Mitsubishi Electronics RV-6S instruction manual J3 axis, J6 axis ＋, J4 axis

Page 32

2Unpacking to Installation

J3 axis jog operation

STEP

 

- Z

MOVE ＋

 

(J3)

3

JKL

J3 axis

STEP

＋

+ Z

 

(J3)

MOVE 8 , @\

・ When the [MOVE] + [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction. When the [MOVE] + [-Z (J3)] keys are pressed, Rotate in the minus direction.

J4, J5 and J6 axis jog

STEP

＋

+ C

 

 

 

MOVE

(J6)

 

 

STEP

5

STU

 

 

 

J6 axis ＋

 

 

MOVE

 

 

 

 

 

 

 

－

 

 

 

STEP

＋

- C

－

 

 

MOVE

(J6)

 

 

 

 

0

ABC

 

 

 

 

 

 

J5 axis

 

 

 

 

 

 

＋

 

 

 

STEP

＋

 

+ B

 

 

MOVE

 

(J5)

 

 

 

6

VWX

＋

- B

 

 

 

(J5)

 

STEP

+ A

 

1

DEF

 

 

 

 

＋ (J4)

 

 

＋

 

MOVE

 

 

 

7 YZ_

 

 

J4 axis

 

 

－

 

 

 

STEP

 

- A

 

 

＋ (J4)

 

 

MOVE

 

2 GHI

 

 

 

 

 

 

 

 

・ When the [MOVE] + [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction. When the [MOVE] + [-A (J4)] keys are pressed, Rotate in the minus direction.

・ When the [MOVE] + [+B (J5)] keys are pressed, the J5 axis will rotate in the plus direction When the [MOVE] + [-B (J5)] keys are pressed, Rotate in the minus direction.

・ When the [MOVE] + [+C (J6)] keys are pressed, the J6 axis will rotate in the plus direction When the [MOVE] + [-C (J6)] keys are pressed, Rotate in the minus direction.

◇◆◇ When an XＸ appears on the T/B screen display ◇◆◇

If the robot is moved outside the movement area, an XＸ will appear. In this case, move the axis in the opposite direction.

JOINT

LOW

In the example on the left, the J1 axis is at the limit of the plus side movement area.

XＸ J1

+160.00

 

J2

+20.00

 

J3

+80.00

 

2-22Confirming the operation

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Image 32
Page 31 Page 33
Contents
Mitsubishi Supplemental Instruction Change of the lubrication method and notes Robot front Safety Precautions Page Revision history Page Contents Appendix-66 Before starting use Symbol Meaning Safety Precautions 4Safety Precautions Unpacking to Installation Confirming the product Part name Type Qty RemarksInstallation UnpackingTransportation procedures Transporting with a crane Installation procedures Grounding procedures Grounding methods Grounding proceduresConnecting with the controller CN2 CN1Hook Projection Setting the origin Installing the teaching pendant T/BInstalling with the control power OFF Remove T/B switchTurning on the control power Operating from the T/B When T/B operations are mistakenPreparing the T/B Selecting the origin setting method Selecting a menuInputting the origin data Changes to OriginInstalling the shoulder coverB Moving the cursorInputting characters Correcting an input Confirming the operation ＋ J4 axis J5 axis J1 axis－ ＋ Control point ＋X＋Y Control point＋ J4 J6 － Control point ＋X＋Y Radius Arc Control point ＋X＋YWhen the robot is in the transportation posture Joint jog operation－ ＋ J1 axis J2 axisWhen an XＸ appears on the T/B screen display J3 axisJ6 axis ＋ J4 axisXYZ jog operation When alarm No occurs Tool lengthTool jog operation 26Confirming the operation Jog mode will change when only XYZ key is pressed again Axis XYZ jog operation28Confirming the operation Cylnder jog operation Arc－ ＋ ＋X －View B View C Section aNo.2 arm View from No arm cover B side No.2 arm Port Installing the hand input cable View DInstalling the hand output cable Changing the operating range Axis Standard Alternative angle3Installing the option devices Basic operations Maintenance and Inspection Maintenance and inspection intervalInspection items Daily inspection itemsBattery on Periodic inspectionMaintenance and inspection procedures Robot arm structureMaintenance and inspection procedures Installing/removing the cover ： Installing/removing the cover： Cover names Inspection, maintenance and replacement of timing belt Timing belt replacement periodMark M4×12（Socket bolt） 5Timing pulley 4Timing pulley Timing belt tension ： SlackLubrication Lubrication position and specifications View from a： Lubrication specifications Lubrication methodReplacing the backup battery Replacing the robot arm batteryMaintenance parts Part name Type Usage place Qty SupplierResetting the origin Method Explanation RemarksJig method Diagram of the robot viewed from the top Origin setting axis designation56Resetting the origin J3 axis origin setting 58Resetting the origin J5 axis origin setting 60Resetting the origin User origin method 62Resetting the origin View a ABS origin methodJ4 axis J3 axis J6 axis J5 axis J1 axis J2 axis ABS mark64Resetting the origin Recording the origin data Appendix Appendix 1 ： Configuration flag RIGHT/LEFTConfiguration flag Appendix-67 Specifications are subject to change without notice
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