Mitsubishi Electronics RV-6S instruction manual Resetting the origin, Method Explanation Remarks

Page 63

5Maintenance and Inspection

5.5 Resetting the origin

The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work. The origin must be reset if the combination of robot and controller being used is changed or if the motor is changed causing an encoder area. The types of origin setting methods are shown in Table 5-8.

[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset the origin using the jig method or ABS origin method.

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Table 5-8 ： Origin setting method

No	Method	Explanation	Remarks


1	Origin data input	The origin data set as the default is input from	The setting method is explained in "2.3Setting the
	method	the T/B.	origin" on page 12 .

2	Jig method	The origin posture is set with the calibration jig	The setting method is explained in "5.5.1Jig method" on
		installed.	page 54 .

3	User origin method	A randomly designated position is set as the	Before using this method, the origin must be set with the
		origin posture.	other method.
			The setting method is explained in "5.5.2User origin
			method" on page 61.

4	ABS origin method	This method is used when the encoder backup	Before using this method, the origin must be set with the
		data lost in the cause such as battery cutting.	other method with same encoder. The setting method is
			explained in "5.5.3ABS origin method" on page 63.

Note) Although "OP setting" by the mechanical stopper method can also be selected, it is not recommended for this robot. Please use one of the methods listed in Table 5-8.

Resetting the origin 5-53

Image 63

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 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 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＋YJ2 axis When the robot is in the transportation postureJoint 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