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.
| Symbol | Description | RS4-C351S | RS4-C351C | RS6-C552S | RS6-C552C |
|---|---|---|---|---|---|
| a | Maximum zone | R400 | R620 | ||
| b | Work envelope | - | - | ||
| c | Center of Joint #3 | - | - | ||
| A | - | R350 | R550 | ||
| B | - | R175 | R275 | ||
| C | Length of Arm #1 + Arm #2 | 175 mm | 275 mm | ||
| D | Range to upper limit mechanical stop | 4.8 | 14.8 | 1.6 | 3.6 |
| E | Joint #3 stroke | 130 | 100 | 200 | 150 |
| F | Range to lower limit mechanical stop | 6 | 8.5 | 4 | 11 |
| G | Distance from base mounting surface | 473 | 499 | 494 | 536 |