J4 Axis Origin Setting (Only 6-Axis Type) - Mitsubishi RV-2AJ Instruction Manual

5Maintenance and Inspection

(5) J4 axis origin setting (Only 6-axis type)

<MECHA> 12345678
BRAKE (00100000)
SET AXIS(11111000)
ORIGIN :NOT DEF
Designate the origin setting axis
CAUTION
CAUTION
<MECHA> 12345678
BRAKE (00000000)
SET AXIS(11111000)
ORIGIN :NOT DEF
Designate the origin setting axis
5-72 Resetting the origin
-B
(J5)
1
DEF
J3(‑)
Front of base
6‑axis type
For safety purposes, the step for releasing the brakes must be carried out by two
workers. One worker must operate the T/B, and the other must support the arm.
When the brakes are released, the robot arm could drop by its own weight depending
on the posture.
If the T/B [+X] key or the deadman switch is released, the brakes will be applied
immediately.
-B
(J5)
1
DEF
6‑axis type
1) Before moving the twist axis, move the J3 axis
to prevent arm interference.
Press the [0] key twice and then press the [1]
key. "1" will display at the 3 position to set the
brake release.
2) Confirm the axis for which the brakes are to be
released.
3) One worker must securely support the fore arm
with both hands.
4) While holding down the deadman switch, hold
down the [MOVE] + [+X] keys. The brakes will
be released while the keys are held down.
5) With both hands, slowly move the J3 axis in -
(minus) direction. Stop at a position where the
arm will not interfere even if the J4 axis is
rotated, and then apply the brakes.
Then, set the J4 axis origin.
6) With both hands, slowly move the J4 axis in -
(minus) direction, and contact the axis against
the mechanical stopper. The J4 axis dose not
have a brake.
J4(‑)