Changing The Operating Range - Mitsubishi Electric MELFA RV-2SD Standard Specifications Manual

２ Robot arm

(2) Changing the operating range

■ Order type J1 axis: 1S-DH-11J1
J2 axis: 1S-DH-11J2
J3 axis: 1S-DH-11J3
■ Outline
J3 axis
J2 axis
J1 axis
■ Configuration
Table 2-7 ： Configuration devices
Part name
Stopper for changing the operat -
ing range
■ Specifications
Table 2-8 ： Specifications
Axis
+ side
J1
- side
+ side
J2
- side
+ side
J3
- side
Note 1) The number in bracket ( ) shows the mechanical stopper's installation position.
Note 2) Change of the operating range has limitation of combination. Change the operating range to
+/-150, +/-90, +210 to -90, +90 to -210, +150 to -90 or +90 to -150 degree are possible.
Table 2-9 ： Operating range change combination of the J1 axis.
-210
-150
-90
The operating range change stopper installs in the position (near 0 degree) that the J1 axis has turned to
the front.
Note 3) Change the operating range to +70 to +160 degree is possible.
(1) The changeable angle shown in
(2) The changeable angle can be set independently on the + side and - side.
(3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation
of Functions and Operations" for details.
Options
2-27
The J1 , J2 or J3 axis operating range is limited by the robot arm's mechanical stop -
per and the controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.
Type Qty.
1S-DH-11J1 2 pcs.
1S-DH-11J2 2 pcs.
1S-DH-11J3 2 pcs.
Standard
+240 degree Change to +210(+217), +150(+155) or +90 (+93) degree are possible.
-240 degree Change to -210(-217), -150(-155) or -90 (-93) degree are possible.
+120 degree Change to +30(+33) degree is possible.
-120 degree Change to -30(-33) degree is possible.
+160 degree Change to +70(+69) degree is possible.
0 degree Nothing
+210 +150 +90
× × ○
× ○ ○
○ ○ ○
O: Possible. X: Impossible.
Table 2-8 indicates the operation range by the software.
Mass(kg)
0.1 Stopper block Moving side : One Set
Fixing side : Two blocks
Installation bolt (M5 x 20) : Six bolts
0.1 Stopper block Plus side : One block
Minus side : One block
Installation bolt (M4 x 10) : Four bolts
0.1 Stopper block : One set
Installation bolt
Changeable angle
Remarks
(M4 x 8) : One bolt
(M4 x 22) : One bolt