Mitsubishi RV-2AJ Instruction Manual
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Mitsubishi RV-2AJ Instruction Manual

Industrial robot
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MITSUBISHI
Mitsubishi Industrial Robot
RV-2A/3AJ
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8183-B

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Summary of Contents for Mitsubishi RV-2AJ

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot RV-2A/3AJ INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8183-B...
  • Page 2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) →...
  • Page 3 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ - ment, etc.) CAUTION Transport the robot with the designated transportation posture.
  • Page 4 C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.) CAUTION Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage. Confirm the set - ting connector of the input power supply voltage of the controller, if the type which more than one power supply voltage can be used.
  • Page 5 Revision history Date of Point Instruction Manual No. Revision Details 2001-09-11 BFP-A8183Z First print 2001-09-25 BFP-A8183 Formal style 2001-12-06 BFP-A8183-A The explanation of the attached part of packing was added. Error in writing correction. 2002-04-23 BFP-A8183-B Error in writing correction.
  • Page 6 ■ Introduction Thank you for purchasing the Mitsubishi industrial robot. This instruction manual explains procedures to be taken for unpacking, installing, servicing and inspecting the robot arm. Always read through this manual before starting use to ensure correct usage of the robot.

  • Page 7: Table Of Contents

    CONTENTS Page 1 Before starting use ..................................1-1 1.1 Using the instruction manuals ............................1-1 1.1.1 The details of each instruction manuals ........................ 1-1 1.1.2 Symbols used in instruction manual ........................1-2 1.2 Safety Precautions ................................. 1-3 1.2.1 Precautions given in the separate Safety Manual ..................... 1-4 2 Unpacking to Installation ................................
  • Page 8 Page 5.1 Maintenance and inspection interval ..........................5-43 5.2 Inspection items ..................................5-44 5.2.1 Daily inspection items ..............................5-44 5.2.2 Periodic inspection ................................ 5-45 5.3 Maintenance and inspection procedures ........................5-46 5.3.1 Robot arm structure ..............................5-46 5.3.2 Installing/removing the cover ........................... 5-48 5.3.3 Inspection, maintenance and replacement of timing belt ................

  • Page 9: Before Starting Use

    1Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the safety precautions. 1.1 Using the instruction manuals 1.1.1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

  • Page 10: Symbols Used In Instruction Manual

    1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this User's Manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1 ： Symbols in instruction manual Symbol Meaning Precaution indicating cases where there is a risk of operator fatality or seri -...

  • Page 11: Safety Precautions

    1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) →...

  • Page 12: Precautions Given In The Separate Safety Manual

    1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults.

  • Page 13: Unpacking To Installation

    2Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1. Confirm the parts. Users who have purchased optional products should refer to the separate "Standard Specifications". Table 2-1 ：...

  • Page 14: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking Cushioning material A Cushioning material B   Robot arm Cushionin material B Note) The cushioning material will be required if the robot is transported again , so save it in a safe place. Fig.2-1 ： Unpacking the robot arm The robot is shipped from the factory in cardboard packing.

  • Page 15: Transportation Procedures(Transportation By People)

    2Unpacking to Installation 2.2.2 Transportation procedures(Transportation by people) Forearm   Elbow cover CAUTION CAUTION CAUTION CAUTION Upper arm Waist Don't hold the resin  cover when carrying  Base   the robot, as this  may lead to breakage. BU147D428H02 Note) The figure shows the 6-axis type, but this also applies for the 5-axis type. CAUTION CAUTION CAUTION CAUTION...

  • Page 16: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures 1) The robot installation surface has been machine finished. Use the installation holes (4-φ9 holes) opened at the four corners of the base, and 4‑M8X30  securely fix the robot with the enclosed installa - Hexagon socket head bolt tion bolts (M8 x 30 hexagon socket bolts).

  • Page 17: Grounding Procedures

    2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-4, but the dedicated grounding (Fig. 2-4 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"...

  • Page 18: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller Controller Robot arm Motor power （CN1） Motor power cable（5m） Motor signal （CN2） Motor signal cable（5m） Fig.2-6 ： Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"...

  • Page 19: Setting The Origin

    2Unpacking to Installation 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 this step before starting work. This step must also be carried out if the combination of robot and controller being used is changed.

  • Page 20: Setting The Origin With The Origin Data Input Method

    2Unpacking to Installation 2.3.2 Setting the origin with the origin data input method (1) Confirming the origin data ● Origin data history table (Origin Data History) Serial No.ES804008 The origin data to be input is noted in the Date Default .

  • Page 21: Preparing The T/B

    2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B EMG.STOP STATUS NUMBER CHANG DISP 1) Set the [MODE] switch on the front of the controller to "TEACH". MODE SVO ON START RESET TEACH AUTO AUTO (Op.) (Ext.) REMOVE T/B SVO OFF...

  • Page 22: Selecting The Origin Setting Method

    2Unpacking to Installation (4) Selecting the origin setting method <T/B screen> [Keys used] <MENU> 1) Press the [5] key on the menu screen, and display the maintenance screen. 1.TEACH 2.RUN 3.FILE 4.MONI (J6) 5.MAINT 6.SET <MAINT> 2) Press the [4] key on the maintenance screen, and display the origin setting 1.PARAM 2.INIT method selection screen.

  • Page 23: Inputting The Origin Data

    2Unpacking to Installation (5) Inputting the origin data Input the value confirmed in section "(1) Confirming the origin Origin data label data" on page T/B screen (D,J1,J2,J3,J4,J5,J6) The correspondence of the origin data label value and axis to be <DATA> D( D ) input is shown in Fig.

  • Page 24: Installing The Shoulder Cover (B)

    2Unpacking to Installation ◇◆◇ Moving the cursor ◇◆◇ Press the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys. ◇◆◇ Inputting characters ◇◆◇ Hold down the [CHAR] key and press the key with the character to be input on the lower right. Three characters wi scroll each time the character key is pressed.

  • Page 25: Confirming The Operation

    2Unpacking to Installation 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. Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis, the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate system, and the CYLNDER jog that moves along the circular arc.
  • Page 26 2Unpacking to Installation ＋Z ＋Z ＋Z － ＋ － ＋ ＋Y － ＋ ＋X Control point Control point －Ｙ －Ｙ －Ｘ －Ｘ ＋X ＋X ＋Y ＋Y －Z －Z 5-axis type 6-axis type * While maintaining the flange surface posture, the axis moves straight along the base coor - dinate system.
  • Page 27 2Unpacking to Installation ＋Z ＋ ＋Z － － － ＋ ＋ Control Control ＋ point ＋ point － － －Ｙ －Ｙ －Ｘ －Ｘ ＋X ＋X ＋Y ＋Y －Z －Z 5-axis type 6-axis type * The axis moves straight along the base coordinate system. At this time, the flange surface posture is not maintained.

  • Page 28: Joint Jog Operation

    2Unpacking to Installation (1) JOINT jog operation Select the JOINT jog mode Press the [MOVE] + [JOINT] keys to select the JOINT JOINT jog mode. "JOINT" will appear at the upper +34.50 JOINT left of the screen. STEP ＋ +20.00 MOVE ( )? +80.00...
  • Page 29 2Unpacking to Installation J3 axis jog operation STEP ＋ (J3) MOVE 　 　 JKL STEP ＋ (J3) MOVE 　 　 JKL   J3 axis J3 axis   STEP   ＋ (J3) STEP MOVE 　 　 , @\ ＋ (J3) MOVE 　　...

  • Page 30: Xyz Jog Operation

    2Unpacking to Installation (2) XYZ jog operation Select the XYZ jog mode Press the [MOVE] + [XYZ] keys to select the XYZ X,Y,Z jog mode. "XYZ" will appear at the upper left of X +134.50 the screen. STEP Y +220.00 ＋...
  • Page 31 2Unpacking to Installation Changing the flange surface posture STEP STEP ＋Z ＋ ＋ ＋Z (J6) (J6) MOVE MOVE 　 　 　 　 ＋Z － ＋ STEP ＋ (J4) Control point STEP MOVE 　 　 ＋ (J5) (Tool coordinate system) ＋ MOVE Control STEP...

  • Page 32: Tool Jog Operation

    2Unpacking to Installation (3) TOOL jog operation Select the TOOL jog mode Press the [MOVE] + [TOOL] keys to select the TOOL TOOL jog mode. "TOOL" will appear at the upper X +134.50 left of the screen. TOOL STEP Y +220.00 ＋...
  • Page 33 2Unpacking to Installation ◇◆◇ When an appears on the T/B screen display ◇◆◇ Ｘ If the robot is moved outside the movement area with any of the axes, an X will appear. In this case, move the axis Ｘ in the opposite direction. TOOL In the example on the left, further linear movement in the same direction is not possible.

  • Page 34: 3-Axis Xyz Jog Operation

    2Unpacking to Installation (4) 3-axis XYZ jog operation Select the 3-axis XYZ jog mode XYZ456 Press the [MOVE] + [XYZ] keys, and then X +134.50 press only the [XYZ] key. "XYZ456" will appear STEP Y +220.00 ＋ at the upper left of the screen. MOVE Z +280.00 $":...
  • Page 35 2Unpacking to Installation Changing the flange surface posture STEP ＋ (J6) STEP MOVE 　　 ＋ (J5) STEP MOVE ＋ 　　 STEP ＋ (J6) ＋ (J4) J6 axis MOVE 　　 ＋ MOVE J4 axis 　　 STEP － ＋ (J5) STEP ＋ J6 axis MOVE ＋...

  • Page 36: Cylnder Jog Operation

    2Unpacking to Installation jog operation CYLNDER Select the cylindrical jog mode CYLNDER Press the [MOVE] + [XYZ] keys, and then press R +134.50 only the [XYZ] key. "CYLNDER" will appear at the STEP T +220.00 ＋ upper left of the screen. MOVE Z +280.00 $":...
  • Page 37 2Unpacking to Installation Changing the flange surface posture STEP STEP ＋ ＋ (J6) (J6) ＋Z MOVE ＋Z MOVE 　 　 　 　 ＋Z － ＋ Control STEP ＋ point (J4) MOVE 　 　 ＋ STEP ＋ － (J5) MOVE － ＋X Control ＋Y...
  • Page 38 2Unpacking to Installation 2-30 Confirming the operation...

  • Page 39: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices 3.1 Installing the solenoid valve set(1E-VD01/VD01E/VD02/VD02E) The following shows how to install the solenoid valve set. Please note that the installation method differs, depending on the robot arm type. Refer to the item which corresponds to robot type being used.
  • Page 40 3Installing the option devices 3) Connect one of the two (φ6) pneumatic hoses in section A --the one marked "AIR IN" --to the quick coupling (port P) <9> of the solenoid valve <6>. The primary air flow can now be supplied from the pneumatic port at the base.

  • Page 41: Rv-2Am, Rv-3Ajm (Protection Specification)

    3Installing the option devices 3.1.2 RV-2AM, RV-3AJM (Protection specification) <1> Shoulder cover (B) Section A <2> Truss screw(M3×6) <3> Socket head bolt (M3×8) <5> Flat head screws(M3×25) <6> Primary solenoid valve <8> Port B <7> Port A <11>Port A <11> Socket head bolt <12> Port B (M3×8) Port R When using one-row When using two-row solenoid valve solenoid valve Connector connection <9> Port P <10> Secondary solenoid      valve <4> Plate Lead connector <12> Battery cover Detailed drawing of section A...
  • Page 42 3Installing the option devices The connections after the installation appear as in Table 3-2 for single type valves, hand 2 is not applicable. Table 3-2：Solenoid valve ports and hoses: Connection table for couplings and hand ports for the RV-2AM/3AJM Forearm coupling Solenoid valve Hand Hand port...

  • Page 43: Installation The Pneumatic Hand Set （4A-Hp02/Hp02E

    3Installing the option devices 3.2 Installation the pneumatic hand set （4A-HP02/HP02E） Table 3-1 shows the construction of the pneumatic hand set and the installation procedure and Table 3-1 shows the configuration equipment which correspond with the Table 3-1. Adapter   <7> <5>...

  • Page 44: Installing The 1E-Hp01/1E-Hp01E Pneumatic Hand

    3Installing the option devices 3.2.1 Installing the 1E-HP01/1E-HP01E pneumatic hand Fig. 3-3 shown the method for installing the pneumatic hand. The installation steps are as folows: 1) Use four M5x16 hexagon socket head bolts <5> to install the head adapter <7> to the robot arm's mechanical interface.

  • Page 45: Installation The Motorized Hand Set （4A-Hm02

    3Installing the option devices 3.3 Installation the motorized hand set （4A-HM02） Fig. 3-4 shows the construction of the motorized hand set and the installation procedure and Table 3-5 shows the configuration equipment which correspond with the Fig. 3-4.   Hand adapter  ...

  • Page 46: Installing The Motorized Hand

    3Installing the option devices 3.3.1 Installing the motorized hand Fig. 3-4 shows how to install the motorized hand. 1) Install the hand adapter to the robot arm's mechanical interface with 4 hexagon socket bolts (M5x16). 2) Instal the motorized hand to the hand adapter with 2 hexagon socket bolts (M3x12). Make sure that the position of the hand connector of the motorized hand and the position of the hand adapter are the same as that shown in Fig.

  • Page 47: Hand Output Cable (1E-Gr35S)

    3Installing the option devices 3.4 Hand output cable (1E-GR35S) This hand output cable is used by the customer to connect to the handle output connector on the shoulder sec - tion of the robot arm. Refer to section "3.1Installing the solenoid valve set(1E-VD01/VD01E/VD02/VD02E)", 4) Table 3-1 on page 32 for the connection methods.
  • Page 48 3Installing the option devices 3-40 Installing the hand input cable (1E-HC15C) and hand curl tube (1E-ST040*C)

  • Page 49: Basic Operations

    4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic operations" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary. 4-41...
  • Page 50 4Basic operations 4-42...

  • Page 51: Maintenance And Inspection

    5Maintenance 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 described in this chapter. The types and replacement methods of consumable parts are also explained. 5.1 Maintenance and inspection interval Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 52: Inspection Items

    5Maintenance and Inspection 5.2 Inspection items The inspection items for the robot arm are shown below. Also refer to section "5. Maintenance and inspection" in the "Controller setup, basic operation, and maintenance" manual, and inspect the controller. 5.2.1 Daily inspection items Carry out the daily inspections with the procedures given in Table 5-1.

  • Page 53: Periodic Inspection

    Check and eliminate the cause. damage and adherence of foreign matter. If the cables are severely damaged, contact the Mitsubishi Service Department. It runs out of grease on the spring shaft for J2 axis. Refer to "5.3.6How to lubricate the spring shaft area"...

  • Page 54: Maintenance And Inspection Procedures

    The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Depart - ment for a fee. (Never disassemble, etc., the parts not described in this manual.) The maintenance parts, etc., required for the user to carry out maintenance and inspection are described in...
  • Page 55 5Maintenance and Inspection <3> J2 axis motor <4> J2 axis reduction gear  <5> J3 axis motor <6> J3 axis reduction gear Elbow block Upper arm Shoulder <9> J5 axis motor <10> J5 axis timing belt <1> J1 axis motor <2> J1 axis re‑  <11> J5 axis reduction gear   duction gear <12> J6 axis motor Forearm Wrist housing <13> J6 axis reduction gear Fig.5-2 ： Outline structure drawing of robot arm (5-axis type) <5> J3 axis motor <4> J2 axis reduction gear <3> J2 axis motor <6> J3 axis reduction gear Elbow block Upper arm <7> J4 axis motor Shoulder <8> J4 axis     reduction gear  <9> J5 axis motor <1> J1 axis motor <10> J5 axis...

  • Page 56: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover To remove the   <14> Wrist cover(S) wrist cover,   push it up   using a   screw   driver. Screw  (‑) driver <14> Wrist cover(S) <10> No.2 arm cover(U) <11> No.2 arm cover(L) <12> Wrist cover(U) <7> Elbow cover(U) <13> Wrist cover(L) <15> Elbow bushing <5> No.1 arm cover(R) Rear of elbow cover <8> Elbow cover(L) <6> No.1 arm cover(L) <2> Shoulder cover(R) <4> Shoulder cover(B) <1> Shoulder cover(L) <3> Shoulder cover(F) Fig.5-4 ： Installing/removing the cover (5-axis type) To remove  <14> Wrist cover(S)  the wrist cover, ...
  • Page 57 5Maintenance and Inspection Table 5-3 ： Cover names Qty. Cover names Remarks 5-axis 6-axis type type <1> Shoulder cover (L) <2> Shoulder cover (R) <3> Shoulder cover (F) <4> Shoulder cover (B) <5> No. 1 arm cover （R） <6> No. 1 arm cover （L） <7>...

  • Page 58: Inspection, Maintenance And Replacement Of Timing Belt

    5Maintenance and Inspection 5.3.3 Inspection, maintenance and replacement of timing belt This robot uses a timing belt for the drive conveyance system of the J5 axis. Compared to gears and chains, the timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjust - ment are inadequate, the life could drop and noise could be generated.

  • Page 59: Inspection, Maintenance And Replacement Of J5-Axis Timing Belt

    5Maintenance and Inspection (2) Inspection, maintenance and replacement of J5-axis timing belt <3> Motor <1> Motor fixing screw    M3x20 (bolt with hole) A mark "a" "b" A mark <5> Timing belt pulley <2> Timing belt <4> Timing belt pulley Inspection, maintenance and replacement of J5-axis timing belt Fig.5-6 ： ■ Inspecting the J5 axis timing belt 1) Confirm that the robot controller power is OFF.

  • Page 60: Timing Belt Tension

    5Maintenance and Inspection (3) Timing belt tension ｆ ： Pressing force ｓ ： Span ｄ ： Slack Axis Belt type Span ： s (mm) Slack ： d (mm) Pressing force ： f (N) B40S2M320U Fig.5-7 ： Belt tension The timing belt can satisfactorily convey the drive and keep a durable force only when it has an adequate tension. The belt tension should not be too tight or too lose.

  • Page 61: Cleaning Inside The Cover Of Clean Specification （Rv-2Ac-Sa/Sb, Rv-3Ajc-Sa/Sb

    5Maintenance and Inspection 5.3.4 Cleaning inside the cover of clean specification （RV-2AC-SA/SB, RV-3AJC-SA/SB） This robot has dust generating elements (timing pully, timing belt) in the No.2 arm cover U/L, thus, the inside must be cleaned periodically. Clean these areas once every three months (500 hours). 1) Refer to "5.3.2Installing/removing the cover"...

  • Page 62: Lubrication

    5Maintenance and Inspection 5.3.5 Lubrication (1) Lubrication position and specifications 5-axis type <3> J3 axis grease charge port <6> J6 axis grease charge port <2> J2 axis grease <5> J5 axis grease charge port charge port <7> Spring shaft <1> J1 axis grease (In the shoulder cover(L)) charge port 6-axis type...
  • Page 63 5Maintenance and Inspection Table 5-5 ： Lubrication specifications Oiling Lubrication oil Default charge Lubrication Lubrication Parts to be lubricated Cover to remove method (maker) amount interval amount <1> J1 axis reduction gears 2.5 g Shoulder cover (B) Grease Harmonic grease SK-1A <2>...

  • Page 64: Reduction Gears Lubrication Method

    5Maintenance and Inspection (2) Reduction gears lubrication method The reduction gears lubrication method is shown below. Refer to the "5.3.2Installing/removing the cover" on page and remove the covers. ■ J1 axis lubrication method Fig. 5-10 shows the procedures for J1 axis lubrication method. 1) Remove the shoulder cover F/B/L.
  • Page 65 5Maintenance and Inspection ■ J2 axis lubrication method Fig. 5-11 shows the procedures for J2 axis lubrication method. 1) Remove the shoulder cover F/B/R. 2) Remove the air purging bolt <1>. Take care not to lose the washer with seal at this time. There is air purging bolt in the J2 axis for all type.
  • Page 66 5Maintenance and Inspection ■ J4 axis lubrication method (for only 6-axis type) Fig. 5-13 shows the procedures for J4 axis lubrication method. 1) Remove the elbow cover U. Do not remove the elbow cover F/B. 2) In the case of clean specification, remove the air purging bolt <1>. Take care not to lose the washer with seal at this time.
  • Page 67 5Maintenance and Inspection ■ J6 axis lubrication method Fig. 5-15 shows the procedures for J6 axis lubrication method. 1) Remove the wrist cover S. (top and bottom of wrist) 2) In the case of clean specification, remove the air purging bolt <1>. Take care not to lose the washer with seal at this time.

  • Page 68: Oil Seal Section Lubrication Method (For Only Clean Specification)

    5Maintenance and Inspection (3) Oil seal section lubrication method (for only clean specification) The clean specification use the oil seal at between the wrist housing and forearm, at the end of the wrist housing and between the elbow block and forearm. (Oil seal: Refer to "Table 5-6：Consumable part list"...
  • Page 69 5Maintenance and Inspection ■ Lubrication to wrist housing end and between elbow block and forearm Fig. 5-17 shows the procedures for Lubrication to wrist housing end and between elbow block and forearm. Refer to the "5.3.2Installing/removing the cover" on page 48 and remove the necessary covers.

  • Page 70: How To Lubricate The Spring Shaft Area

    5Maintenance and Inspection 5.3.6 How to lubricate the spring shaft area This robot uses springs for gravity compensation for the J2 axis drive system. The small power consumption of the motor is achieved by connecting spring hooks to the spring shafts set in the J2 axis motor area and J1 axis case, thereby compensating for the gravity by the spring force.

  • Page 71: Replacing The Backup Battery

    5Maintenance and Inspection 5.3.7 Replacing the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery when the power is turned OFF. The controller also uses a backup battery to save the program, etc. These batteries are installed when the robot is shipped from the factory, but as these are consumable parts, they must be replaced periodically by the user.
  • Page 72 5Maintenance and Inspection 1) Confirm that the robot arm and controller are connected with a cable. 2) Turn the controller control power ON. The position data is retained by the power supplied from the controller while replacing the battery. Thus, if the cable is not connected correctly, or if the controller power is OFF, the position data will be lost.

  • Page 73: Maintenance Parts

    J5 axis Grease SK-1A Reduction gears of each axis An needed BARRIERTA IMI/V J4,J5,J6 of clean specification An needed Mitsubishi Electric Shell Alvania Grease No.2 Spring shaft (in base) An needed Lithium battery A6BAT 5-axis type: 4 In battery cover 6-axis type: 5 Table 5-7 ：...

  • Page 74: Resetting The Origin

    5Maintenance and Inspection 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 this step before starting work. The origin must be reset if the combination of robot and controller being used is changed or if the motor is changed causing an encoder area.

  • Page 75: Mechanical Stopper Method

    5Maintenance and Inspection 5.5.1 Mechanical stopper method The method for setting the origin with the transportation jig is explained below. This operation is carried out with the T/B. Set the [MODE] switch on the front of the controller to "TEACH", and set the T/B [ENABLE/DISABLE] switch to "ENABLE"...

  • Page 76: J1 Axis Origin Setting

    5Maintenance and Inspection (2) J1 axis origin setting <MECHA>   12345678 1) Press the [1] key. "1" will display at the 1 posi - BRAKE    (10000000) tion to set the brake release. SET AXIS (11101000) ORIGIN   :NOT DEF 2) Confirm the axis for which the brakes are to be (J5) released.

  • Page 77: J2 Axis Origin Setting

    5Maintenance and Inspection (3) J2 axis origin setting <MECHA>   12345678 1) Press the [0] key and then press the [1] key. BRAKE    (01000000) "1" will display at the 2 position to set the brake SET AXIS (11101000) release. ORIGIN   :NOT DEF 2) Confirm the axis for which the brakes are to be (J5) released.

  • Page 78: J3 Axis Origin Setting

    5Maintenance and Inspection ◇◆◇ Releasing the brakes ◇◆◇ To release the brakes, move the cursor to the "BRAKE" axis No. with the [ ← ] or [ → ] key. The brakes can be released only for the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and display a "0".
  • Page 79 5Maintenance and Inspection 6) Press the [ ↓ ] key. The cursor will move to ↓ Move the cursor AXIS. <MECHA>   12345678 7) Designate the axis for which the origin is to be BRAKE    (00100000) set.. SET AXIS (00100000) Set "1" for the 3 axis, and set "0" for the other ORIGIN   :NOT DEF axes.

  • Page 80: J4 Axis Origin Setting (Only 6-Axis Type)

    5Maintenance and Inspection (5) J4 axis origin setting (Only 6-axis type) <MECHA>  12345678 1) Before moving the twist axis, move the J3 axis BRAKE   (00100000) to prevent arm interference. SET AXIS(11111000) Press the [0] key twice and then press the [1] ORIGIN :NOT DEF key. "1" will display at the 3 position to set the (J5) brake release.
  • Page 81 5Maintenance and Inspection 7) Press the [ ↓ ] key. The cursor will move to ↓ Move the cursor AXIS . <MECHA>  12345678 8) Designate the axis for which the origin is to be BRAKE   (00010000) set. SET AXIS(00010000) Set "1" for the 4 axis, and set "0" for the other ORIGIN :NOT DEF axes.

  • Page 82: J5 Axis Origin Setting

    5Maintenance and Inspection (6) J5 axis origin setting <MECHA>  12345678 1) Press the [0] key four times and then press the BRAKE   (00001000) [1] key. "1" will display at the 5 position to set SET AXIS(11101000) the brake release. ORIGIN :NOT DEF 2) Confirm the axis for which the brakes are to be (J5) released.

  • Page 83: J6 Axis Origin Setting

    5Maintenance and Inspection ◇◆◇ Releasing the brakes ◇◆◇ To release the brakes, move the cursor to the "BRAKE" axis No. with the [ ← ] or [ → ] key. The brakes can be released only for the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and display a "0".
  • Page 84 5Maintenance and Inspection 9) Press the [1] and [INP] keys. <MECHA> The origin posture will be set. SET ORIGIN OK?(1)  1:EXECUTE (J5) → Set the origin 　 　 　 　 10) Setting of the origin is completed. <MECHA>  12345678 BRAKE   (00000100) 11) Refer to "5.5.5Recording the origin data"...

  • Page 85: All Axis Origin Setting

    5Maintenance and Inspection (8) All axis origin setting 1) Refer to the one after "(2)J1 axis origin setting" on page 68, and set the origin positions of all axis. The following steps for setting each axis are carried out simultaneously with the other axes, so they can be skipped here.

  • Page 86: Jig Method

    5.5.2 Jig method The reference dimension drawing of the calibration jig (1E-INST) used with this method is shown in Fig. 5-20. This jig is the same option as the Mitsubishi RV-E, RV-EN, RV-4A/5AJ/3AL/4AJL Series. 6.3a 4-5.5 drill through (equal circumference divisions) φ11×7 counterbore...
  • Page 87 5Maintenance and Inspection <2> Mechanical interface <2> Mechanical interface <1> Calibration jig <1> Calibration jig <1> Calibration jig <1> Calibration jig <2> Mechanical interface <2> Mechanical interface 4) Install the calibration jig <1> on the mechanical <3> Bolt <3> Bolt <3>...
  • Page 88 5Maintenance and Inspection 6-axis type 5-axis type 9) Set the origin. <JIG>  12345678 <JIG>  12345678 Press the [ ↓ ] key and move the cursor to BRAKE (11101100) BRAKE (11101000) "SET AXIS". To set the origin, set "1". Set "0" SET AXIS (11111100) SET AXIS (11101000) for the axis for which the origin is not to be set. ORIGIN:NOT DEF ORIGIN:NOT DEF When 0 is set, the previously set data will be...

  • Page 89: User Origin Method

    5Maintenance and Inspection 5.5.3 User origin method CAUTION Before using this method, the origin must be set with the origin data input method or Mechanical stopper method or jig method. The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant.
  • Page 90 5Maintenance and Inspection <USER> <USER> 12345678 8) Press the [ ↓ ] key, and input "1" for the axis CHANGES TO ORIGIN BRAKE (00000000) for which the origin is to be set. Press the [INP] OK?( ) SET AXIS (11111100) key to display the Confirmation screen.  1:EXECUTE ORIGIN:NOT DEF (J5) →...

  • Page 91: Abs Origin Method

    5Maintenance and Inspection 5.5.4 ABS origin method When the origin setting of the robot is performed for the first time, this product records the angular position of the origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately.

  • Page 92: Recording The Origin Data

    5Maintenance and Inspection 5.5.5 Recording the origin data When the origin has been set with the jig method, record that origin data on the origin data label. With this, the ori - gin can be set with the origin data input method the next time. Confirm the origin data on the teaching pendant screen (origin data input screen).

  • Page 93: 6Appendix

    6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2).
  • Page 94 6Appendix (3) NONFLIP/FLIP (6-axis robot only.) This means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis.. J4 axis   FLIP NON FLIP Mechanical interface   Ｆ Ｌ １ (Flag １ ) ＆...
  • Page 95 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 APR..2002 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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