Mitsubishi Electronics RV-6S instruction manual When alarm No occurs, Tool length

2Unpacking to Installation

Changing the flange surface posture

＋Z

STEP	＋	- C
MOVE		(J6)	＋Z
		0 ABC

－＋

STEP	＋	+ C
MOVE		(J6)
		5 STU

STEP		＋	+ A
MOVE			(J4)
		7	YZ_
		＋
	＋X －
STEP	＋	- A
MOVE		(J4)
		2 GHI

Control point

		h
		t
		g			STEP	- B
	n
le						＋ (J5)
l					MOVE
o						1 DEF
o		－
		＋	＋Y
STEP				+ B
MOVE ＋ 6				(J5)
					VWX

－Ｙ

－Ｘ

* The flange position does not change. ＋X ＋Y

－Z

・ When the [MOVE] + [+A (J4)] keys are pressed, The X axis will rotate in the plus direction. When the [MOVE] + [-A (J4)] keys are pressed, Rotate in the minus direction.

・ When the [MOVE] + [+B (J5)] keys are pressed, The Y axis will rotate in the plus direction. When the [MOVE] + [-B (J5)] keys are pressed, Rotate in the minus direction.

・ When the [MOVE] + [+C (J6)] keys are pressed, The Z axis will rotate in the plus direction. When the [MOVE] + [-C (J6)] keys are pressed, Rotate in the minus direction.

◇◆◇ When alarm No. 5150 occurs ◇◆◇

If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data.

◇◆◇ Tool length ◇◆◇

The default tool length is 0mm, and the control point is the center of the end axis.

After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed Explanation of Functions and Operations" for details.

2-24Confirming the operation