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.

Area limited by a 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

The area that contains the farthest reach of the arms.

Maximum Range

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 end effector” as the maximum area.

A	Center of Joint #3
B	Motion Range
C	Maximum Range
D	Base mounting face
E	Area limited by a mechanical stop

			LS20-C804 *	LS20-CA04*
a	Arm #1 + Arm #2 [mm]		800	1000
b	Arm 1 length [mm]		350	550
c	Arm 2 length [mm]		450
d	Joint #1 motion range [°]		132
e	Joint #2 motion range [°]		152
f	(Motion range)		216.5	260.7
g	(Motion range of the back side)		684.2	818
h	Angle to the mechanical stop of Joint #1 [°]		2.0
i	Angle to the mechanical stop of Joint #2 [°]		3.6
j	(Mechanical stop area)		195.3	232.8
k	(Mechanical stop area on the back side)		693.1	832.1
m	(Joint #3 motion range)	LS20-C***S	420
		LS20-C***C	390
n	(Distance from the base mounting face)	LS20-C***S	26.5
		LS20-C***C	33.7
p	(Joint #3 Mechanical stop area, upper terminal)	LS20-C***S	6.5
		LS20-C***C	3.2
q	(Joint #3 Mechanical stop area, lower terminal)	LS20-C***S	8.5
		LS20-C***C	1.3

Standard environment specification

Cleanroom Environment Specification