Mitsubishi Electric MELFA RH-12SQH Series, Instruction Manual

Page: 63 / 106

3Installing the option devices
Changing the operating range 3-54
Note1) The * symbols next to the robot types indicate the up/down stroke length, environment specification,
specification with controller protection box (RH-6SQH series) or controller specification with countermea -
sure against oil mist (RH-12SQH/18SQH series). In this case, it is possible to change the movement
ranges shown in
Table 3-2 for any model.
Note2) The changeable angle shown in Table 3-2 indicates the operation range by the software.
The mechanical stopper angle in the table shows the limit angle by the mechanical stopper. Use caution
when laying out the robot during the designing stage.
Note3) The changeable angle can be set independently on the + side and - side.
Note4) Refer to
Fig. 3-4 and Fig. 3-5 for mechanical stopper position. The J3 axis makes the mechanical stopper
slide.
(2) Installing the mechanical stopper
1) Turn the controller power OFF.
2) Refer to
Table 3-2 and Fig. 3-4 and Fig. 3-5 , install the hexagonal socket head bolts in the screw holes cor
-
responding to the angles to be set. Fig. 3-4 shows the mechanical stopper position and bolt size of the J1
axis, and Fig. 3-5 shows those of the J2 axis. If the screw holes are hidden behind the arms, slowly move
the No. 1 and No. 2 arms.
Fig.3-4 ： Mechanical stopper position (J1 axis)
Fig.3-5 ： Mechanical stopper position (J2 axis)
(3) Setting the operation range parameter
Set up the operation range (Changeable angle in Table 3-2 ) to the Joint movement range parameter MEJAR.
1) Turn the controller power ON.
2) Set up the changed operation range to the Joint movement range parameter.
MEJAR: (J1 minus side movement range, J1 plus side movement range, J2 minus side movement range, J2
plus side movement range, ........)
J3 RH-18SQH standard
specifications
+ side +340 Change is impossible.
- side -10 +115 to+ 285mm
RH-18SQH clean, oil-
mist specifications + side +290 Change is impossible.
- side -10 +115 to+ 235mm
Axis Type Direction Standard Changeable angle
N11
N12 N13
N14
N15
P12
P13
P15
P14
P11
N11 N12 N13
P12 P13
N14
N15
P15
P14 P11
For RH-6SDH series
*Hexagon socket bolt = M8 x 16
For RH-12SDH/18SDH series
*Hexagon socket bolt = M12 x 25
For RH-6SQH series
For RH-12SQH/RH-18SQH series
N22
N23
N21
P21
P22
P23
N22
N21
P21
P22
For RH-6SDH45*/55* series
N22
N21
P21
P22
For RH-12SDH/18SDH series
P23
N23
*Hexagon socket bolt = M8 x 16
For RH-6SDH35* series
*Hexagon socket bolt = M8 x 16 *Hexagon socket bolt = M8 x 16
For RH-6SQH35* series For RH-6SQH45*/55* series
For RH-12SQH/18SQH series