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Summary of Contents for Mitsubishi RV-6S Series
- Page 1 MITSUBISHI Mitsubishi Industrial Robot RV-6S Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8323-A Get other manuals https://www.bkmanuals.com...
- Page 2 Supplemental Instruction Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. This document additionally explains to the Mitsubishi Industrial Robot "RV-6S Series INSTRUVTION MANUAL (BFP-A8323)". Therefore, check the content, and use it together with your instruction manual. 1. Outline When lubricating, removal of the drain bolt or the plug is unnecessary.
- Page 3 3. Change of the lubrication method and notes Details of change and supplement A procedure and precautions applicable to the products affected by the change were added to “(2) Lubrication method” on P5-50. The procedure applicable to the products affected by the change is described below. When lubricating all other products, follow the original procedure specified in the instruction manual.
- Page 4 4. Supplemental note for the installation surface receiving force Supplemental details Magnitude of each reaction force added to P2-8 “2.2.3 Installation procedures”. Table 2-2 shows the maximum reaction force (design values) that may be applied to an installation stand. Please use these values as reference when designing the installation stand.
- Page 5 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 6 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 7 Revision history Date of Point Instruction Manual No. Revision Details 2003-10-10 BFP-A8323 First print 2004-05-20 BFP-A8323-A Installing the hand input/output cable was added. Error in writing correction. Get other manuals https://www.bkmanuals.com...
- Page 8 ■ 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.
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Page 9: 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 10 Page (2) Lubrication method ..............................5-50 5.3.5 Replacing the backup battery ........................... 5-51 (1) Replacing the robot arm battery ......................... 5-51 5.4 Maintenance parts ................................. 5-52 5.5 Resetting the origin ................................5-53 5.5.1 Jig method ..................................5-54 (1) J1 axis origin setting ..............................5-55 (2) J2 axis origin setting ..............................
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Page 11: 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 12: 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 instruction 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 13: 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 14: 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 15: Unpacking To Installation
Users who have purchased optional products should refer to the separate "Standard Specifications". Table 2-1 ： Standard configuration Part name Type Qty. Remarks Robot arm RV-6S series 1 unit Guarantee card 1 copy Installation bolts M8x40 4 pcs. Spring washer for installation bolts For M8 4 pcs. -
Page 16: Installation
2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking Pull off <1> Tape <2> Upper lid （ｂ） （ａ） Robot arm CAUTION Always unpack the robot at a flat place. The robot could tilt over if unpacked at an unstable place. （ｃ） Fig.2-1 ： Unpacking the robot arm The robot is shipped from the factory in cardboard and wooden frame packing. - Page 17 2Unpacking to Installation 2.2.2 Transportation procedures (Transporting with a crane) Wire Fixing plate Suspension fitting Hexagon socket bolt (four M10 x 25, four spring washers for M10) Front Side Fig.2-2 ： Transportation procedures (transporting with a crane) 1) Attach the suspension fittings to the left and right sides of the shoulder section, and securely fix with bolts (four M10 x 25, four spring washers for M10).
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Page 18: 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 securely fix the robot with the enclosed installa - tion bolts (M8 x 40 hexagon socket bolts). Installation of the robot arm is a very important step for ensuring the optimum functions of the robot. -
Page 19: 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 Controller Controller Controller... -
Page 20: Connecting With The Controller
2Unpacking to Installation 2.2.5 Connecting with the controller <CR3-535M controller> Controller Robot arm Motor power cable (7m) （CN1） Motor signal cable (7m) （CN2） <CR2B-574 controller> Controller Robot arm Motor signal （ＣＮ2） Motor power （ＣＮ1） Motor power cable (5m) Motor signal cable (5m) Fig.2-6 ：... - Page 21 2Unpacking to Installation Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance" manual. Robot arm Connector on the robot arm side 1) Make sure that the power switch on the front of the controller is turned OFF.
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Page 22: 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 23: 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 24: Preparing The T/B
2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B STATUS NUMBER EMG.STOP 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 25: 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. -
Page 26: 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 27: Installing The Shoulder Coverb
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 will scroll each time the character key is pressed. -
Page 28: 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 29 2Unpacking to Installation ＋Z ＋Z － ＋ ＋ － ＋X ＋Y － ＋ Control point －Ｙ －Ｘ ＋X ＋Y －Z * While maintaining the flange surface posture, the axis moves straight along the base coordinate system. Also, while maintaining the flange surface position, the flange surface posture changes. Fig.2-11 ：...
- Page 30 2Unpacking to Installation ＋Z ＋ － － ＋ ＋ － Control point －Ｙ －Ｘ ＋X ＋Y －Z * The axis moves straight along the base coordinate system. At this time, the flange surface posture is not maintained. Also, the flange surface posture changes. The flange surface position changes at this time. Fig.2-13 ：...
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Page 31: 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 32 2Unpacking to Installation J3 axis jog operation STEP ＋ (J3) MOVE J3 axis STEP ＋ (J3) MOVE , @\ ・ When the [MOVE] + [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction. When the [MOVE] + [-Z (J3)] keys are pressed, Rotate in the minus direction.
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Page 33: Xyz Jog Operation
2Unpacking to Installation (2) XYZ jog operation Select the XYZ jog mode Press the [MOVE] + [XYZ] keys to select the XYZ jog mode. "XYZ" will appear at the upper left of X +134.50 the screen. STEP Y +220.00 ＋ MOVE Z +280.00 $":... - Page 34 2Unpacking to Installation Changing the flange surface posture ＋Z STEP STEP ＋ ＋ (J6) (J6) ＋Z MOVE MOVE － ＋ STEP ＋ (J4) MOVE STEP ＋ (J5) ＋ MOVE － ＋X － ＋Y ＋ STEP ＋...
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Page 35: 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 36 2Unpacking to Installation Changing the flange surface posture STEP STEP ＋ (J5) ＋ (J6) MOVE MOVE － ＋ ＋Y ＋ － STEP ＋ ＋Z (J5) MOVE － STEP ＋ (J6) ＋ STEP MOVE ＋...
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Page 37: 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 38 2Unpacking to Installation Changing the flange surface posture STEP ＋ (J6) MOVE STEP ＋ (J5) STEP ＋ MOVE ＋ J6 axis (J4) MOVE ＋ － J4 axis － STEP ＋ (J6) MOVE ABC J5 axis － ＋...
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Page 39: 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 40 2Unpacking to Installation Changing the flange surface posture ＋Z STEP STEP ＋ ＋ (J6) (J6) ＋Z MOVE MOVE － ＋ STEP ＋ (J4) MOVE STEP ＋ (J5) ＋ MOVE － ＋X － ＋Y ＋ STEP ＋...
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Page 41: Installing The Option Devices
3Installing the option devices 3 Installing the option devices 3.1 Installing the solenoid valve set (1S-VD01-02/VD02-02/VD03-02/VD04-02) Socket bolt (M4×8, 4 bolts) (Attached to the solenoid valve) Ｃ <4>Socket bolt (M4×8, 4 bolts) <5>Solenoid valve Ｂ Remove <3>No.2 arm cover C <2>No.2 arm cover B Section A <1>No.2 arm cover A... - Page 42 4) The length of the two air hoses (φ6) stored in section A is longer than necessary by assuming the use of a solenoid valve set not manufactured by Mitsubishi. Cut off the air hoses to an appropriate length, and connect them to the couplings.
- Page 43 3Installing the option devices No.2 arm R port Solenoid valve P port Air hose Fig.3-3 ： Solenoid valve installation diagram details 2 8) When you have completed the installation, reinstall the No.2 arm cover B <2> to its original position, and be careful not to entangle the cables when you do so.
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Page 44: Installing The Hand Input Cable
3Installing the option devices 3.2 Installing the hand input cable The procedure for installing the hand input cable is as follows. Conduct work by referring to "Fig. 3-1Solenoid valve installation procedures" on page 31 "Fig. 3-4Installing the hand input cable" on page 34 below. -
Page 45: Installing The Hand Output Cable
3Installing the option devices 3.3 Installing the hand output cable The procedure for installing the hand output cable is as follows. Conduct work by referring to "Fig. 3-1Solenoid valve installation procedures" on page 31 "Fig. 3-5Installing the hand output cable" on page 35 below. - Page 46 3Installing the option devices Changing the operating range The operating range of the J1 axis can be changed to the range shown in Table 3-2. (Option) Table 3-2 ： Operating range alternative range Axis Standard Alternative angle Angle +170 +135 One of the points shown +side on the left...
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Page 47: Changing The Operating Range
3Installing the option devices (2) Setting the parameters 1) Change the values of the first element (J1 axis minus side) and second element (J1 axis plus side) of the joint operating range parameter MEJAR. Set the value to the angle corresponding to the position where the operating range change stopper was inserted in "(1)Setting the robot arm"above. -
Page 48: 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. 4-38 Get other manuals https://www.bkmanuals.com... -
Page 49: 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 50: 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 51: Periodic Inspection
Check and eliminate the cause. damage and adherence of foreign matter. If the cables are severely damaged, contact the Mitsubishi Service Department. 3-month inspection items Is the timing belt tension abnormal? If the timing belt is loose or too tense, adjust it. -
Page 52: 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 customer to carry out maintenance and inspection are described in... - Page 53 5Maintenance and Inspection <7>J4 axis motor <8>J6 axis <5>J3 axis motor reduction gear <9>J5 axis motor Elbow Fore arm <12>J6 axis motor <13>J6 axis reduction gear <6>J3 axis reduction gear <10>J5 axis timing belt <11>J5 axis Wrist housing reduction gear Upper arm <2>J1 axis reduction gear...
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Page 54: Installing/Removing The Cover
5Maintenance and Inspection 5.3.2 Installing/removing the cover （a） 6. No. 2 arm cover C （f） （a） （b） 9. Wrist cover （c） （g） 5. Elbow cover A （d） 2. Shoulder cover B 8. No. 2 arm cover B 4. Shoulder cover （d）... - Page 55 5Maintenance and Inspection Table 5-3 ： Cover names Cover names Qty. Remarks Bottom plate １ Shoulder cover B １ No. 1 arm cover １ Shoulder cover Elbow cover A No. 2 arm cover C １ No. 2 arm cover A １...
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Page 56: 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 57: Inspection, Maintenance And Replacement Of J5-Axis Timing Belt
5Maintenance and Inspection (2) Inspection, maintenance and replacement of J5-axis timing belt <3>Motor <2>Timing belt <1>Motor installation bolt M4×12（Socket bolt） Mark <5>Timing pulley <4>Timing pulley J5-axis Fig.5-4 ： Inspection, maintenance and replacement of timing belt ■ Inspecting the J5 axis timing belt 1) Confirm that the robot controller power is OFF. -
Page 58: 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) 393-3GT-4 Fig.5-5 ： 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 59: Lubrication
5Maintenance and Inspection 5.3.4 Lubrication (1) Lubrication position and specifications 4. J4 axis lubrication port J4 axis drain bolt (M4) 5. J5 axis lubrication port J6 axis drain plug (M3) 6. J6 axis lubrication port J5 axis drain bolt (M3) 3. -
Page 60: Lubrication Method
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 J1 axis reduction gears Shoulder cover B Grease J2 axis reduction gears nipple No.1 arm cover Grease WA-610... -
Page 61: Replacing The Backup Battery
5Maintenance and Inspection 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 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 customer. -
Page 62: Maintenance Parts
Table 5-6 ： Consumable part list Part name Type Usage place Q'ty Supplier Timing belt 393-3GT-4 J5 axis M434N4 Mitsubishi Electric Grease SK-1A Reduction gears of each axis An needed Lithium battery A6BAT In battery cover Table 5-7 ： Spare parts list Part name... -
Page 63: 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 64: Jig Method
5Maintenance and Inspection 5.5.1 Jig method The procedure of setting the origin with the calibration jig is shown below. This operation is carried out with the teaching pendant. Set the [MODE] switch on the front of the controller to "TEACH", and set the [ENABLE/DISABLE] switch on the teaching pendant to "ENABLE" to enable the teaching pendant. -
Page 65: J1 Axis Origin Setting
5Maintenance and Inspection (1) J1 axis origin setting <TOOL> 12345678 1) Move the J1 axis slowly toward the front using BRAKE (00000000) both hands. Align the pinhole of the No.1 arm SET AXIS (11110000) and the pinhole at the base section, feed ORIGIN :NOT DEF through the origin jig (φ8) into the pinholes and (J5) -
Page 66: J2 Axis Origin Setting
5Maintenance and Inspection (2) J2 axis origin setting <TOOL> 12345678 BRAKE (00000000) SET AXIS (11110000) 1) Slowly rotate the J2 axis in the direction of ORIGIN :NOT DEF minus 90° with both hands. Align the pinholes (J5) Designate the origin setting axis of the No. -
Page 67: J3 Axis Origin Setting
5Maintenance and Inspection (3) J3 axis origin setting <TOOL> 12345678 BRAKE (00000000) SET AXIS(11110000) 1) Slowly rotate the J3 axis to the plus direction ORIGIN :NOT DEF with both hands. Align the pinholes of the No. 1 (J5) Designate the origin setting axis and No. -
Page 68: J4 Axis Origin Setting
5Maintenance and Inspection (4) J4 axis origin setting <TOOL> 12345678 BRAKE (00000000) SET AXIS(11110000) 1) Slowly rotate the J4 axis to the plus direction ORIGIN :NOT DEF with both hands. Align the pinholes of the No. 2 (J5) Designate the origin setting axis arm and elbow , feed through the origin jig (φ6) into the pinholes and fasten. -
Page 69: J5 Axis Origin Setting
5Maintenance and Inspection (5) J5 axis origin setting <TOOL> 12345678 BRAKE (00000000) SET AXIS(11110000) 1) Slowly rotate the J5 axis in the direction of plus ORIGIN :NOT DEF 90° with both hands. Align the pinholes of the (J5) Designate the origin setting axis No. -
Page 70: J6 Axis Origin Setting
5Maintenance and Inspection (6) J6 axis origin setting <TOOL> 12345678 BRAKE (00000000) SET AXIS(11110000) 1) Slowly move the J6 axis with both hands, and ORIGIN :NOT DEF align the ABS mark of the wrist housing with the (J5) Designate the origin setting axis ABS mark of the hand mounting flange. -
Page 71: User Origin Method
5Maintenance and Inspection 5.5.2 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in "5.5.2User origin method" on page The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant. - Page 72 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.
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Page 73: Abs Origin Method
5Maintenance and Inspection 5.5.3 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 74 5Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Select the T/B <MENU> <MAINT> 1) Press the [5] key on the Menu screen to select 1.TEACH 2.RUN 1.PARAM 2.INIT the Maintenance screen. 3.FILE 4.MONI 3.BRAKE 4.
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Page 75: Recording The Origin Data
5Maintenance and Inspection 5.5.4 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 76: 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 77 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 Ｆ Ｌ １ (Flag １ ) FLIP ＆ Ｂ ０ ０ ０ ０ ０ ０ ０ ０ ↑...
- Page 78 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 MAY..2004 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.