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 J1 , J2 or J3 axis operating range is limited by the robot arm's mechanical stop
-
per 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 2-7 ： Configuration devices
■ Specifications
Table 2-8 ： 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 2-8 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 2-9 ： Operating range change combination of the J1 axis.
O: Possible. X: Impossible.
+210 +150 +90
-210 × × ○
-150 × ○ ○
-90 ○ ○ ○
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