Mitsubishi Electric MELFA RH-3FHR3515 Instruction Manual page 78

3Installing the option devices
b) Next, move within -125 to -130 degree.
<CURRENT>
J1:
J2: -130.00
J3: -560.00
J4:
XYZ
c) Finally stop within -5 to +5 degree.
(Position adjustment of the mechanism stopper is completed now)
<CURRENT>
J1:
J2:
J3: -560.00
J4:
XYZ
5) Turn OFF the power supply of the controller.
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 J2 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 J2 axis is nearly +60 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 arm cover A (1) as before.
12) Setting the operation range parameter. Turn on the power supply of the controller.
Parameter: MEJAR ........... Set "-60" and "+60" as the 3rd element and the 4th element each.
Parameter: MORG ............. Set "+63" as the 2nd 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 controller power supply once.
14) Confirm that the J2 axis does not move the +/- 60 degree or more with joint jog operation.
The operating range change of J2 axis is completion above.
Changing the operating range
3-67
JOINT 100% M1 T0 B*
+0.00 :
:
:
+0.00 :
3-XYZ CYLNDR
TOOL JOG
JOINT 100% M1 T0 B*
+0.00 :
+5.00 :
:
+0.00 :
TOOL JOG 3-XYZ CYLNDR
Within -125 to -130 degree
⇒
Within -5 to +5 degree
⇒