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The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
P-point path
*1)
P point
The area which P point
cannot be moved
Flange downward
limit line
Control point
(R point)
P-point path
*1)
Operating range
limitations for the
front/side faces
The area which P point
cannot be moved
*1) Limits of the front operating range:
If the angle of J1 is -62° ≤ J1 ≤ +207° or J1 ≤ -153°, then J2 is limited to -96° ≤ J2.
If the angle of J1 is +42° ≤ J1 or J1 ≤ -144°, then J2 is limited to J2 ≤ +96°.
If the angle of J2 is J2 ≤ -95°, then J3 is limited to J3 ≤ +146°.
If the angle of J2 is J2 ≤ +30°, then J3 is limited to -146° ≤ J3.
*2) P point prohibited area:
P point cannot enter the area shown in the diagram. However, parameter "MELTEXS " can be used to
disable the P point prohibited area. The prohibited area is enabled from the factory.
Fig.2-5: Operating range diagram
*1)
*1)
*1)
910
(625)
125
500
70.5
P point
Singular point boundary with the
wrist facing downward
Upper view
910
Flange downward
limit line
The area which
P point
cannot be moved
*1)
Operating range
limitations for the
front/side faces
The area which P point
cannot be moved
Outside dimension • Operating range diagram 2-25
2 Robot arm
(Rev.*)
Operating range for each axis:
J1: ±240°
J2: ±148°
J3: ±150°
J4: ±200°
J5: ±120°
J6: ±200°
The area which P point
cannot be moved
317
529
(529)
*2)
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