Mitsubishi MELFA CR1QA-700, Special Specifications Manual

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２ Robot arm
Options 2-32
(2) Changing the operating range
■ Order type: J1 axis.....1S-DH -03
■ Outline
The operating range of J1 axis is limited by the robot arm's mechanical stopper and
the controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.
■ Configuration
Table 2-16 ： Configuration devices
■ Specifications
Table 2-17 ： Specifications
(1) The changeable angle shown in Table 2-17 indicates the operation range by the software.
The limit by the mechanical stopper is positioned 2.5 degrees outward from that angle, so take care when
designing the layout.
(2) The changeable angle can be set independently on the + side and - side.
(3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation
of Functions and Operations" for details.
Part name Type Qty. Mass(kg) Remarks
Stopper for changing the operat
-
ing range of J1
1S-DH-03 2 pcs. 0.1 Hexagon socket bolt: M10 x 20 plating (strength classi
-
fication 10.9)
Axis Standard Changeable angle
J1
+ side +170° One point from +120°, +90°, +60°, +30°
- side -170° One point from -120°, -90°, -60°, -30°