Reach and workspace

Robot reach

 

 

Figure. Direct Drive Robot radial reach at 0° wrist angle and vertical reach.

 

 

Maximum reach	Value
Radial reach (based on wrist angle)	Center of rotation to center of microplate 0–15°: 63.5 cm (25.0 in) 30°: 61.5 cm (24.2 in) 45°: 58.2 cm (22.9 in) 60°: 54.1 cm (21.3 in) 90°: 45.3 cm (17.8 in)
Vertical reach (from attachment surface)	Minimum: 3.30 cm (1.30 in) Maximum: 52.07 cm (20.50 in) Highest teachpoint with 0 offset: 50.39 cm (19.84 in)

 

 

Safe zone

 

 

The safe zone is the cylindrical region within which the Direct Drive Robot is allowed to move without colliding with external devices. In general, the robot moves into the safe zone to change its arm orientation, rotate its wrist, or for other purposes after it completes a Move to, Pick from, Place to, or Transfer command.

 

CAUTION Do not set teachpoints within the safe zone.

The following diagram shows the top view of the robot safe zone. It is the cylindrical region within the dotted line. The radius of the cylinder, measured from the center of the base, is 29.1 cm (11.4 in).

Figure. Direct Drive Robot safe zone

 

 

 

 

Teachpoint zone

 

 

The teachpoint zone is the region within which you can set teachpoints. The following diagram shows the top view of the teachpoint zone. The outermost dotted line shows the robot’s maximum reach. The cylindrical region within the inner circle is the the safe zone. The teachpoint zone is between the two boundaries.

Figure. Direct Drive Robot teachpoint zone

 

 

 

Caution zone

 

 

The caution zone is the thin, doughnut-shaped region surrounding the robot waist and base. When the robot moves to and from a teachpoint within this zone, the back of its wrist might bump into the waist. To avoid such collisions, you can change the position of the teachpoint such that the robot will approach or retract from the location using an alternate angle.

The following diagram shows the caution zone. The height of the region is measured from the attachment surface to 1.2 cm above the top surface of the waist. The radius of the region is 40.6 cm (16 in). These measurements assume the use of the standard grippers and teaching jig.

Figure. Direct Drive Robot caution zone

 

 

 

Related information

 

For information about...	See...
Robot dimensions	Physical dimensions
Axis and gripper specifications	Axis and gripper specifications
Performance specifications	Performance specifications
Mounting specifications	Mounting specifications
Electrical requirements	Electrical requirements
Computer requirements	Computer requirements
Environmental requirements	Environmental requirements