Operation Range Change Method - Mitsubishi Electric MELFA RH-3CRH Series Instruction Manual

(2) Operation range change method

*Installing the mechanical stoppers
1) Turn off the controller's power supply.
2) Refer to Table 3-1
3-1 shows the mechanical stopper positions. When the screw holes are hidden under the arm, slowly
move the No.1 arm by hand.
Fig.3-1:Mechanical stopper position
*Changing the operation range parameter
Set the operation range (angle setting in
1) Turn on the controller's power supply.
2) Set the operation range after the change in the parameter MEJAR.
MEJAR: (J1 negative direction operation range, J1 positive direction operation range, [], [], ...)
*Checking the operation range
Turn off and on the controller's power supply after changing the setting of this parameter. Then, move the
axis by joint jog operation to the limit of the operation range to check that the robot stops at the angle after
the change.
The operation range change is completed.
and Fig. 3-1, and install the stoppers in the screw holes at the angles to be set.
A
B
Table 3-1)
J2 axis mechanical stopper
P16 P15
View
view A
P14 P13
J1 axis mechanical stopper
View
view B
in the joint operation range parameter MEJAR.
3Installation of optional equipment
P11
P10
P12
Operation range change 3-43
Fig.