Mitsubishi Electronics RV-6S Changing the operating range, Axis Standard Alternative angle

3Installing the option devices

3.4 .Changing the operating range

The operating range of the J1 axis can be changed to the range shown in Table 3-2. (Option)

Table 3-2 ： Operating range alternative range

		Axis		Standard			Alternative angle
		+side	Angle	+170	+135	+90		+45	One of the points shown
									on the left
			Insertion position	None	Ａ	Ｂ		Ｃ
Ｊ	１
		-side	Angle	-170	-135	-90		-45	One of the points shown
									on the left
			Insertion position	None	a	b		c

Note) The insertion position given in the table indicates the insertion position for the operating range change stopper. (Refer to Fig. 3-6.)

The operating range is changed with robot arm settings and parameter settings.

(1)Setting the robot arm

1)Move the upper arm to the posture as shown in Fig. 3-6by jog operation.

2)Turn OFF the controller power.

3)By referring to Table 3-2and Fig. 3-6, insert the two stoppers (M10 x 20) used to change the movement range of J1 axis at the angular position to be changed, and fix securely by applying a clamping torque of 70 N ･ m to 86 N ･ m.

CAUTION Do not remove the stopper for the standard specification of ± 170 degree shown in Fig. 3-6.

Type：1S-DH-02

Specification：

Hexagon socket bolt（2 bolts）

M10 x 20 plating

Strength classification 10.9

Detail of the stopper used to change the operating range of the J1 axis

Upper arm
Ａ	Stopper for standard
	specification of ±170 degree
Ａ	(M10 x 20, 1 bolt)

		（b）
	（c）		（a）
Front of robot
			（Ａ）

（Ｃ） （Ｂ）

Robot arm View Ａ-Ａ

Fig.3-6 ： Installation of operating range change option

3-36 .Changing the operating range