Changing The Operating Range; Operating Range Changeable Angle - Mitsubishi Electric RH-1FRHR Instruction Manual

3.4 Changing the operating range

The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set
inside of that area.
If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the
operating range as shown below.

(1) Operating range changeable angle

The operating range must be set up at angels indicated by
Table 3-2 ： Operating range changeable angle
Type
J1 RH-1FRHR5515
Note1)Refer to Fig. 3-4
Note2)The changeable angle shown in
angle in the table shows the limit angle by the mechanical stopper. Use caution when layout designing of the robot.
Note3)The changeable angle can be set independently on the + side and - side.
Note1)
Direction
+ side
Mechanical stopper angle
Mechanical stopper position
- side
Mechanical stopper angle
Mechanical stopper position
for mechanical stopper position.
Table 3-2 indicates the operation range by the software. The mechanical stopper
Table 3-2.
Standard
+170 deg +150 deg
+172.3 deg +152.3 deg
P10 P11
-170 deg -150 deg
-172.3 deg -152.3 deg
P10 N11
3Installing the option devices
Note2) Note3)
Change angle
+130 deg
+132.3 deg
P12
-130 deg
-132.3 deg
N12
Changing the operating range
3-49