Mitsubishi Electronics RV-6S instruction manual Recording the origin data

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5Maintenance and Inspection

5.5.4 Recording the origin data

When the origin has been set with the jig method, record that origin data on the origin data label. With this, the ori- gin can be set with the origin data input method the next time.

Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is enclosed with the arm or attached on the back of the shoulder coverB.

The teaching pendant operation method and shoulder coverB removal method for confirming the origin data is the same as the methods for setting the origin with the origin data input method. Refer to "2.3.2Setting the origin with the origin data input method" on page 13, and write the origin data displayed on the teaching pendant onto the origin label.

(1)Confirming the origin data label Remove the shoulder coverB.

Refer to "5.3.2Installing/removing the cover" on page 44, and remove the shoulder coverB.

(2)Confirming the origin data

Confirm the value displayed on the teaching pendant's Origin Data Input screen.

Refer to "2.3.2Setting the origin with the origin data input method""(5)Inputting the origin data" , and display the Origin Data Input screen on the teaching pendant display screen.

(3)Recording the origin data

Write the origin data displayed on the teaching pendant to the origin data label attached to the back of the shoul- der coverB. Refer to "Fig. 2-8Origin data label (an example)" on page 13, and "Fig. 2-9Correspondence of origin data label and axis" on page 16 for details on the origin data label.

(4)Installing the cover

Install the shoulder coverB removed in step "(1)Confirming the origin data label" above. Refer to "5.3.2Installing/removing the cover" on page 44, and replace the shoulder coverB.

This completes the recording of the origin data.

Resetting the origin 5-65

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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