Mitsubishi Electronics RV-6S instruction manual Tool jog operation

Page 35

2Unpacking to Installation

(3)TOOL jog operation

Select the TOOL jog mode

TOOL

LOW

 

 

 

 

 

 

 

 

 

 

 

X

+134.50

 

 

 

 

 

STEP

 

TOOL

Y

+220.00

 

 

 

 

 

＋

 

 

 

 

 

MOVE

Z

+280.00

 

TOOL jog mode

 

 

 

 

=*/

 

 

 

 

 

 

 

 

 

 

 

Set the jog speed

 

 

 

 

 

 

 

 

 

 

 

TOOL

LOW

 

 

 

 

 

 

 

 

 

 

 

X

+134.50

 

 

STEP

 

 

＋

 

－

Y

+220.00

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

MOVE

＋ FORWD

 

BACKWD

Z

+280.00

 

 

 

Set the speed

 

 

 

 

 

 

 

 

Press the [MOVE] + [TOOL] keys to select the TOOL jog mode. "TOOL" will appear at the upper left of the screen.

Each time the [MOVE] + [+] keys are pressed, the override will increase in the order of LOW → HIGH → 3 → 5 → 10 → 30 → 50 → 70 → 100%. When the [MOVE] + [-] keys are pressed, the override will decrease in the reverse order. The currently set speed will appear on the upper right of the screen. Set the override to 10% here for confirmation work.

Moving along the tool coordinate system

STEP

＋

- X

 

MOVE

(J1)

 

 

SPACE PQR

th g n le l o o

STEP

＋

- Y

MOVE

(J2)

 

4 MNO

STEP

- Z

MOVE ＋ 3

(J3)

JKL

＋Y

＋Z

STEP

＋

+ Z

 

 

(J3)

 

 

MOVE

8

, @\

＋X

 

 

 

 

 

Control point STEP

＋

 

 

 

MOVE

＊ The direction of the frange will not change.

STEP

+Y

MOVE ＋ 9

(J2)

&< >

+ X

(J1)

' ; ^

・When the [MOVE] + [+X (J1)] keys are pressed, the robot will move along the X axis plus direction of the tool coordinate system.

When the [MOVE] + [-X (J1)] keys are pressed, Move along the minus direction.

・When the [MOVE] + [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction of the tool coordinate system.

When the [MOVE] + [-Y (J2)] keys are pressed, Move along the minus direction.

・When the [MOVE] + [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction of the tool coordinate system.

When the [MOVE] + [-Z (J3)] keys are pressed, Move along the minus direction.

◇◆◇ When the robot is in the transportation posture ◇◆◇

There are directions from which linear movement is not possible from the transportation posture. In this case, an XＸ will appear on the T/B screen, and the robot will not move. Refer to section "(1) JOINT jog operation" on page 21, and move the robot to a position where linear movement is possible, and then carry out TOOL jog.

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

If the robot is moved outside the movement area with any of the axes, an XＸ in the opposite direction.

will appear. In this case, move the axis

TOOL

LOW

In the example on the left, further linear movement in the same direction is not possible.

XＸ X

+360.00

 

XＸ Y

+280.00

 

XＸ Z

+170.00

 

Confirming the operation 2-25

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Page 34 Page 36
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 Part name Type Qty Remarks Unpacking to Installation Confirming the productUnpacking InstallationTransportation procedures Transporting with a crane Installation procedures Grounding procedures Grounding procedures Grounding methodsCN2 CN1 Connecting with the controllerHook Projection Remove T/B switch Setting the originInstalling the teaching pendant T/B Installing with the control power OFFTurning on the control power Operating from the T/B When T/B operations are mistakenPreparing the T/B Selecting a menu Selecting the origin setting methodChanges to Origin Inputting the origin dataCorrecting an input Installing the shoulder coverBMoving the cursor Inputting charactersJ1 axis Confirming the operation＋ J4 axis J5 axisControl point － ＋ Control point ＋X＋YRadius Arc Control point ＋X＋Y ＋ J4 J6 － Control point ＋X＋Y J2 axis When the robot is in the transportation posture Joint jog operation － ＋ J1 axisJ4 axis When an XＸ appears on the T/B screen displayJ3 axis J6 axis ＋XYZ jog operation Tool length When alarm No occursTool jog operation 26Confirming the operation Axis XYZ jog operation Jog mode will change when only XYZ key is pressed again28Confirming the operation Arc Cylnder jog operation＋X － － ＋Section a View B View CNo.2 arm View from No arm cover B side No.2 arm Port View D Installing the hand input cableInstalling the hand output cable Axis Standard Alternative angle Changing the operating range3Installing the option devices Basic operations Maintenance and inspection interval Maintenance and InspectionDaily inspection items Inspection itemsPeriodic inspection Battery onRobot arm structure Maintenance and inspection proceduresMaintenance and inspection procedures ： Installing/removing the cover Installing/removing the cover： Cover names Timing belt replacement period Inspection, maintenance and replacement of timing beltMark M4×12（Socket bolt） 5Timing pulley 4Timing pulley ： Slack Timing belt tensionView from a Lubrication Lubrication position and specificationsLubrication method ： Lubrication specificationsReplacing the robot arm battery Replacing the backup batteryPart name Type Usage place Qty Supplier Maintenance partsMethod Explanation Remarks Resetting the originJig method Origin setting axis designation Diagram of the robot viewed from the top56Resetting the origin J3 axis origin setting 58Resetting the origin J5 axis origin setting 60Resetting the origin User origin method 62Resetting the origin J6 axis J5 axis J1 axis J2 axis ABS mark View aABS origin method J4 axis J3 axis64Resetting the origin Recording the origin data RIGHT/LEFT Appendix Appendix 1 ： Configuration flagConfiguration flag Appendix-67 Specifications are subject to change without notice
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