Mitsubishi RV-3S-S11 - Page 27

２ Robot arm
Outside dimensions ・ Operating range diagram 2-18
Fig.2-6 ： Operating range diagram: RV-3SJ/3SJC
P
R
3
0
1
R
641
318
232
450
R
22
3
R
546
R
30
1
R
3
0
1
1
3
5
°
1
0
0
°
13
7°
R
339
9
0
°
R
2
4
5
R
6
41
1
7
0
°
1
7
0
°
R3
1
9
R
2
0
3
322
109
P-point path (solid line)
The range which
P-point cannot enter
312
330
Flange downward limit line
(dotted line)
P-point path (solid line)
Restriction on wide angle
in the rear section
Note2)
Restriction on wide angle
in the front section
Note1)
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 120 degree ＞ J2 ＞ -90 degree.
<Restriction on wide angle in the rear section>
Note2) If the angle of axis J2 is -30 degree ＞ J2 ≧ -90 degree,
the operating range of axis J3 is limited to a range
that satisfies both 14 x J2 + 9 x J3 ＞ -1530 and 137 de
g
ree ＞ J3 ＞ -100 de
g
ree.