Mitsubishi Electronics RV-6S instruction manual J3 axis origin setting

Page 67

5Maintenance and Inspection

(3) J3 axis origin setting
	<TOOL>	12345678
	BRAKE	(00000000)
	SET AXIS(11110000)
	ORIGIN	:NOT DEF		-B
			(J5)
	Designate the origin setting axis		1	DEF
	Designate the origin setting axis

Pinhole (J3 axis)

RPL

↓

Move the cursor

<TOOL>

12345678

BRAKE

(00000000)

SET AXIS(00100000)

ORIGIN

:NOT DEF

-B

・

-C

INP

(J5)

(J6)

→ EXE

Designate the origin setting axis

1

DEF

0 ABC

<TOOL>

SET ORIGIN

OK?(1)

1:EXECUTE

-B

INP

(J5)

→ EXE

Set the origin

1 DEF

<TOOL>

12345678

BRAKE

(00000000)

SET AXIS (00100000)

ORIGIN :COMPLETED

1)Slowly rotate the J3 axis to the plus direction with both hands. Align the pinholes of the No. 1 and No. 2 arm, feed through the origin jig (φ8) into the pinholes and fasten.

2)Press the [ ↓ ] key. The cursor will move to "SET AXIS".

3)Designate the axis for which the origin is to be set.. Set "1" for the 3 axis, and set "0" for the other axes. Then, press [INP] key. Next, a confirmation screen will appear.

4)Press the [1] and [INP] keys.

The origin posture will be set.

5)Setting of the origin is completed.

6)Refer to "5.5.4Recording the origin data" on page 65 in this manual, and record the origin data on the origin data seal.

◇◆◇ Origin setting axis designation ◇◆◇

Move the cursor to the "SET AXIS" axis No. in the origin setting with the [ ← ] or [ → ] key.

The origin is set only for the axis for which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0".

Resetting the origin 5-57

Image 67

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 Preparing the T/B When T/B operations are mistakenOperating 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