Mitsubishi MELFA SQ Series, Стандартные технические условия

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2-27 Options
２ Robot arm
(2) Changing the operating range
■ Order type J1 axis: 1S-DH-11J1
J2 axis: 1S-DH-11J2
J3 axis: 1S-DH-11J3
■ Outline
The operating range of J1, J2 or J3 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 2-8 ： Configuration devices
■ Specifications
Table 2-9 ： Specifications
Note 1) The number in bracket ( ) shows the mechanical stopper's installation position.
Note 2) Change of the operating range has limitation of combination. Change the operating range to
+/-150, +/-90, +210 to -90, +90 to -210, +150 to -90 or +90 to -150 degree are possible.
The operating range change stopper installs in the position (near 0 degree) that the J1 axis has turned to
the front.
Note 3) Change the operating range to +70 to +160 degree is possible.
(1) The changeable angle shown in Table 2-9 indicates the operation range by the software.
(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
1S-DH-11J1 2 pcs. 0.1 Stopper block Moving side : One Set
Fixing side : Two blocks
Installation bolt (M5 x 20) : Six bolts
1S-DH-11J2 2 pcs. 0.1 Stopper block Plus side : One block
Minus side : One block
Installation bolt (M4 x 10) : Four bolts
1S-DH-11J3 2 pcs. 0.1 Stopper block : One set
Installation bolt (M4 x 8) : One bolt
(M4 x 22) : One bolt
Axis Standard Changeable angle
J1
+ side +240 degree Change to +210(+217), +150(+155) or +90 (+93) degree are possible.
- side -240 degree Change to -210(-217), -150(-155) or -90 (-93) degree are possible.
J2
+ side +120 degree Change to +30(+33) degree is possible.
- side -120 degree Change to -30(-33) degree is possible.
J3
+ side +160 degree Change to +70(+69) degree is possible.
- side 0 degree Nothing
J3 axis
J2 axis
J1 axis
Table 2-10 ： Operating range change combination of the J1 axis.
O: Possible. X: Impossible.
+210 +150 +90
-210 × × ○
-150 × ○ ○
-90 ○ ○ ○