Mitsubishi RH-3SQHR3515 Instruction Manual page 67

Note : This operation is necessary for position adjustment of the mechanism stopper. Although it is not
alteration visible especially, performs sure. Because to move correctly, move at 10% or less speed.
a) First, move to +130 degree or more.
<CURRENT>
J1: +130.00
J2: +0.00
J3: -560.00
J4: +0.00
TOOL
XYZ
b) Next, move within -110 to -115 degree.
<CURRENT>
J1: -115.00
J2: +0.00
J3: -560.00
J4: +0.00
TOOL
XYZ
c) Finally stop within -5 to +5 degree.
(Position adjustment of the mechanism stopper is completed now)
<CURRENT>
J1: +5.00
J2: +0.00
J3: -560.00
J4: +0.00
TOOL
XYZ
5) Turn OFF the power supply of the drive unit.
6) Install operating range change optional (calls as pin henceforth).
Insert the pin in the holes of plus side and minus side each under the two removed pin covers. (Both of the pin
are the same.) Fixing the pin with the fixing screw removed before in the original screw hole securely.
7) Confirm whether the mechanism stopper is installed correctly.
turn on the power supply of the controller.
8) With servo off, move the J1 axis to the mechanism stopper of plus side by hand. (Position at which it stops by
the mechanism stopper)
9) Confirm the current coordinate value.
Press the [JOG] key of T/B and display the current coordinate value. (Choose joint jog mode)
If the coordinate value of the J1 axis is nearly +90 degrees, the mechanism stopper is installed correctly.
10) Confirm the minus side in the same way.
If not installed correctly, please reinstall the pin.
11) Install the base cover B(L) and (R) as before.
12) Setting the operation range parameter. Turn on the power supply of the drive unit.
Parameter: MEJAR ............Set "-90" and "+90" as the 1st element and the 2nd element each.
Parameter: MORG..............Set "+93" as the 1st element.
*Refer to the separate manual "Detailed Explanation of Functions and Operations" (Operation of maintenance
screen, Movement parameter) for details of operation
13) Confirm movement. Turn off the drive unit power supply once.
14) Confirm that the J1 axis does not move the +/- 90 degree or more with joint jog operation.
The operating range change of J1 axis is completion above.
JOINT 100% M1 T0 B*
:
:
:
:
JOG 3-XYZ CYLNDR
⇒
JOINT 100% M1 T0 B*
:
:
:
:
JOG 3-XYZ CYLNDR
⇒
JOINT 100% M1 T0 B*
:
:
:
:
3-XYZ CYLNDR
JOG ⇒
+130 degree or more
Within -110 to -115 degree
Within -5 to +5 degree
Changing the operating range 3-57
3Installing the option devices