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２ Robot arm
(2) The change method of the operating range
■ Installation of the mechanical stopper
1) Turn off power to the controller.
2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to
About the mechanical stopper position and the relation of bolt size is shown in
hole is covered by the arm, move the No.1 armslowly by hand.
Fig.2-23 ： Mechanical stopper position
■ Change the operating range parameters
Specify the operating range to parameters MEJAR with appropriate values (variable angles given in
the following steps:
1) Turn on power to the controller.
2) Set up the operating range changed into parameter MEJAR
MEJAR: (J1 minus (-) side, J1 plus (+) side, □ , □ , □ , ...).
■ Change the mechanical stopper origin position parameters
If you have changed operating range on the J1 minus(-) side, change mechanical stopper origin position parame-
ters by the following step:
1) Set MORG parameter to the angle which set mechanical stopper position.
MORG: (J1 mechanical stopper position, □ , □ , □ , ...).
■ Check the operating range
After changing the parameter, turn off the controller power and turn on again. Then, move the axis changed by
joint jog operation to the limit of the operating range.
Confirm that the robot stops by limit over at the changed angle.
This completes the procedure to change the operating range.
Outside dimensions ・ Operating range diagram
2-37
P12
P11
Installation bolt:
P10
Hexagon socket head cap screw
・ M10 x 20
* Changing the operating range is pre-
N11
pared optional.
N12
Table 2-9
and
Fig.
2-23.
Fig.
2-23. When the screw
Table
2-9) by
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