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(3) Installation procedure
The installation procedure of the J1 axis operating range change is shown below.
When installing this option, you should move the J1 axis to the 0 degrees by jog operation previously, and do this
work.
CAUTION
Y
Front view
Variable stopper block
Screw (2-M5x20)
* Characters A, B, and C in this illustration correspond to the same characters in
This illustration is an example of installing the fixing stopper at position B. When the fixing stopper is attached to the
position of A or C, the stopper will be attached as the dashed line showed.
The variable stopper block is always attached to the position shown in this illustration irrespective of a changed
angle of the J1 axis operating range.
Fig.3-1 ： Installation procedure of optional stoppers
1) Refer to
Table 3-8
change.
With the combination of angles of a plus side and a minus side, the fixing stoppers are required to install on
two places.
2) Refer to
Fig. 3-1
change. Tighten the screw firmly to fix the fixing stopper. (Tightening torque: 9.5 Nm)
3) Install the variable stopper block to the position shown in
stopper block as well as the fixing stopper. (Tightening torque: 9.5 Nm)
(4) Setting the parameter
Specify the operating range to parameter MEJAR and the mechanical stopper angle to parameter MORG with
appropriate values (variable angles given in
1) Turn on the power supply.
2) Set up the operating range changed into parameter MEJAR.
MEJAR: (J1 minus (-) side, J1 plus (+) side, ***, ***, ***, ***, ...).
3) Set up the + side mechanical stopper angle changed into parameter MORG.
MORG: (J1 plus (+) side mechanical stopper angle, ***, ***, ...).
Note) Refer to the separate "Instruction manual/Detailed Explanation of Functions and Operations" for the
details of the setting method.
When installing this option for safety, you should cut off the power supply of the con -
troller.
Each screw should be tightened with 9.5 Nm torque. Please confirm the screws are
surely tightened by 9.5 Nm torque before moving the robot.
A
Y
Z
and confirm the installation position of the fixing stopper corresponding to the angle to
and install the fixing stopper to the installation position corresponding to the angle to
Table
Z
Section Y-Y
Fig.
3-1. Tighten screws firmly to fix the variable
3-8) by the following steps.
Installing the operating range change (RV-2FR series) 3-49
3Installing the option devices
Fixing stopper
Screw (2-M5x20 )
B
Variable
stopper block
C
Section Z-Z
Table
3-8.
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