Mitsubishi Electric MELFA RH-3FHR3515 Instruction Manual page 11

5.2.2 Periodic inspection ........................................................................................................................................................ 5-71
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-72
5.3.1 Robot arm structure ..................................................................................................................................................... 5-72
5.3.2 Installing/removing the cover ................................................................................................................................... 5-73
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-75
(1) Timing belt replacement period ......................................................................................................................... 5-75
(2) Inspection and maintenance of J1 axis timing belt ..................................................................................... 5-76
(3) Inspection and maintenance of J2 axis timing belt ..................................................................................... 5-77
(4) Inspection and maintenance of J3 axis timing belt ..................................................................................... 5-78
(5) Inspection and maintenance of J4 axis timing belt ..................................................................................... 5-79
(6) Timing belt tension ................................................................................................................................................... 5-81
5.3.4 Replacing the bellows ................................................................................................................................................... 5-82
5.3.5 Lubrication ........................................................................................................................................................................ 5-83
(1) Lubrication position and specifications ............................................................................................................ 5-83
(2) Lubrication method to the J1, J2 axis ............................................................................................................. 5-84
(3) Lubrication method to the shaft ......................................................................................................................... 5-84
5.3.6 Replacing the backup battery ................................................................................................................................... 5-85
(1) Replacing the battery (robot arm) ...................................................................................................................... 5-86
5.4 About Overhaul ...................................................................................................................................................................... 5-87
5.5 Maintenance parts ................................................................................................................................................................. 5-88
5.6 Resetting the origin .............................................................................................................................................................. 5-89
5.6.1 Mechanical stopper method ...................................................................................................................................... 5-90
(1) J1 axis origin setting (mechanical stopper) ................................................................................................... 5-90
(2) J2 axis origin setting (mechanical stopper) ................................................................................................... 5-92
(3) J3 and J4 axis origin setting (mechanical stopper) .................................................................................... 5-94
(4) All axis origin setting ................................................................................................................................................ 5-97
5.6.2 Jig method ........................................................................................................................................................................ 5-98
(1) J1 axis origin setting ................................................................................................................................................ 5-99
(2) J2 axis origin setting ............................................................................................................................................. 5-101
(3) J3 and J4 axis origin setting ............................................................................................................................. 5-102
(4) All axis origin setting ............................................................................................................................................. 5-103
5.6.3 ABS origin method ..................................................................................................................................................... 5-104
(1) Select the T/B ........................................................................................................................................................ 5-105
5.6.4 User origin method ..................................................................................................................................................... 5-107
5.6.5 Recording the origin data ........................................................................................................................................ 5-109
(1) Confirming the origin data label ........................................................................................................................ 5-109
(2) Confirming the origin data .................................................................................................................................. 5-109
(3) Recording the origin data .................................................................................................................................... 5-109
(4) Installing the base cover B (L) ......................................................................................................................... 5-109
6Appendix ............................................................................................................................................................................ Appendix-110
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-110
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