. 2-3 Components of the Machine Body of ER10-1600
2.5 Robot Axis Range Limit and Home Position
Each axis of the robot body has a home position and range limit.When the robot system is running
normally, each axis of the robot is controlled to move within the allowable range. In addition, in order to
ensure further safety, mechanical end stops are provided on some axes to prevent the robot from operating
beyond the allowable range when the robot (control) system is abnormal.
Fig2-4 Mechanical End Stop Position and Home Position
2.6 Robot
P
erformance Parameters
the small arm part
the big arm part
the rotating part
the base part
the wrist body part
J2 axis mechanical end stop
J1 axis mechanical end stop
J4 axis home position
J6 axis home position
Pipeline
Pipeline
package part
J2 axis home position
J1 axis home position
J3 axis mechanical end stop
J3 axis home position
J5 axis home position
J5 axis mechanical end stop
