Related Manuals for Mitsubishi RP-1AH Series
Summary of Contents for Mitsubishi RP-1AH Series
- Page 1 MITSUBISHI Mitsubishi Industrial Robot RP-1AH/3AH/5AH Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8111-A...
- Page 2 Safety Precautions Safety Precautions Safety Precautions Safety Precautions Always read the following precautions and the separate Always read the following precautions and the separate Always read the following precautions and the separate Always read the following precautions and the separate "Safety Manual"...
- Page 3 The points of the precautions given in the separate "Safety Manual" are given below. The points of the precautions given in the separate "Safety Manual" are given below. The points of the precautions given in the separate "Safety Manual" are given below. The points of the precautions given in the separate "Safety Manual"...
- Page 4 C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.) C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.) C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.) C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.) CAUTION CAUTION...
- Page 5 Revision history Revision history Revision history Revision history Date of Date of Instruction Instruction Date of Date of Instruction Instruction Revision Details Revision Details Revision Details Revision Details Point Point Manual No. Manual No. Point Point Manual No. Manual No. 2000-05-15 2000-05-15 2000-05-15...
- Page 6 ■ Introduction ■ Introduction ■ Introduction ■ Introduction Thank you for purchasing the Mitsubishi industrial robot. Thank you for purchasing the Mitsubishi industrial robot. Thank you for purchasing the Mitsubishi industrial robot. Thank you for purchasing the Mitsubishi industrial robot.
-
Page 7: Table Of Contents
CONTENTS CONTENTS CONTENTS CONTENTS Page Page Page Page 1 1 1 1 Before starting use Before starting use ....................................................................1-1 Before starting use Before starting use ....................................................................1.1 Using the instruction manuals Using the instruction manuals ...................................................... - Page 8 Page Page Page Page (3) Lubrication method Lubrication method Lubrication method of ball screw spline(RP-1AH/3AH/5AH) Lubrication method of ball screw spline(RP-1AH/3AH/5AH) of ball screw spline(RP-1AH/3AH/5AH) of ball screw spline(RP-1AH/3AH/5AH) ......................................5-50 .............. 5-50 5-50 5-50 (4) Lubrication method Lubrication method of ball screw spline(RP-1AHC-SB/3AHC-SB/5AHC-SB) of ball screw spline(RP-1AHC-SB/3AHC-SB/5AHC-SB) ......
-
Page 9: 1 1 1 Before Starting Use Before Starting Use
1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1 Before starting use 1 Before starting use 1 Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the... -
Page 10: Symbols Used In Instruction Manual
1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1.1.2 Symbols used in instruction manual 1.1.2 Symbols used in instruction manual 1.1.2 Symbols used in instruction manual 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this User's Manual. - Page 11 1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1.2 Safety Precautions 1.2 Safety Precautions 1.2 Safety Precautions 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn Always read the following precautions and the separate "Safety Manual"...
-
Page 12: Safety Precautions Safety Precautions
1 1 1 1 Before starting use Before starting use Before starting use Before starting use 1.2.1 Precautions given in the separate Safety Manual 1.2.1 Precautions given in the separate Safety Manual 1.2.1 Precautions given in the separate Safety Manual 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual"... -
Page 13: 2 2 2 Unpacking To Installation Unpacking To Installation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2 Unpacking to Installation 2 Unpacking to Installation 2 Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product 2.1 Confirming the product 2.1 Confirming the product 2.1 Confirming the product The standard configuration of the robot arm section, part of the purchased product, is shown in Table 2-1. -
Page 14: Installation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.2 Installation 2.2 Installation 2.2 Installation 2.2 Installation 2.2.1 Unpacking 2.2.1 Unpacking 2.2.1 Unpacking 2.2.1 Unpacking Manuals, etc. Upper fixing material Connector box retainer Robot arm Connector box Fig.2-1 ：... -
Page 15: Transportation Procedures
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.2.2 Transportation procedures 2.2.2 Transportation procedures 2.2.2 Transportation procedures 2.2.2 Transportation procedures Transportation jig A (RP-1AH/1AHC-SB) Transportation jig D (RP-3AH/3AHC-SB/5AH/5AHC-SB) Transportation jig A fixing bolt M4 ×12 Transportation jig D fixing bolt M4 ×12... -
Page 16: Installation Procedures
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.2.3 Installation procedures 2.2.3 Installation procedures 2.2.3 Installation procedures 2.2.3 Installation procedures M6×35 hexagon socket bolt (4 places) (RP-1AH/1AHC-SB) M8×40 hexagon socket bolt (4 places) (RP-3AH/3AHC-SB/ 5AH/5AHC-SB) Spring washer (RP-1AH/1AHC-SB) Small plain washer (RP-3AH/3AHC-SB/... - Page 17 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation The installation surface of the robot arm has been machined finished, so securely fix the robot arm with the The installation surface of the robot arm has been machined finished, so securely fix the robot arm with the The installation surface of the robot arm has been machined finished, so securely fix the robot arm with the The installation surface of the robot arm has been machined finished, so securely fix the robot arm with the installation holes (RP-1AH...
-
Page 18: Grounding Procedures
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.2.4 2.2.4 2.2.4 2.2.4 Grounding procedures Grounding procedures Grounding procedures Grounding procedures (1) Grounding methods (1) Grounding methods (1) Grounding methods (1) Grounding methods 1) There are three grounding methods as shown in 1) There are three grounding methods as shown in 1) There are three grounding methods as shown in... -
Page 19: Connecting With The Controller
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.2.5 Connecting with the controller 2.2.5 Connecting with the controller 2.2.5 Connecting with the controller 2.2.5 Connecting with the controller Connector box Connector box Connector box Connector box Controller... -
Page 20: Setting The Origin
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.3 Setting the origin 2.3 Setting the origin 2.3 Setting the origin 2.3 Setting the origin The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out The origin is set so that the robot can be used with a high accuracy. -
Page 21: Setting The Origin With The Origin Data Input Method
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.3.2 Setting the origin with the origin data input method 2.3.2 Setting the origin with the origin data input method 2.3.2 Setting the origin with the origin data input method 2.3.2 Setting the origin with the origin data input method (1) Confirming the origin data (1) Confirming the origin data... - Page 22 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (3) Preparing the T/B (3) Preparing the T/B (3) Preparing the T/B (3) Preparing the T/B Next, prepare to use the T/B. Next, prepare to use the T/B. Next, prepare to use the T/B.
- Page 23 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (4) Selecting the origin setting method (4) Selecting the origin setting method (4) Selecting the origin setting method (4) Selecting the origin setting method <T/B screen>...
- Page 24 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (5) Inputting the origin data (5) Inputting the origin data (5) Inputting the origin data (5) Inputting the origin data Input the value confirmed in page 13, "(1) Confirming the origin Input the value confirmed in page 13, "(1) Confirming the origin Input the value confirmed in page 13, "(1) Confirming the origin Input the value confirmed in page 13, "(1) Confirming the origin...
-
Page 25: Installing The Battery Cover
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation ◇◆◇ Moving the cursor ◇◆◇ ◇◆◇ Moving the cursor ◇◆◇ ◇◆◇ Moving the cursor ◇◆◇ ◇◆◇ Moving the cursor ◇◆◇ Press the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys. Press the [ ↑... -
Page 26: Confirming The Operation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation 2.4 Confirming the operation 2.4 Confirming the operation 2.4 Confirming the operation 2.4 Confirming the operation In this section, the robot will be moved manually using the T/B to confirm that the operation is correct. In this section, the robot will be moved manually using the T/B to confirm that the operation is correct. - Page 27 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation ＋ Z axis +Z +Z * While maintaining the posture of * While maintaining the posture of * While maintaining the posture of * While maintaining the posture of the end axis, the robot moves the end axis, the robot moves the end axis, the robot moves...
- Page 28 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation ＋Ｚ axis +Z +Z * The robot moves straight along the * The robot moves straight along the * The robot moves straight along the * The robot moves straight along the ＋...
-
Page 29: Joint Jog Operation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (1) Joint jog operation Joint jog operation Joint jog operation Joint jog operation Select the joint jog mode Select the joint jog mode Select the joint jog mode Select the joint jog mode Press the [MOVE] + [JOINT] keys to select the joint Press the [MOVE] + [JOINT] keys to select the joint... - Page 30 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation J3 axis jog operation J3 axis jog operation J3 axis jog operation J3 axis jog operation When the [MOVE] + [+Z (J3)] keys are pressed, the When the [MOVE] + [+Z (J3)] keys are pressed, the When the [MOVE] + [+Z (J3)] keys are pressed, the When the [MOVE] + [+Z (J3)] keys are pressed, the...
-
Page 31: Xyz Jog Operation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (2) XYZ jog operation XYZ jog operation XYZ jog operation XYZ jog operation Select the XYZ jog mode Select the XYZ jog mode Select the XYZ jog mode Select the XYZ jog mode X,Y,Z X,Y,Z... - Page 32 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation ◇◆◇ When an X appears on the T/B screen display ◇◆◇ ◇◆◇ When an X appears on the T/B screen display ◇◆◇ ◇◆◇ When an X appears on the T/B screen display ◇◆◇ ◇◆◇...
-
Page 33: Tool Jog Operation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (3) Tool jog operation Tool jog operation Tool jog operation Tool jog operation Select the tool jog mode Select the tool jog mode Select the tool jog mode Select the tool jog mode Press the [MOVE] + [TOOL] keys to select the Press the [MOVE] + [TOOL] keys to select the... - Page 34 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation ◇◆◇ When an X appears on the T/B screen display ◇◆◇ ◇◆◇ When an X appears on the T/B screen display ◇◆◇ ◇◆◇ When an X appears on the T/B screen display ◇◆◇ ◇◆◇...
-
Page 35: 3-Axis Xyz Jog Operation 3-Axis Xyz Jog Operation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (4) 3-axis XYZ jog operation 3-axis XYZ jog operation 3-axis XYZ jog operation 3-axis XYZ jog operation Select the 3-axis Select the 3-axis XYZ XYZ jog mode jog mode Select the 3-axis... - Page 36 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation Changing the end axis direction Changing the end axis direction Changing the end axis direction Changing the end axis direction ＋ Z axis * Rotating around the Z axis * Rotating around the Z axis * Rotating around the Z axis * Rotating around the Z axis...
-
Page 37: Cylindrical Jog Operation
2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation (5) Cylindrical jog operation Cylindrical jog operation Cylindrical jog operation Cylindrical jog operation Select the cylindrical jog mode Select the cylindrical jog mode Select the cylindrical jog mode Select the cylindrical jog mode CYLNDER CYLNDER... - Page 38 2 2 2 2 Unpacking to Installation Unpacking to Installation Unpacking to Installation Unpacking to Installation Changing the end axis direction Changing the end axis direction Changing the end axis direction Changing the end axis direction ＋Ｚ axis Vertical Vertical Vertical Vertical * Rotating around the Z axis...
-
Page 39: 3 3 3 Installing The Option Devices Installing The Option Devices
3 3 3 3 Installing the option devices Installing the option devices Installing the option devices Installing the option devices 3 Installing the option devices 3 Installing the option devices 3 Installing the option devices 3 Installing the option devices 3.1 Installing the solenoid valve set 3.1 Installing the solenoid valve set 3.1 Installing the solenoid valve set... -
Page 40: Installing The Option Devices Installing The Option Devices
3 3 3 3 Installing the option devices Installing the option devices Installing the option devices Installing the option devices 3 3 3 3 - - - - 32 32 32 32 Installing the solenoid valve set Installing the solenoid valve set (1A-VD04-RP (1A-VD04-RP/1A-VD04 /1A-VD04E E E E -PR -PR) ) ) ) -
Page 41: 4 4 4 Basic Operations Basic Operations
4 4 4 4 Basic operations Basic operations Basic operations Basic operations 4 Basic operations 4 Basic operations 4 Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic The basic operations from creating the program to automatic operation are explained in section "4. - Page 42 4 4 4 4 Basic operations Basic operations Basic operations Basic operations 4-34 4-34 4-34 4-34...
-
Page 43: 5 5 5 Maintenance And Inspection Maintenance And Inspection
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5 Maintenance and Inspection 5 Maintenance and Inspection 5 Maintenance and Inspection 5 Maintenance and Inspection The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are... -
Page 44: Maintenance And Inspection Maintenance And Inspection
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.2 Inspection items 5.2 Inspection items 5.2 Inspection items 5.2 Inspection items The inspection items for the robot arm are shown below. The inspection items for the robot arm are shown below. The inspection items for the robot arm are shown below. -
Page 45: Inspection Items Inspection Items
If the cables are severely damaged, contact the If the cables are severely damaged, contact the If the cables are severely damaged, contact the If the cables are severely damaged, contact the Mitsubishi Service Department. Mitsubishi Service Department. Mitsubishi Service Department. Mitsubishi Service Department. -
Page 46: Maintenance And Inspection Procedures
The maintenance parts, etc., required for the user to carry out maintenance and inspection are described in section "5.4 Maintenance parts" on page 53 of this manual. Always contact your dealer or the Mitsubishi Service section "5.4 Maintenance parts" on page 53 of this manual. Always contact your dealer or the Mitsubishi Service section "5.4 Maintenance parts"... - Page 47 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection (1) J1 axis J1 axis J1 axis J1 axis The rotation of the J1 axis motor 1 installed on the base, is conveyed through the timing belt 2 to the reduction The rotation of the J1 axis motor 1 installed on the base, is conveyed through the timing belt 2 to the reduction The rotation of the J1 axis motor 1 installed on the base, is conveyed through the timing belt 2 to the reduction The rotation of the J1 axis motor 1 installed on the base, is conveyed through the timing belt 2 to the reduction...
-
Page 48: Installing/Removing The Cover
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.3.2 Installing/removing the cover 5.3.2 Installing/removing the cover 5.3.2 Installing/removing the cover 5.3.2 Installing/removing the cover 2. Grommet base Safety socket 2-M3×25 P truss screw 4-M3×5 5. - Page 49 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection CAUTION CAUTION CAUTION CAUTION Be careful not to damage seal stuck on the surface of the clean type and waterproof Be careful not to damage seal stuck on the surface of the clean type and waterproof Be careful not to damage seal stuck on the surface of the clean type and waterproof Be careful not to damage seal stuck on the surface of the clean type and waterproof- ing type robot cover.
-
Page 50: Inspecting, Servicing, Replacing And Cleaning The Timing Belt
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.3.3 Inspecting, servicing, replacing and cleaning the timing belt 5.3.3 Inspecting, servicing, replacing and cleaning the timing belt 5.3.3 Inspecting, servicing, replacing and cleaning the timing belt 5.3.3 Inspecting, servicing, replacing and cleaning the timing belt This robot uses a timing belt for the drive conveyance system. -
Page 51: Inspecting, Adjusting And Replacing The Upper Base Timing Belt
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection (2) Inspecting, adjusting and replacing the upper base timing belt Inspecting, adjusting and replacing the upper base timing belt Inspecting, adjusting and replacing the upper base timing belt Inspecting, adjusting and replacing the upper base timing belt Timing belt (J3) 5. -
Page 52: Inspecting, Adjusting And Replacing The Lower Base Timing Belt
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection (3) Inspecting, adjusting and replacing the lower base timing belt (3) Inspecting, adjusting and replacing the lower base timing belt (3) Inspecting, adjusting and replacing the lower base timing belt (3) Inspecting, adjusting and replacing the lower base timing belt 1. -
Page 53: Inspecting, Adjusting And Replacing The Timing Belt In No. 1 Arm
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection (4) Inspecting, adjusting and replacing the timing belt in No. 1 arm (4) Inspecting, adjusting and replacing the timing belt in No. 1 arm (4) Inspecting, adjusting and replacing the timing belt in No. - Page 54 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection ■ Inspection method ■ Inspection method ■ Inspection method ■ Inspection method 1) Confirm that the robot controller power is OFF. 1) Confirm that the robot controller power is OFF. 1) Confirm that the robot controller power is OFF.
- Page 55 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 1. Idler installation screw 8 (hexagon socket screw) × 2. Timing belt (J3) 4. Timing pulley 5. Timing pulley [Caution] [Caution] [Caution] [Caution] This drawing shows This drawing shows This drawing shows This drawing shows...
- Page 56 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection (5) Timing belt tension (5) Timing belt tension (5) Timing belt tension (5) Timing belt tension f: Belt pressing force f: Belt pressing force f: Belt pressing force f: Belt pressing force s: Span length...
-
Page 57: Lubrication
5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.3.4 Lubrication 5.3.4 Lubrication 5.3.4 Lubrication 5.3.4 Lubrication (1) Lubrication positions and specifications (1) Lubrication positions and specifications (1) Lubrication positions and specifications (1) Lubrication positions and specifications Upper stopper 3. - Page 58 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection (2) Lubrication method (2) Lubrication method of J1, J2 axis reduction gears of J1, J2 axis reduction gears (2) Lubrication method (2) Lubrication method of J1, J2 axis reduction gears of J1, J2 axis reduction gears 1) Set the robot to the posture shown in Fig.
- Page 59 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.3.5 Replacing the backup battery 5.3.5 Replacing the backup battery 5.3.5 Replacing the backup battery 5.3.5 Replacing the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery...
- Page 60 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5) There is a battery holder in the connector box 3. Remove the old battery from the holder, and disconnect 5) There is a battery holder in the connector box 3. Remove the old battery from the holder, and disconnect 5) There is a battery holder in the connector box 3.
- Page 61 Table 5-5. Purchase these parts from the designated maker. when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm Some Mitsubishi-designated parts differ from the maker's standard parts.
- Page 62 Ｂ Ｕ １ ４ ９ Ｃ ６ ７ ４ Ｇ ５ １ 1 1 1 1 J1 axis J1 axis J1 axis J1 axis Mitsubishi Electric Mitsubishi Electric Mitsubishi Electric Mitsubishi Electric (In the case of serial (In the case of serial...
- Page 63 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.5 Resetting the origin 5.5 Resetting the origin 5.5 Resetting the origin 5.5 Resetting the origin The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out The origin is set so that the robot can be used with a high accuracy.
- Page 64 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5) 5) 5) 5) O O O O rigin posture of the robot arm is shown in the following rigin posture of the robot arm is shown in the following..rigin posture of the robot arm is shown in the following rigin posture of the robot arm is shown in the following The brake of each axis is released, and the end axis is fixed with the transportation jig.
- Page 65 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection <JIG> <JIG> <JIG> <JIG> <JIG> <JIG> <JIG> <JIG> 12345678 12345678 12345678 12345678 6) After setting the robot to the origin posture, 6) After setting the robot to the origin posture, 6) After setting the robot to the origin posture, 6) After setting the robot to the origin posture, SET ORIGIN...
- Page 66 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5.5.2 5.5.2 User origin method User origin method 5.5.2 5.5.2 User origin method User origin method The procedure for setting the origin with the user origin method is explained below. The procedure for setting the origin with the user origin method is explained below.
- Page 67 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection <JIG> 12345678 <JIG> 12345678 <JIG> 12345678 <JIG> 12345678 <JIG> <JIG> <JIG> <JIG> BRAKE (00000000) BRAKE (00000000) BRAKE (00000000) BRAKE (00000000) CHANGES TO ORIGIN CHANGES TO ORIGIN CHANGES TO ORIGIN...
- Page 68 5 5 5 5 Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection 5 5 5 5 - - - - 60 60 60 60 Resetting the origin Resetting the origin Resetting the origin Resetting the origin...
- Page 69 HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CAB LE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN JUL..2000 MEE Printed in Japan on recycled paper. JUL..2000 MEE Printed in Japan on recycled paper.
Need help?
Do you have a question about the RP-1AH Series and is the answer not in the manual?
Questions and answers