Mitsubishi MELFA RV-12SD, Стандартные технические условия

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2-17 Outside dimensions ・ Operating range diagram
２ Robot arm
Fig.2-4 ： Operating range diagram : RV-12SD/12SDC
170°
170°
170°
170°
P-point path: Reverse range
(alternate long and short dash line)
P-point path: Entire range
(solid line)
R41
6
R7
86
R2
05
R1
08
6
89
13
0
80
138
6
40
0
45
0
78
4
R936
R26
6
R4
00
R4
00
R3
55
R53
6
R536
R5
36
70°
10
0°
130
°
64
6
40
°
581 205
416
670
97 530 150
569 349
P
Flange downward
limit line(dotted line)
34
3
15
6
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 -25deg <= J2 < 2deg,
then operating range is limited to J2 + J3 * 2 >= -258deg.
*If the angle of axis J1 is -75deg <= J1 <= 75 deg and the angle of axis J2 is -80deg <= J2 < -25deg,
then operating range is limited to J2 + J3 >= -141.5deg.
*If the angle of axis J1 is -75deg <= J1 <= 75 deg and the angle of axis J2 is J2 < -80deg,
then operating range is limited to 6.4 * J2 + J3 >= 573.5deg.
*If the angle of axis J1 is J1 <= -75 degree or J1 > 75 degree and the angle of axis J2 is -80deg <= J2 < 2 degree,
then operating range is limited to J2 + J3 * 2 >= -258 degree.
*If the angle of axis J1 is J1 <= -75deg or J1 > 75deg and the angle of axis J2 is J2 < -80deg ,
then operating range is limited to 2.4 * J2 + J3 >= -281 degree.
200 or more
Restriction on wide angle
in the rear section