Mitsubishi Electronics RV-6S instruction manual Maintenance and inspection procedures

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5Maintenance and Inspection

<8>J6 axis <7>J4 axis motor	<5>J3 axis motor
reduction gear
<9>J5 axis motor	Elbow

Fore arm

<12>J6 axis motor

<13>J6 axis reduction gear

		<6>J3 axis
		reduction gear
	<10>J5 axis timing belt
Wrist housing	<11>J5 axis
Wrist housing	reduction gear	Upper arm
		<2>J1 axis
		reduction gear
	Shoulder

<3>J2 axis motor

<4>J2 axis reduction gear

<1>J1 axis motor

Fig 5-2 ： Outline structure of robot arm

Maintenance and inspection procedures 5-43

Image 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 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 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 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