Table of Contents
viii
C12 Rev.3
5. Motion Range
50
5.1 Motion Range Setting by Pulse Range (for Each Joint) ...................... 50
5.1.1 Max. Pulse Range of Joint #1 .................................................. 51
5.1.2 Max. Pulse Range of Joint #2 .................................................. 51
5.1.3 Max. Pulse Range of Joint #3 .................................................. 52
5.1.4 Max. Pulse Range of Joint #4 .................................................. 52
5.1.5 Max. Pulse Range of Joint #5 .................................................. 53
5.1.6 Max. Pulse Range of Joint #6 .................................................. 53
5.2 Motion Range Setting by Mechanical Stops ........................................ 54
5.2.1 Motion Range Setting of Joint #1 ............................................. 54
5.2.2 Motion Range Setting of Joint #2 ............................................. 55
5.2.3 Motion Range Setting of Joint #3 ............................................. 55
5.3 Restriction of Manipulator Operation by Joint Angle Combination ...... 56
5.4 Coordinate System ............................................................................... 57
5.5 Changing the Robot ............................................................................. 58
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator ................................ 59
6. Options
60
6.1 Brake Release Unit .............................................................................. 60
6.2 Camera Plate Unit ................................................................................ 64
6.3 Tool Adapter (ISO Flange) ................................................................... 66
6.4 Adjustable Mechanical Stops ............................................................... 67
6.5 User Wires and Pneumatic Tubes ....................................................... 68
Maintenance
1. Safety Maintenance
71
2. General Maintenance
72
2.1 Maintenance Inspection ....................................................................... 72
2.1.1 Schedule for Maintenance Inspection ...................................... 72
2.1.2 Inspection Point ........................................................................ 73
2.2 Overhaul (Parts Replacement) ............................................................ 75
2.3 Greasing ............................................................................................... 77
2.3.1 Joint #1 Reduction Gear Unit ................................................... 79
2.3.2 Joint #2 Reduction Gear Unit ................................................... 80
2.3.3 Joint #3 Reduction Gear Unit ................................................... 81
2.3.4 Joint #4 Reduction Gear Unit ................................................... 82
2.3.5 Joint #5 Reduction Gear Unit ................................................... 83
2.3.6 Joint #6 Reduction Gear Unit ................................................... 84
2.3.7 Joint #6 Bevel Gear .................................................................. 85
2.4 Tightening Hexagon Socket Head Bolts .............................................. 86
2.5 Layout of Maintenance Parts ............................................................... 87
Summary of Contents for C12 Series
Page 1: ...Rev 3 EM204R4255F 6 Axis Robots C12 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual C12 series Rev 3 ...
Page 8: ...vi C12 Rev 3 ...
Page 14: ...Table of Contents xii C12 Rev 3 ...
Page 16: ......
Page 30: ...Setup Operation 2 Specifications 16 C12 Rev 3 2 4 Outer Dimensions Unit mm ...
Page 84: ......
Page 155: ...Maintenance 4 Cable Unit C12 Rev 3 141 4 2 Connector Pin Assignment 4 2 1 Signal Cable ...
Page 156: ...Maintenance 4 Cable Unit 142 C12 Rev 3 ...
Page 157: ...Maintenance 4 Cable Unit C12 Rev 3 143 ...
Page 158: ...Maintenance 4 Cable Unit 144 C12 Rev 3 4 2 2 Power Cable ...
