Mitsubishi Electric RH-12FH Series, Instruction Manual

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3Installing the option devices
Changing the operating range 3-64
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 .
Table 3-2 ： Operating range changeable angle
Type
Note1)
Note1)The "*" of the robot type indicates up/down stroke length and environment specification. It is possible to change the
movement ranges shown in Table 3-2 for any model.
Direction
Note2)
Note2)Refer to Fig. 3-5 for mechanical stopper position.
Standard Change angle
Note3) Note4)
Note3)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 layout designing of the robot.
Note4)The changeable angle can be set independently on the + side and - side.
RH-3FH/6FH series
J1 RH-3FH35*/45*/
55*RH-6FH35*/45*/
55* + side +170 deg +150 deg +130 deg
Mechanical stopper angle +172.3 deg +152.3 deg +132.3 deg
Mechanical stopper position P10 P11 P12
- side -170 deg -150 deg -130 deg
Mechanical stopper angle -172.3 deg -152.3 deg -132.3 deg
Mechanical stopper position P10 N11 N12
RH-12FH/20FH series
J1 RH-12FH55*/70*/85*
RH-20FH85*/100* + side +170 deg +150 deg +130 deg
Mechanical stopper angle +173.3 deg +153.3 deg +133.3 deg
Mechanical stopper position P10 P11 P12
- side -170
deg
-150
deg
-130
deg
Mechanical stopper angle -173.3
deg
-153.3
deg
-133.3
deg
Mechanical stopper position P10 N11 N12