Changing The Operating Range; Rh-3Frh/6Frh/12Frh/20Frh Series; Operating Range Changeable Angle - Mitsubishi Electric RH-FRH Series Instruction Manual

3.6 Changing the operating range

(1) RH-3FRH/6FRH/12FRH/20FRH series

The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set
inside of that area.
If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the
operating range as shown below.

(2) Operating range changeable angle

The operating range must be set up at angels indicated by
Table 3-3 ： Operating range changeable angle
Note1)
Type
RH-3FRH/6FRH series
J1 RH-3FRH35*/45*/55*
RH-6FRH35*/45*/55*
RH-12FRH/20FRH series
J1 RH-12FRH55*/70*/85*
RH-20FRH85*/100*
Note1)The "*" of the robot type indicates up/down stroke length and environment specification. It is possible to change the
movement ranges shown in
Note2)Refer to Fig. 3-16
Note3)The changeable angle shown in
in the table shows the limit angle by the mechanical stopper. Use caution when layout designing of the robot.
Note4)The changeable angle can be set independently on the + side and - side.
Note2)
Direction
+ side
Mechanical stopper angle
Mechanical stopper position
- side
Mechanical stopper angle
Mechanical stopper position
+ side
Mechanical stopper angle
Mechanical stopper position
- side
Mechanical stopper angle
Mechanical stopper position
Table 3-3 for any model.
for mechanical stopper position.
Table 3-3 indicates the operation range by the software. The mechanical stopper angle
Table 3-3.
Standard
Change angle
+170 deg +150 deg
+172.3 deg +152.3 deg
P10 P11
-170 deg -150 deg
-172.3 deg -152.3 deg
P10 N11
+170 deg +150 deg
+173.3 deg +153.3 deg
P10 P11
-170 deg -150 deg
-173.3 deg -153.3 deg
P10 N11
Changing the operating range 3-78
3Installing the option devices
Note3) Note4)
+130 deg
+132.3 deg
P12
-130 deg
-132.3 deg
N12
+130 deg
+133.3 deg
P12
-130 deg
-133.3 deg
N12