Mitsubishi MELFA CR1QA-700, Special Specifications Manual

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２ Robot arm
Outside dimensions ・ Operating range diagram 2-18
Fig.2-4 ： Operating range diagram: (6-axis type)
150 642
271
R
R547
R1
76
R3
02
R3
02
245
90
°
13
5°
171
°
40
230
R6
42
170°
170°
R271
R2
03
32
2
10
9
P-point path (solid line)
The range which
P-point cannot enter
20
°
31
2
330
Flange downward limit line
(dotted line)
P-point path (solid line)
Restriction on wide angle
in the rear section
Note4)
Restriction on wide angle
in the rear section
Note3)
P
Restriction on wide angle
in the front section
Note1)
Restriction on wide angle
in the front section
Note2)
The range which
P-point cannot enter
<Restriction on wide angle in the front section>
Note1) If the angle of axis J1 is 170 degree ＞ J1 ＞ 125 degree,
the operating range of axis J2 is limited to 125 degree ＞ J2＞ -90 degree.
Note2) If the angle of axis J1 is -125 degree ＞ J1 ＞ -170 degree,
the operating range of axis J2 is limited to 130 degree ＞ J2 ＞ -90 degree.
<Restriction on wide angle in the rear section>
Note3) If the angle of axis J2 is -30 degree ＞ J2 ≧ -60 degree,
the operating range of axis J3 is limited to a range
that satisfies both 4 x J2 + 3 x J3 ＞ -180 and 171 degree ＞ J3 ＞ -20 degree.
Note4) If the angle of axis J2 is -60 degree ＞ J2 ≧ -90 degree,
the operating range of axis J3 is limited to a range
that satisfies both 2.7 x J2 + 3 x J3 ＞ -142 and 171 degree ＞ J3 ＞ -20 degree.