TRANSPORTATION AND INSTALLATION MANUAL
51
Fig. 3.20 Example of changing axis-3 working envelope (TVL 700)
<2> Examples of changing axis-3 working envelopes and the change method
By changing the shape of the mechanical stopper, you can set the operation
range of the machine at a desired level. A design example of a mechanical
stopper is explained below using the TVL500 robot as an example. Wherever
required, you can design and manufacture a mechanical stopper on the arm 2 (1)
side according to Figs. 3.21 to 24.
If a working envelope position is changed, the soft limit must be changed. As for
the change of soft limits, see the "Instruction Manual: User Parameters" provided
as a separate volume.
Arm 2 center axis (axis 3 = 0)
Factory-set soft limit -0.5
Factory-set soft limit 166
Machine working envelope
(Mechanical stopper preset
angle)
-0.5 +
Machine working envelope
(Mechanical stopper preset angle)
166 +
Mechanical stopper position on
the arm 1 side
(for positive side soft limit)
Mechanical stopper position on the arm
1 side (for negative side soft limit)
Machine working envelope
(mechanical stopper)
Working envelope (soft limit)
Mechanical stopper position on
the arm 2 side
Hexagon socket head bolt
M5 × 8 SUS (for positive side
soft limit)
Mechanical stopper position on
the arm 2 side
Hexagon socket head bolt
M5 × 8 SUS (for negative side
soft limit)
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