Mitsubishi Electronics RV-6S instruction manual Installing the hand input cable, View D

Page 44

3Installing the option devices

3.2 Installing the hand input cable

The procedure for installing the hand input cable is as follows. Conduct work by referring to "Fig. 3-1Solenoid valve installation procedures" on page 31 and "Fig. 3-4Installing the hand input cable" on page 34 below. This work must be carried out with the controller power turned OFF.

<4> Socket bolts (M4×8, 4 bolts)

Grommet

Remove

D

Remove

D

 

 

Grommet

Plate

<5> Solenoid valves <3> No. 2 arm cover C

Cable clamp

 

 

 

 

Plate

Lock nut

 

 

 

 

 

 

HC1 HC2

View D

Fig.3-4 : Installing the hand input cable

1)Remove the hexagon socket bolts (five M4 x 10) and truss screw (three M3 x 8) that hold the No. 2 arm cover B <2>, and then remove both the No. 2 arm cover B <2>.

2)Remove the socket bolts <4> (four M4 x 8) that hold the No. 2 arm cover C <3> or the solenoid valves <5>, and then remove the No. 2 arm cover C <3> or the solenoid valves <5>.

3)If you are not using the spare line (ADD: stored in a coil) in section A shown in Fig. 3-1, remove it. The spare line is connected to a connector inside section A.

4)The hand input cable can be installed to both the No. 2 arm cover C <3> and the solenoid valves <5>.

5)Remove one of the two grommets on either the No. 2 arm cover C <3> or the solenoid valves <5>. After removing the grommet, peal off the sealing material left on the hole section of the plate.

6)After removing the lock nut attached to the hand input cable, feed the connector side of the hand input cable (with a cable clamp) through the hole on the plate. Replace the removed lock nut in position and fasten it securely.

7)Connect the connectors of "HC1" and "HC2" stored in section A shown in Fig. 3-1to "HC1" and "HC2" of the hand input cable.

8)Mount the No. 2 arm cover C <3> or the solenoid valves <5> to section A shown in Fig. 3-1. When mounting, be careful not to damage the sponge sealing material attached to the opening of section A.

9)When you have completed the installation, reinstall the No.2 arm cover B <2> to its original position, and be careful not to entangle the cables when you do so.

3-34Installing the hand input cable

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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 inputConfirming the operation + J4 axisJ5 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