Work Envelope

WARNING

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• Do not operate the Manipulator with the mechanical stop removed. Removing the mechanical stop is extremely dangerous because the Manipulator may move to a position outside its normal work envelope.

CAUTION

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• When restricting the work envelope for safety reasons, be sure to make settings using both the pulse range and mechanical stop.

The work envelope is preset at the factory as explained in the following section. This is the maximum work envelope of the Manipulator.
Standard Work Envelope

The work envelope can be set by one of the following three methods.

1. Setting by pulse range (for each joint)
2. Setting by mechanical stops
3. Setting the rectangular range in the XY coordinate system of the Manipulator

To limit the work envelope for layout efficiency or safety reasons, make the settings as explained in the following sections.

• Work Envelope Setting by Pulse Range (for Each Joint)
• Setting the Work Envelope by Mechanical Stops
• Restriction of Manipulator Operation by Joint Angle Combination
• Coordinate System