Mitsubishi RV-3SJ Series Standard Specifications Manual page 27

Flange downward limit line
(dotted line)
Restriction on wide angle
in the front section
Fig.2-6 ： Operating range diagram: RV-3SJ/3SJC
P
R
641
Note1)
<Restriction on wide angle in the front section>
Note1) If the angle of axis J1 is 170 degree ＞ | J1 | ＞ 125 degree,
the operating range of axis J2 is limited to 120 degree ＞ J2 ＞ -90 degree.
<Restriction on wide angle in the rear section>
Note2) If the angle of axis J2 is -30 degree ＞ J2 ≧ -90 degree,
the operating range of axis J3 is limited to a range
that satisfies both 14 x J2 + 9 x J3 ＞ -1530 and 137 degree ＞ J3 ＞ -100 degree.
P-point path (solid line)
The range which
P-point cannot enter
P-point path (solid line)
232
318
330
450
Outside dimensions ・ Operating range diagram 2-18
２ Robot arm
Restriction on wide angle
in the rear section
Note2)
The range which
P-point cannot enter