MITSUBISHI ELECTRIC Mitsubishi Industrial Robot RV-6S - Manual (Page 46)

3-36 .Changing the operating range
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
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. 3-6 by jog operation.
2) Turn OFF the controller power.
3) By referring to
Table 3-2 and 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.
Do not remove the stopper for the standard specification of ± 170 degree shown in
Fig. 3-6 .
Fig.3-6 ： Installation of operating range change option
Axis Standard Alternative angle
Ｊ １
+side
Angle +170 +135 +90 +45 One of the points shown
on the left
Insertion position None Ａ Ｂ Ｃ
-side
Angle -170 -135 -90 -45 One of the points shown
on the left
Insertion position None a b c
CAUTION
View Ａ-Ａ
Ａ
Ａ
（a）
（b）
（c）
（Ａ）
（Ｂ） （Ｃ）
Detail of the stopper used to change
the operating range of the J1 axis
Type：1S-DH-02
Specification：
Hexagon socket bolt（2 bolts）
M10 x 20 plating
Strength classification 10.9
Upper arm
Stopper for standard
specification of ±170 degree
(M10 x 20, 1 bolt)
Robot arm
Fr
on
t
of
ro
bot