２ Robot arm
Outside dimensions ・ Operating range diagram 2-18
Fig.2-4 ： Operating range diagram: (6-axis type)
150
642
271
R
R
5
4
7
R1
7
6
R
3
0
2
R
3
0
2
245
90
°
1
3
5
°
1
7
1
°
40
230
R
6
4
2
1
7
0
°
1
7
0
°
R
271
R
2
0
3
322
109
P-point path (solid line)
The range which
P-point cannot enter
2
0
°
312
330
Flange downward limit line
(dotted line)
P-point path (solid line)
Restriction on wide angle
in the rear section
Note4)
Restriction on wide angle
in the rear section
Note3)
P
Restriction on wide angle
in the front section
Note1)
Restriction on wide angle
in the front section
Note2)
The range which
P-point cannot enter
<Restriction on wide angle in the front section>
Note1) If the angle of axis J1 is 170 degree ＞ J1 ＞ 125 degree,
the operating range of axis J2 is limited to 125 degree ＞ J2＞ -90 degree.
Note2) If the angle of axis J1 is -125 degree ＞ J1 ＞ -170 degree,
the operating range of axis J2 is limited to 130 degree ＞ J2 ＞ -90 degree.
<Restriction on wide angle in the rear section>
Note3) If the angle of axis J2 is -30 degree ＞ J2 ≧ -60 degree,
the operating range of axis J3 is limited to a range
that satisfies both 4 x J2 + 3 x J3 ＞ -180 and 171 degree ＞ J3 ＞ -20 degree.
Note4) If the angle of axis J2 is -60 degree ＞ J2 ≧ -90 degree,
the operating range of axis J3 is limited to a range
that satisfies both 2.7 x J2 + 3 x J3 ＞ -142 and 171 de
ree ＞ J3 ＞ -20 de
ree.
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