Restriction of Manipulator Operation by Joint Angle Combination

To prevent the arms of the Manipulator from interfering each other, the Manipulator operation is restricted in the specified motion range according to the angle combination of the Joint #1, #2, and #3.

The Manipulator operation is restricted and the Manipulator stops when the joint angles are within the colored areas in the following figure.

The restriction to Manipulator operation is enabled:

• During CP motion command execution
• When you attempt to execute the motion command for moving the Manipulator to a target point (or pose) in the specified motion range.

The restriction to the Manipulator operation is disabled:

• The Arms of the Manipulator momentarily go through the specified motion range during the PTP motion command execution even though the joint angles of the Arms are in the colored areas of the figures above.

(deg.=°)

Combination of Joint #1 and #2 (C4-B601**)

Combination of Joint #2 and #3 (C4-B601**)

• -135 deg. <= J1 <= 135 deg.
  
• -170 deg. <= J1 < -135 deg., 135 deg. < J1 <= 170 deg.
  

Combination of Joint #1 and #2 (C4-B901**)

Combination of Joint #2 and #3 (C4-B901**)

• -138 deg. <= J1 <= 138 deg.
  
• -170 deg. <= J1 < -138 deg., 138 deg. < J1 <= 170 deg.