2-14
Outside dimensions ・ Operating range diagram
２ Robot arm
Fig.2-4 ： Operating range diagram : RV-6S/6SC
Restriction on wide angle in the rear section
Note1) J2＋Ｊ3×2 ≧ -200 degree when -45 degree≦ J2 ＜ 15 degree.
Note2) J2＋Ｊ3 ≧ 8 degree when ｜J1｜≦ 75 degree, Ｊ2 ＜ -45 degree.
Note3) J2＋Ｊ3 ≧ -40 degree when ｜J1｜＞ 75 degree, Ｊ2 ＜ -45 degree.
Restriction on wide angle in the front section
Note4) J3 ≧ -40 degree when -105 degree≦ J1 ≦ 95 degree, J2 ≧ 123 degree.
Note5) J2 ≧ 110 degree when J1 ＜ -105 degree, J1 ＜ -95 degree.
However, J2 - J3 ≦ 150 degree when 85 degree J2 ≦ 110 degree.
170°
170°
170°
R2
58
R
52
6
R2
02
R
69
6
170°
P-point path: Reverse range
(alternate long and short dash line)
P-point path: Entire range
(solid line)
P
R611
100
96
1
280
35
0
17
9
85
315
308
238
85
R
28
0
R
28
0
R173
13
5°
R
33
1
92
°
R
33
1
76°
17
°
R
28
7
258
437
444
42
1
294
474
Flange downward
limit line(dotted line)
Restriction on wide angle
in the rear section
Note1)
Areas as restricted by Note1) and Note3)
within the operating range
Restriction on wide angle
in the rear section
Note3)
Restriction on wide angle
in the rear section
Note2)
Restriction on wide angle
in the front section
Note5)
Restriction on wide angle
in the front section
Note4)
59
4
