Mitsubishi Electronics RV-6S instruction manual When alarm No occurs, Tool length

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2Unpacking to Installation

Changing the flange surface posture

＋Z

STEP	＋	- C
MOVE		(J6)	＋Z
		0 ABC

－＋

STEP	＋	+ C
MOVE	＋	(J6)
MOVE		5 STU

STEP		＋	+ A
MOVE			(J4)
		7	YZ_
		＋
	＋X －
STEP	＋	- A
MOVE		(J4)
		2 GHI

Control point

		h
		h
		t
		g			STEP	- B
	n				STEP	- B
le						＋ (J5)
l					MOVE	＋ (J5)
o					MOVE	1 DEF
o		－
		－
		＋	＋Y
		＋
STEP				+ B
MOVE ＋ 6				(J5)
MOVE ＋ 6					VWX

－Ｙ

－Ｘ

* The flange position does not change.

＋X

＋Y

－Z

・ When the [MOVE] + [+A (J4)] keys are pressed, The X 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 Y 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 Z axis will rotate in the plus direction. When the [MOVE] + [-C (J6)] keys are pressed, Rotate in the minus direction.

◇◆◇ When alarm No. 5150 occurs ◇◆◇

If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data.

◇◆◇ Tool length ◇◆◇

The default tool length is 0mm, and the control point is the center of the end axis.

After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed Explanation of Functions and Operations" for details.

2-24Confirming the operation

Image 34

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 Installing with the control power OFF Setting the originInstalling the teaching pendant T/B Remove T/B switchTurning on the control power Preparing the T/B When T/B operations are mistakenOperating from the T/B Selecting the origin setting method Selecting a menuInputting the origin data Changes to OriginInputting characters Installing the shoulder coverBMoving the cursor Correcting an inputJ5 axis Confirming the operation＋ J4 axis J1 axis－＋ Control point ＋X＋Y Control point ＋ J4 J6 － Control point ＋X＋Y Radius Arc Control point ＋X＋Y－＋ J1 axis When the robot is in the transportation postureJoint jog operation J2 axisJ6 axis ＋ When an XＸ appears on the T/B screen displayJ3 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 J4 axis J3 axis View aABS origin method 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