Toshiba TVL Series - Page 41

TRANSPORTATION AND INSTALLATION MANUAL
41
<2> Example of changing axis-1 working envelope and the change method
Desired operating ranges of the machine can be set up by changing the shapes of
the mechanical stoppers for the TVL500/TVL700 robot. To change the operating
range of the first axis, the customer needs to design and produce a mechanical
stopper by referring to Fig. 3.11 and Fig. 3.12 as needed.
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.
Fig. 3.11 Example of changing axis-1 working envelope (TVL500)
Machine working envelope
(mechanical stopper)
Working envelope (soft limit)
Soft limit
setting 90
Soft limit
setting -120
Machine working envelope
(Mechanical stopper preset angle)
90 + 
Machine working envelope
(Mechanical stopper preset angle)
120 + 
Mechanical stopper
For setting range of +90 to -120
(See Fig. 3.9.)
Example of changing movable range
Setting range: +90 to -120