Standard Work Envelope
The following "work envelope" diagrams show the model with standard (maximum) specifications. When each joint motor is under servo control, the center of the Manipulator shaft’s lowest point moves in the ranges shown in the figure.
- Range to mechanical stop
This is the range where the center of shaft’s lowest point can be moved when each joint motor is not under servo control. - Mechanical stop
This is the stop that sets the absolute work envelope where the Manipulator cannot move beyond mechanically. - Maximum zone
This is the range that contains the farthest reach of the arms where interference can occur. If the maximum radius of the hand exceeds 60 mm, add the "Range to mechanical stop" and the "Radius of the hand." The total value is specified as the maximum zone.
Table top mounting specifications: Straight arm
| Symbol | Description |
|---|---|
| A | Center of Joint #3 |
| B | Work envelope |
| C | Maximum zone |
| D | Base mounting surface |
| E | Range to mechanical stop |
GX4-A/GX4-B/GX4-C251* GX4-A/GX4-B/GX4-C251*B | GX4-A/GX4-B/GX4-C301* GX4-A/GX4-B/GX4-C301*B | GX4-A/GX4-B/GX4-C351* GX4-A/GX4-B/GX4-C351*B | |||||
|---|---|---|---|---|---|---|---|
| S, E | C | S, E | C | S, E | C | ||
| a | Length of Arm #1 + Arm #2 (mm) | 250 | 300 | 350 | |||
| b | Length of Arm #1 (mm) | 120 | 170 | 220 | |||
| c | Length of Arm #2 (mm) | 130 | |||||
| d | Joint #1 motion (°) | 140 | |||||
| e | Joint #2 motion (°) | 141 | 137 | 142 | 141 | 142 | |
| f | (Work envelope) | 87 | 95 | 105 | 107 | 142 | |
| g | (Work envelope of the back side) | 221.9 | 260.2 | 298.5 | |||
| h | Angle to the Joint #1 mechanical stop (°) | 2.5 | |||||
| i | Angle to the Joint #2 mechanical stop (°) | 1.5 | 2.4 | 1.6 | 2.5 | ||
| j | (Mechanical stop area) | 84 | 92 | 99 | 103 | 137 | |
| k | (Mechanical stop area of the back side) | 225.2 | 264.9 | 304.5 | |||
| m | Joint #3 motion stroke | 150 | 120 | 150 | 120 | 150 | 120 |
| n | Distance from base mounting surface | 26 | 30 | 26 | 30 | 26 | 30 |
| p | Joint #3 mechanical stop area top end | 6.5 | 10.5 | 6.5 | 10.5 | 6.5 | 10.5 |
| q | Joint #3 mechanical stop area bottom end | 6.8 | 1.3 | 6.8 | 1.3 | 6.8 | 1.3 |
| x | Dimensions of motion prohibited area (mm) | 176 | |||||
| y | Dimensions of motion prohibited area (mm) | +49 (infinite on back side) | +66 (infinite on back side) | -255 | |||
Multiple mounting specifications: Straight arm
| Symbol | Description |
|---|---|
| A | Center of Joint #3 |
| B | Work envelope |
| C | Maximum zone |
| D | Base mounting surface |
| E | Range to mechanical stop |
| GX4-A/GX4-B/GX4-C301*M | GX4-A/GX4-B/GX4-C351*M | ||||
|---|---|---|---|---|---|
| S, E | C | S, E | C | ||
| a | Length of Arm #1 + Arm #2 (mm) | 300 | 350 | ||
| b | Length of Arm #1 (mm) | 170 | 220 | ||
| c | Length of Arm #2 (mm) | 130 | |||
| d | Joint #1 motion (°) | 115 | 120 | ||
| e | Joint #2 motion (°) | 135 | 142 | ||
| f | (Work envelope) | 121 | 142 | ||
| g | (Work envelope on the back side) | 210.8 | 240 | ||
| h | Angle to the Joint #1 mechanical stop (°) | 4.0 | |||
| i | Angle to the Joint #2 mechanical stop (°) | 2.5 | |||
| j | (Mechanical stop area) | 115 | 137 | ||
| k | (Mechanical stop area of the back side) | 212.4 | 253 | ||
| m | Joint #3 motion stroke | 150 | 120 | 150 | 120 |
| n | Distance from base mounting surface | 138 | 172 | 138 | 172 |
| p | Joint #3 mechanical stop area top end | 6.5 | 10.5 | 6.5 | 10.5 |
| q | Joint #3 mechanical stop area bottom end | 6.8 | 1.3 | 6.8 | 1.3 |
| x | Dimensions of motion prohibited area (mm) | 360 | |||
| y | Dimensions of motion prohibited area (mm) | +110 (infinite on back side) | -79.5 (infinite on back side) | ||
Table top mounting specifications: Curved arm
| Symbol | Description |
|---|---|
| A | Center of Joint #3 |
| B | Work envelope |
| C | Maximum zone |
| D | Base mounting surface |
| E | Range to mechanical stop |
GX4-A/GX4-B/GX4-C351*-L GX4-A/GX4-B/GX4-C351*B-L | GX4-A/GX4-B/GX4-C351*-R GX4-A/GX4-B/GX4-C351*B-R | ||||
|---|---|---|---|---|---|
| S, E | C | S, E | C | ||
| a | Length of Arm #1 + Arm #2 (mm) | 350 | |||
| b | Length of Arm #1 (mm) | 220 | |||
| c | Length of Arm #2 (mm) | 130 | |||
| d / d' | Joint #1 motion (°) | 165 / 110 | 110 / 165 | ||
| e / e' | Joint #2 motion (°) | 165 / 120 | 160 / 120 | 120 / 165 | 120 / 160 |
| f / f' | (Work envelope) | 100 / 192 | 107 / 192 | 192 / 100 | 192 / 107 |
| g | (Work envelope on the back side) | 342.5 | 342.5 | ||
| h / h' | Angle of Joint #1 mechanical stop (°) | 3.0 / 7.0 | 7.0 / 3.0 | ||
| i / i' | Angle to Joint #2 mechanical stop (°) | 2.8 / 3.8 | 3.5 / 3.8 | 3.8 / 2.8 | 3.8 / 3.5 |
| j / j' | (Mechanical stop area) | 97 / 183 | 102 / 183 | 183 / 97 | 183 / 102 |
| k | (Mechanical stop area of the back side) | 345.2 | 345.2 | ||
| m | Joint #3 motion stroke | 150 | 120 | 150 | 120 |
| n | Distance from base mounting surface | 26 | 30 | 26 | 30 |
| p | Joint #3 mechanical stop area top end | 6.5 | 10.5 | 6.5 | 10.5 |
| q | Joint #3 mechanical stop area bottom end | 6.8 | 1.3 | 6.8 | 1.3 |
| x | Dimensions of motion prohibited area (mm) | 176 | |||
| y | Dimensions of motion prohibited area (mm) | -255 | |||