3-50
Installing the operating range change (RV-2FR series)
3Installing the option devices
(5) Check the operating range
After changing the parameter, turn off the controller power and turn on again. And, 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.
The changing of the J1 axis operating range is completed.
3.1.2 Installing the J2 axis operating range change
The configuration, changeable angle, and installation outline of J2 axis operating range change (1S-DH-11J2) are
shown below.
(1) Configuration
The configuration parts of this option are shown in
. Please confirm.
Table 3-3 ： Configuration devices
(2) Changeable angle
The changeable angle of J2 axis is shown in
to confirm the installation position of
the stopper corresponding to the angle to change or setting value of a parameter. Refer to
for details of
the installation position of the stoppers.
Table 3-4 ： Changeable angle of J2 axis
No.
Part name
Qty.
Mass (Kg)
Remarks
<1>
Stopper A
1
0.1
<2>
Stopper B
1
<3>
Screw (M4x10)
4
Screw with a captive washer for installing the stoppers.
Operating range
(Parameter (MEJAR) setting value)
Mechanical stopper angle
Stopper
- (minus) side
+ (plus) side
- (minus) side
+ (plus) side
(Parameter (MORG) setting value)
-120: RV-2FR/2FRB
-117: RV-2FRL/2FRLB
+120
-121: RV-2FR/2FRB
-118: RV-2FRL/2FRLB
+121
Not equipped (Default)
-120: RV-2FR/2FRB
-117: RV-2FRL/2FRLB
+30
-121: RV-2FR/2FRB
-118: RV-2FRL/2FRLB
+33
Stopper A
-30
+120
-33
+121
Stopper B
-30
+30
-33
+33
Stopper A and B
<1>
Stopper A
<2>
Stopper B
<3>
Screw
