6-Axis robot
Use C4 as an example to describe the following installation procedures. For other 6-axis robots, refer to the each manual.
To mount a camera to the Manipulator, you need to mount the camera plate unit first.
End effector fitted with a camera
| Symbol | Description |
|---|---|
| a | Camera |
| b | Camera Plate Unit |
| Symbol | Parts List | Qty. |
|---|---|---|
| a | Hexagon socket head bolts M4 × 12 | 4 |
| b | Camera adapter plate | 1 |
| c | Camera intermediate plate | 1 |
| d | Camera base plate | 1 |
| e | Plain washer for M4 (small washer) | 2 |
| f | Hexagon socket head bolts M4 × 20 | 2 |
| g | Hexagon socket head bolts M4 × 12 | 2 |
- Mount the camera base plate to the Manipulator.
2-M4 × 20 + Plain washer for M4 (small washer)
| Symbol | Description |
|---|---|
| a | Mounting holes of camera base plate |
Mount the camera mid plate to the base plate.
2-M4 × 12KEY POINTS
The motion range and dimension of the Manipulator with the camera installed may vary depending on the mounting hole of camera mid plate. The details are described in the table below.
Mount the camera to the camera adapter plate.
KEY POINTS
According to the camera, the available mounting hole of adapter plate will be different. The details are described below.
Mount the camera adapter plate and camera to the camera mid plate.
4-M4 × 12Secure the cables at the position where they do not interfere with the Manipulator motion.
KEY POINTS
When securing the cables, check if the cables bend radius is big enough and the cables are not rubbing against each other while the Manipulator moves. Otherwise, the cables will be disconnected.
Dimension of the camera with the plate unit
Dimensions of X and Y change depending on the position of the camera mid plate and the camera size. Refer to the table below for the values.
Camera intermediate plate
The camera mid plate uses the mounting holes A to D.
By using the different mounting holes, it can be mounted to the camera base plate in the different four positions.
Camera adapter plate
Each camera uses the different mounting holes.
USB camera : J (two)
GigE camera : E (three)
Mounting example
| Using the mounting hole A | Using the mounting hole C |
|---|---|
 |  |
Camera and Joint #5 motion range (reference values)
The Joint #5 motion range varies depending on the mounting position of camera mid plate and the camera you are using.
The table below shows the motion range (reference values) based on the available cameras for this option and the mounting positions of the camera mid plate. The values in the table may vary depending on how to secure the cables.
By changing the Y position, you can extend the distance from the end effector mounting surface to the camera. Also, you can attach the larger end effector. However, be careful about the Joint #5 motion range that will be limited in this case.
| A | B | C | D | X | |
|---|---|---|---|---|---|
USB camera, GigE camera | -135 to +60° | -135 to +50° | -135 to +35° | -135 to +25° | 72.5 mm |
| A | B | C | D | |
|---|---|---|---|---|
| Y | 57 mm | 37 mm | 17 mm | 7 mm |
Direction of the Joint #5 motion
