Mitsubishi MELFA RV-12SD, Standard Specifications Manual

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2-19 Outside dimensions ・ Operating range diagram
２ Robot arm
Operating range diagram : RV-12SDL/12SDLC
170°
170°
R1
085
R3
17
R1
38
5
R45
7
170°
170°
13
0
89
P-point path: Reverse range
(alternate long and short dash line)
P-point path: Entire range
(solid line)
768 317 928
457
80
16
85
56
0
45
0
85
4
58
5
97 670
150
690 470
P
71
6
32
2
10
0°
R6
75
40
°
R307
70°
130
°
R4
67
R5
60
R1235
R5
60
R6
75
200 or more
R67
3
Flange downward
limit line(dotted line)
P-point path
Rear surface area wide angle, narrow angle limit
*If the angle of axis J1 is -75deg <= J1 <= 75deg and the angle of axis J2 is J2 < -25deg ,
then operating range is limited to J2 + J3 >= -155 degree.
*If the angle of axis J1 is J1 <= -75deg or J1 > 75deg and the angle of axis J2 is J2 < -30deg ,
then operating range is limited to 0.54 * J2 + J3 >= -146.2 degree.