Mitsubishi Electronics RV-6S instruction manual Installing the hand output cable

Page 45

3Installing the option devices

3.3 Installing the hand output cable

The procedure for installing the hand output cable is as follows. Conduct work by referring to "Fig. 3-1Solenoid valve installation procedures" on page 31 and "Fig. 3-5Installing the hand output cable" on page 35 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

 

 

 

 

 

 

GR1 GR2

View D

Fig.3-5 ： Installing the hand output 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 output cable can be installed to both the No. 2 arm cover C <3> and the solenoid valves <5>. However, if solenoid valves of three rows or more are used, it is not possible to install a hand output cable separately because the hand output connectors (2 pcs.) in the forearm and the solenoid valves are already connected.

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 output cable, feed the connector side of the hand output 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 "GR1" and "GR2" stored in section A shown in Fig. 3-1to "GR1" and "GR2" of the hand output 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.

Installing the hand output cable 3-35

Page 44 Page 46
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Page 44 Page 46
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 Installing the teaching pendant T/B Setting the originInstalling with the control power OFF Remove T/B switchTurning on the control power When T/B operations are mistaken Preparing the T/BOperating from the T/B Selecting a menu Selecting the origin setting methodChanges to Origin Inputting the origin dataMoving the cursor Installing the shoulder coverBInputting characters Correcting an input＋ J4 axis Confirming the operationJ5 axis J1 axisControl point － ＋ Control point ＋X＋YRadius Arc Control point ＋X＋Y ＋ J4 J6 － Control point ＋X＋YJoint jog operation When the robot is in the transportation posture－ ＋ J1 axis J2 axisJ3 axis When an XＸ appears on the T/B screen displayJ6 axis ＋ J4 axisXYZ 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 ABS origin method View aJ4 axis J3 axis J6 axis J5 axis J1 axis J2 axis ABS mark64Resetting 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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