Mitsubishi Electric MELFA RV-FR Series Instruction Manual page 11

(4) Setting the parameter ............................................................................................................................................. 3-53
(5) Check the operating range .................................................................................................................................... 3-54
3.2 Installing the J1 axis operating range change (RV-4FR/7FR/13FR series) ................................................ 3-55
3.2.1 RV-4FR/7FR series ..................................................................................................................................................... 3-55
(1) Configuration ............................................................................................................................................................... 3-55
(2) Changeable angle ....................................................................................................................................................... 3-56
(3) Installation procedure .............................................................................................................................................. 3-58
(4) Setting the parameter ............................................................................................................................................. 3-59
(5) Check the operating range .................................................................................................................................... 3-59
3.2.2 RV-13FR series .............................................................................................................................................................. 3-60
(1) Configuration ............................................................................................................................................................... 3-60
(2) Changeable ................................................................................................................................................................... 3-60
(3) Installation procedure .............................................................................................................................................. 3-62
(4) Setting the parameter ............................................................................................................................................. 3-64
(5) Check the operating range .................................................................................................................................... 3-64
3.3 Installing the solenoid valve set ...................................................................................................................................... 3-65
(1) RV-2FR series ............................................................................................................................................................ 3-65
3.3.1 RV-4FR/7FR series, RV-7FRLL ............................................................................................................................. 3-67
(1) RV-4FR/7FR series, RV-7FRLL ........................................................................................................................ 3-68
(2) RV-13FR/13FRL, RV-20FR ................................................................................................................................. 3-77
3.4 Installing the hand input cable ......................................................................................................................................... 3-81
(1) RV-4FR/7FR/13FR series .................................................................................................................................... 3-81
3.5 Installing the hand output cable ...................................................................................................................................... 3-83
(1) RV-4FR/7FR/13FR series .................................................................................................................................... 3-83
3.6 Installing the forearm external wiring set/base external wiring set ................................................................. 3-86
3.6.1 Installing the forearm external wiring set ............................................................................................................ 3-87
3.6.2 Installing the base external wiring set ................................................................................................................... 3-89
4 Basic operations ............................................................................................................................................................................ 3-91
5 Maintenance and Inspection ..................................................................................................................................................... 4-92
5.1 Type of inspection and maintenance works ............................................................................................................... 4-92
5.2 Inspection items ..................................................................................................................................................................... 4-93
5.2.1 Daily inspection items .................................................................................................................................................. 4-93
5.2.2 Periodic inspection ........................................................................................................................................................ 4-94
(1) Inspection item ........................................................................................................................................................... 4-94
(2) Schedule ........................................................................................................................................................................ 4-95
5.3 Maintenance and inspection procedures ..................................................................................................................... 4-96
5.3.1 Robot arm structure ..................................................................................................................................................... 4-96
(1) RV-2FR series ............................................................................................................................................................ 4-96
5.3.2 Installing/removing the cover ................................................................................................................................ 4-100
(1) RV-2FR series ......................................................................................................................................................... 4-100
(2) RV-4FR/7FR series .............................................................................................................................................. 4-102
(3) RV-13FR series ...................................................................................................................................................... 4-104
5.3.3 Inspection replacement of timing belt ................................................................................................................ 4-105
(1) Timing belt replacement period ...................................................................................................................... 4-106
(2) Timing belt tension measurement ................................................................................................................... 4-107
(3) RV-2FR series: Inspection and replacement of J1-axis timing belt ................................................ 4-108
(4) RV-2FR series: Inspection and replacement of J2-axis timing belt ................................................ 4-110
(5) RV-2FR series: Inspection and replacement of J3-axis timing belt ................................................ 4-112
(6) RV-2FR series: Inspection and replacement of J4-axis timing belt ................................................ 4-114
(7) RV-2FR series: Inspection and replacement of J5 axis timing belt and brake timing belt ..... 4-116
(8) RV-2FR series: Inspection and replacement of J6-axis timing belt and brake timing belt .... 4-120
(9) RV-4FR/7FR series: Inspection and replacement of J1-axis timing belt ...................................... 4-124
(10) RV-4FR/7FR series: Inspection and replacement of J3-axis timing belt ................................... 4-126
(11) RV-4FR/7FR series (6-axes type): Inspection and replacement of J4-axis timing belt ...... 4-129
(12) RV-13FR series: Inspection and replacement of J4-axis timing belt ........................................... 4-130
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