3Installing the option devices
Installing the operating range change (RV-2FR series)
3-51
(3) Installation procedure
The installation procedure of the J2 axis operating range change is shown below.
When installing this option, you should move the J2 axis to the 0 degrees by jog operation previously, and do this
work.
When installing this option for safety, you should cut off the power supply of the con
-
troller.
Each screw should be tightened with 4.6 Nm torque. Please confirm the screws are
surely tightened by 4.6 Nm torque before moving the robot.
Fig.3-2 ： Installation procedure of optional stoppers
1) Refer to Table 3-4 and confirm the stopper corresponding to the angle to change.
With the combination of angles of a plus side and a minus side, both A and B stoppers are required to be
installed.
2) Refer to Fig. 3-2 and install the required stopper to the installation position. Tighten screws firmly to fix the
stopper. (Tightening torque: 4.6 Nm)
(4) Setting the parameter
Specify the operating range to parameter MEJA and the mechanical stopper angle to parameter MORG with
appropriate values (variable angles given in Table 3-4) by the following steps.
1) Turn on the power supply.
2) Set up the operating range changed into parameter MEJAR.
MEJAR: (***, ***, J2 minus (-) side, J2 plus (+) side, ***, ***, ...).
3) Set up the - side mechanical stopper angle changed into parameter MORG.
MORG: (***, J2 minus (-) side mechanical stopper angle, ***, ...).
Note) Refer to the separate "Instruction manual/Detailed Explanation of Functions and Operations" for the
details of the setting method.
Stopper A
Screw
(2-M4x10 )
View A: Stopper A installation position
Side view
A
B
Stopper B
View B: Stopper B installation position
Screw
(2-M4x10)
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