Mitsubishi MELFA RV-6S Series Standard Specifications Manual page 23

２ Robot arm
Flange downward
limit line(dotted line)
Restriction on wide angle
in the front section
Restriction on wide angle
in the front section
Fig.2-4 ： Operating range diagram : RV-6S/6SC
Outside dimensions ・ Operating range diagram
2-14
85
315
308
P
Note5)
Note4)
437 258
Restriction on wide angle in the rear section
Note1) J2＋Ｊ3×2 ≧ -200 degree when -45 degree≦ J2 ＜ 15 degree.
Note2) J2＋Ｊ3 ≧ 8 degree when ｜J1｜≦ 75 degree, Ｊ2 ＜ -45 degree.
Note3) J2＋Ｊ3 ≧ -40 degree when ｜J1｜＞ 75 degree, Ｊ2 ＜ -45 degree.
Restriction on wide angle in the front section
Note4) J3 ≧ -40 degree when -105 degree≦ J1 ≦ 95 degree, J2 ≧ 123 degree.
Note5) J2 ≧ 110 degree when J1 ＜ -105 degree, J1 ＜ -95 degree.
However, J2 - J3 ≦ 150 degree when 85 degree J2 ≦ 110 degree.
85
238
Restriction on wide angle
in the rear section
Restriction on wide angle
in the rear section
Restriction on wide angle
in the rear section
Areas as restricted by Note1) and Note3)
within the operating range
444
474
P-point path: Reverse range
(alternate long and short dash line)
P-point path: Entire range
(solid line)
Note2)
Note3)
Note1)