Toshiba THL Series Instruction Manual page 103

9.2.2 Changing the Operating Ranges of Axes 1 and 2
Mechanical stoppers are installed to each robot to mechanically control the operation
range of each axis. Changing the mechanical operation range of a robot by modifying
these mechanical stoppers is referred to as "change in operating range."
Here, how to change the operating ranges of Axes 1 and 2 of a robot is explained.
Regarding how to change the operating range of Axis 3, Para. 9.2.3.
Note that Axis 4 is different from other operating axes; it restricts the operating range
with software limits only, not with mechanical stoppers. Therefore, regarding how to
change the operating range of Axis 4, see Para. 7.2.4.
• To change operating ranges, design and produce mechanical stoppers by referring to this
document according to your usage.
• When mechanical stoppers have been changed and then operating ranges have been
changed, be sure to also change software limits to prevent contact with the mechanical
stoppers while operating a robot.
• Mechanical stoppers do not securely restrict the movable ranges of robots.
When the power of a robot is turned on, never enter the operating range of the robot.
• If a robot collides with a mechanical stopper, the robot detects the collision and stops, but
the mechanical stopper may be damaged. Avoid reusing the mechanical stopper.
• The mechanical stopper reference drawings shown in this document do not fully satisfy the
customer's usage.
Design, produce and install mechanical stoppers according to your usage, such as the
operating range.
• The failures of a robot caused by mechanical stoppers will be excluded from the warranty
coverage.
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