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3Installing the option devices
3.4
Changing the operating range
.
The operating range of the J1 axis can be changed to the range shown in
Table 3-2 ： Operating range alternative range
Axis
Angle
+side
Insertion position
Ｊ １
Angle
-side
Insertion position
Note) The insertion position given in the table indicates the insertion position for the operating range change
stopper. (Refer to
The operating range is changed with robot arm settings and parameter settings.
(1) Setting the robot arm
1) Move the upper arm to the posture as shown in
2) Turn OFF the controller power.
3) By referring to
range of J1 axis at the angular position to be changed, and fix securely by applying a clamping torque of 70
N ･ m to 86 N ･ m.
CAUTION
Upper arm
Ａ
Robot arm
Fig.3-6 ： Installation of operating range change option
.Changing the operating range
3-36
Standard
+170
None
-170
None
Fig.
3-6.)
Table 3-2
and
Fig.
3-6, insert the two stoppers (M10 x 20) used to change the movement
Do not remove the stopper for the standard specification of ± 170 degree shown in
Fig.
3-6.
Type：1S-DH-02
Specification：
Hexagon socket bolt（2 bolts）
M10 x 20 plating
Strength classification 10.9
Detail of the stopper used to change
the operating range of the J1 axis
Stopper for standard
Ａ
specification of ±170 degree
(M10 x 20, 1 bolt)
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Table
Alternative angle
+135
+90
Ａ
Ｂ
-135
-90
a
b
Fig. 3-6
by jog operation.
（Ｃ）
3-2. (Option)
+45
One of the points shown
on the left
Ｃ
-45
One of the points shown
on the left
c
（b）
（c）
（a）
（Ａ）
（Ｂ）
View Ａ-Ａ
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