Mitsubishi Electric RV-4FM-SE Series Instruction Manual page 10

3.4 Installing the hand output cable ...................................................................................................................................... 3-69
3.5 Installing the Forearm external wiring set/ Base external wiring set ............................................................. 3-72
(1) Installing the Forearm external wiring set ....................................................................................................... 3-72
(2) Installing the Base external wiring set ............................................................................................................. 3-73
4 Basic operations ............................................................................................................................................................................ 4-75
5 Maintenance and Inspection ..................................................................................................................................................... 5-76
5.1 Maintenance and inspection interval ............................................................................................................................. 5-76
5.2 Inspection items ..................................................................................................................................................................... 5-77
5.2.1 Daily inspection items .................................................................................................................................................. 5-77
5.2.2 Periodic inspection ........................................................................................................................................................ 5-78
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-79
5.3.1 Robot arm structure ..................................................................................................................................................... 5-79
5.3.2 Installing/removing the cover ................................................................................................................................... 5-82
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-85
(1) Timing belt replacement period ......................................................................................................................... 5-85
(2) Inspection, maintenance and replacement of J1-axis timing belt (RV-4F/7F series only) ...... 5-86
(3) Inspection, maintenance and replacement of J3-axis timing belt (RV-4F/7F series only) ...... 5-87
(4) Inspection, maintenance and replacement of J4-axis timing belt ........................................................ 5-88
(5) Inspection, maintenance and replacement of J4-axis timing belt (For RV-13F series) ............. 5-89
(6) Inspection, maintenance and replacement of J5 axis timing belt ......................................................... 5-90
(7) Inspection, maintenance and replacement of J6-axis timing belt ........................................................ 5-92
(8) Timing belt tension ................................................................................................................................................... 5-94
5.3.4 Lubrication ........................................................................................................................................................................ 5-95
(1) Lubrication position and specifications ............................................................................................................ 5-95
(2) Lubrication method ................................................................................................................................................... 5-97
5.3.5 Replacing the backup battery ................................................................................................................................... 5-99
(1) Replacing the battery (robot arm) ................................................................................................................... 5-100
5.4 About Overhaul ................................................................................................................................................................... 5-101
5.5 Maintenance parts .............................................................................................................................................................. 5-102
5.6 Resetting the origin ........................................................................................................................................................... 5-104
5.6.1 Jig method ..................................................................................................................................................................... 5-105
(1) J1 axis origin setting ............................................................................................................................................. 5-106
(2) J2 axis origin setting ............................................................................................................................................. 5-108
(3) J3 axis origin setting ............................................................................................................................................. 5-111
(4) J4 axis origin setting ............................................................................................................................................. 5-114
(5) Origin setting of J5 axis and J6 axis (jig) ..................................................................................................... 5-116
5.6.2 ABS origin method ..................................................................................................................................................... 5-119
(1) Select the T/B ........................................................................................................................................................ 5-121
5.6.3 User origin method ..................................................................................................................................................... 5-123
5.6.4 Recording the origin data ........................................................................................................................................ 5-125
(1) Confirming the origin data label ........................................................................................................................ 5-125
(2) Confirming the origin data .................................................................................................................................. 5-125
(3) Recording the origin data .................................................................................................................................... 5-125
(4) Installing the cover ................................................................................................................................................ 5-125
6Appendix ............................................................................................................................................................................ Appendix-126
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-126
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