Mitsubishi Electronics RV-6S Maintenance and inspection procedures, Robot arm structure

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5Maintenance and Inspection

5.3 Maintenance and inspection procedures

The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Depart- ment for a fee. (Never disassemble, etc., the parts not described in this manual.)

The maintenance parts, etc., required for the customer to carry out maintenance and inspection are described in "5.4Maintenance parts" on page 52 of this manual. Always contact your dealer when parts are needed.

CAUTION The origin of the machine system could deviate when this work is carried out. "Review of the position data" and "re-teaching" will be required.

5.3.1 Robot arm structure

An outline structure drawing is shown in . Each part is as shown below.

1)The J1 axis rotation is driven by the J1 axis motor <1> and reduction gears <2> arranged in the base. Non-excitation magnetic brakes are mounted in the J1axis motor <1>.

2)The J2 axis rotation is driven by the J2 axis motor <3> and reduction gears <4> arranged in the shoulder. Non-excitation magnetic brakes are mounted in the J2 axis motor <3>.

3)The J3 axis rotation is driven by the J3 axis motor <5> and reduction gears <6> arranged in the shoulder. Non-excitation magnetic brakes are mounted in the J3 axis motor <5>.

4)The J4 axis rotation is driven by the J4 axis motor <7> and reduction gears <8> arranged in the elbow block. Non-excitation magnetic brakes are mounted in the J4 axis motor <7>.

5)The rotation of the J5 axis motor <9> arranged in the forearm is conveyed to the reduction gears <11> via the timing belt <10> to rotate the wrist housing and following parts.

Non-excitation magnetic brakes are mounted in the J5 axis motor <9>.

6)The rotation of the J6 axis is driven by the J6 axis motor <12> arranged in the wrist housing and the reduc- tion gears <13>.

Non-excitation magnetic brakes are mounted in the J6 axis motor <12>.

5-42Maintenance and inspection procedures

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Page 51 Page 53
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 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 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
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