Standard Motion Range

Motion Range

The following “motion range” diagrams show the standard (maximum) specification. When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the areas shown in the figure.

Range to mechanical stop

The area where the center of Joint #3’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 motion range where the Manipulator cannot move beyond mechanically.

Maximum zone

The area that contains the farthest reach of the arms. If the maximum radius of the end effector is over 60 mm, add the “Area limited by mechanical stop” and “radius of the hand” and specify it as the maximum zone.

A	Center of Joint #3
B	Motion Range
C	Maximum zone
D	Base mounting surface
E	Range to mechanical stop

		LA3-A401S	LA6-A502S	LA6-A602S	LA6-A702S
a	Arm #1 + Arm #2 length [mm]	400	500	600	700
b	Arm #1 length [mm]	225		325	425
c	Arm #2 length [mm]	175	275
d	Joint #1 motion angle [°]	132
e	Joint #2 motion angle [°]	141	150
f	(Motion range [mm])	141.6	138.1	162.6	232
g	(Motion range at the rear [mm])	325.5	425.6	492.5	559.4
h	Angle of the Joint #1 mechanical stop [°]	2.8
i	Angle of the Joint #2 mechanical stop [°]	4.2
j	(Mechanical stop area [mm])	128.8	121.8	142.5	214
k	(Mechanical stop area of the back side [mm])	333.5	433.5	504	574.5
m	(Joint #3 motion range [mm])	150	200
n	(Distance from base mounting surface [mm])	5.5	51
p	(Joint #3 mechanical stop area upper end [mm])	6.5	10
q	(Joint #3 mechanical stop area lower end [mm])	9.3	11.8