Mitsubishi Electronics RV-6S instruction manual 60Resetting the origin

Page 70

5Maintenance and Inspection

(6) J6 axis origin setting

 

 

 

<TOOL>

12345678

 

 

 

BRAKE

(00000000)

 

 

 

SET AXIS(11110000)

 

 

 

ORIGIN

:NOT DEF

 

-B

 

 

 

(J5)

 

Designate the origin setting axis

1

DEF

 

 

 

ABS mark

J6 axis

Bolt (M5: 2 bolts)

Prepared by customer

CAUTION The J6-axis dose not have a mechanical stopper. When setting the origin position , do not rotate the axis more than themotion range( ± 200 deg.).

RPL

Move the cursor

<TOOL>

12345678

 

 

 

 

 

 

 

 

 

 

BRAKE

(00000000)

 

 

 

 

 

 

 

 

 

 

SET AXIS(00000100)

 

 

 

 

 

 

 

 

 

 

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 (00000100)

ORIGIN :COMPLETED

1)Slowly move the J6 axis with both hands, and align the ABS mark of the wrist housing with the ABS mark of the hand mounting flange.

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 6 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".

This completes the setting of the origin with the jig method.

5-60Resetting the origin

Image 70
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 Installing with the control power OFF Setting the originInstalling the teaching pendant T/B 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 OriginInputting characters Installing the shoulder coverBMoving the cursor Correcting an inputJ5 axis Confirming the operation+ J4 axis J1 axis- + Control point +X+Y Control point+ J4 J6 - Control point +X+Y Radius Arc Control point +X+Y- + J1 axis When the robot is in the transportation postureJoint jog operation J2 axisJ6 axis + When an XX appears on the T/B screen displayJ3 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 J4 axis J3 axis View aABS origin method 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