Mitsubishi Electronics RV-6S instruction manual Contents

Page 9

 

 

CONTENTS

 

 

 

 

Page

1 Before starting use

1-1

1.1

Using the instruction manuals

1-1

1.1.1 The details of each instruction manuals

1-1

1.1.2 Symbols used in instruction manual

1-2

1.2

Safety Precautions

1-3

1.2.1 Precautions given in the separate Safety Manual

1-4

2 Unpacking to Installation

2-5

2.1

Confirming the product

2-5

2.2

Installation

2-6

2.2.1 Unpacking

2-6

2.2.2 Transportation procedures (Transporting with a crane)

2-7

2.2.3 Installation procedures

2-8

2.2.4 Grounding procedures

2-9

 

(1)

Grounding methods

2-9

 

(2)

Grounding procedures

2-9

2.2.5 Connecting with the controller

2-10

2.3

Setting the origin

2-12

2.3.1 Installing the teaching pendant (T/B)

2-12

 

(1)

Installing with the control power OFF

2-12

2.3.2 Setting the origin with the origin data input method

2-13

 

(1)

Confirming the origin data

2-13

 

(2)

Turning ON the control power

2-13

 

(3)

Preparing the T/B

2-14

 

(4)

Selecting the origin setting method

2-15

 

(5)

Inputting the origin data

2-16

 

(6)

Installing the shoulder coverB

2-17

2.4

Confirming the operation

2-18

 

(1)

JOINT jog operation

2-21

 

(2)

XYZ jog operation

2-23

 

(3)

TOOL jog operation

2-25

 

(4)

3-axis XYZ jog operation

2-27

 

(5)

CYLNDER jog operation

2-29

3 Installing the option devices

3-31

3.1

Installing the solenoid valve set (1S-VD01-02/VD02-02/VD03-02/VD04-02)

3-31

3.2

Installing the hand input cable

3-34

3.3

Installing the hand output cable

3-35

3.4

.Changing the operating range

3-36

4 Basic operations

4-38

5 Maintenance and Inspection

5-39

5.1

Maintenance and inspection interval

5-39

5.2

Inspection items

5-40

5.2.1 Daily inspection items

5-40

5.2.2 Periodic inspection

5-41

5.3

Maintenance and inspection procedures

5-42

5.3.1 Robot arm structure

5-42

5.3.2 Installing/removing the cover

5-44

5.3.3 Inspection, maintenance and replacement of timing belt

5-46

 

(1)

Timing belt replacement period

5-46

 

(2)

Inspection, maintenance and replacement of J5-axis timing belt

5-47

 

(3)

Timing belt tension

5-48

5.3.4 Lubrication

5-49

 

(1)

Lubrication position and specifications

5-49

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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 Installing the teaching pendant T/B Setting the originInstalling with the control power OFF Remove T/B switchTurning 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 dataMoving the cursor Installing the shoulder coverBInputting characters Correcting an input+ J4 axis Confirming the operationJ5 axis J1 axisControl point - + Control point +X+YRadius Arc Control point +X+Y + J4 J6 - Control point +X+YJoint jog operation When the robot is in the transportation posture- + J1 axis J2 axisJ3 axis When an XX appears on the T/B screen displayJ6 axis + J4 axisXYZ 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 ABS origin method View aJ4 axis J3 axis J6 axis J5 axis J1 axis J2 axis ABS mark64Resetting the origin Recording the origin data RIGHT/LEFT Appendix Appendix 1 : Configuration flagConfiguration flag Appendix-67 Specifications are subject to change without notice