Mitsubishi Electronics RV-6S instruction manual 64Resetting the origin

Page 74

5Maintenance and Inspection

The procedures for setting the origin with the ABS method are explained below.

(1) Select the T/B

 

 

 

 

 

 

 

 

 

 

<MENU>

 

 

 

 

 

 

 

 

 

 

 

 

 

<MAINT>

 

 

 

 

 

1.TEACH

2.RUN

 

1.PARAM 2.INIT

 

 

3.FILE

4.MONI

 

 

 

 

 

 

 

 

 

 

3.BRAKE

4.ORIGIN

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

5.MAINT

6.SET

 

5.POWER

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

+C

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(J6)

 

 

 

 

 

Select the Maintenance screen

5

STU

 

 

 

 

 

 

 

<MAINT>

 

 

 

 

 

 

 

 

 

 

 

 

 

<ORIGIN>

 

 

 

 

 

1.PARAM 2.INIT

 

1.DATA

 

2.MECH

 

 

3.BRAKE

4.ORIGIN

 

 

 

 

 

 

3.JIG

 

4.ABS

 

 

 

 

 

 

 

 

 

 

 

 

5.POWER

 

 

 

 

 

 

 

 

 

 

 

 

 

5.USER

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

-Y

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(J2)

 

 

 

 

 

Select the Origin Setting screen

4

MNO

 

 

 

 

 

 

 

<ORIGIN>

 

<ABS>

 

 

 

 

 

 

1.DATA

2.MECH

 

 

 

 

 

 

 

SERVO OFF

 

 

 

 

 

 

 

3.JIG

4.ABS

 

 

 

 

 

 

 

OK ? (1)

 

 

 

 

 

 

 

 

 

 

 

5.USER

 

 

 

 

 

 

 

 

 

 

 

 

 

1:EXECUTE

 

 

 

 

 

 

-Y

 

-B

INP

 

 

 

 

 

 

 

(J2) →

 

(J5) →

 

 

 

 

 

 

 

 

 

EXE

 

 

Select the ABS method 4 MNO

1

DEF

 

 

 

 

 

 

1)Press the [5] key on the Menu screen to select the Maintenance screen.

2)Press the [4] key to select the Origin Setting screen.

3)Press the [4] key to select the ABS method. After that, press the [1] key and [INP] key to turn the servo OFF.

<ABS> 12345678

 

 

<ABS>

BRAKE(00000000)

 

 

 

SERVO OFF

SET AXIS (11110000)

 

 

OK ? (1)

ORIGIN :NOT DEF

 

 

1:EXECUTE

4)Press the [↓] key, and input "1" for the axis to set the origin in "SET AXIS". Press the [INP] key to display the Confirmation screen.

 

 

 

 

 

 

RPL

-B

INP

 

 

 

 

 

 

↓

→ (J5) →

EXE

 

Execute the origin setting (confirmation)

1 DEF

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

<ABS>

<ABS>

12345678

 

 

5) Press the [1] key and then press the [INP] key.

SET ORIGIN

 

 

BRAKE (00000000)

 

 

The origin will be set.

OK?(1)

 

 

 

SET JIG (11110000)

 

 

 

 

 

 

 

1:EXECUTE

ORIGIN :NOT DEF

 

 

 

 

 

 

 

-B

 

INP

 

 

 

 

 

 

 

 

(J5)

 

 

 

 

 

 

 

 

 

 

 

→ EXE

 

 

 

 

Execute the origin setting 1 DEF

 

 

 

 

 

 

 

 

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

5-64Resetting the origin

Page 73 Page 75
Image 74
Page 73 Page 75
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 Operating from the T/B When T/B operations are mistakenPreparing 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
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