Mitsubishi RV-6S Series Instruction Manual page 34

2Unpacking to Installation
Changing the flange surface posture
* The flange position does not change.
・ 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.
Confirming the operation
2-24
- C
STEP
＋
(J6)
＋Z
MOVE
0 ABC
－
＋
STEP + A
＋
(J4)
MOVE
7 YZ_
＋
＋X
－
- A
STEP
＋
(J4)
MOVE
2 GHI
Control point
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+ C
STEP
＋
(J6)
MOVE
5 STU
- B
STEP
＋
(J5)
MOVE
1 DEF
－
＋Y
＋
+ B
STEP
＋
(J5)
MOVE
6 VWX
－Ｙ
＋X
＋Z
－Ｘ
＋Y
－Z