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Summary of Contents for Mitsubishi MELFA RV-4A Series
- Page 1 MITSUBISHI Mitsubishi Industrial Robot RV-4A/5AJ/3AL/4AJL Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE (CR2A-572 Controller) BFP-A8229...
- Page 2 Supplemental Instruction about unpacking Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. This document additionally explains of unpacking to the Mitsubishi Industrial Robot " RV4A/5AJ/3AL/4AJL Series INSTRUCTION MANUAL " (BFP-A8229). Therefore, check the content, and use it together with your instruction manual.
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Page 3: Revisions Table
Revisions Table Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. Some changes have been made to the Mitsubishi industrial robot “RV-4A/5AJ/3AL/4AJL Series INSTRUCTION MANUAL “ (BFP-A8229). The details are given below. We ask that you please reflect these changes onto the Instruction Manual on hand. -
Page 4: Safety Precautions
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 5 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.
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Page 6: Revision History
Revision history Date of Point Instruction Manual No. Revision Details 2002-02-13 BFP-A8229 First print... - Page 7 ■ 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 8: 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 9 Page 5.3.5 Replacing the backup battery ........................... 5-50 (1) Replacing the robot arm battery ......................... 5-50 5.4 Maintenance parts ................................. 5-51 5.5 Resetting the origin ................................5-52 5.5.1 Mechanical stopper method ............................5-53 (1) Select the T/B ................................5-53 (2) J1 axis origin setting ..............................5-54 (3) J2 axis origin setting ..............................
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Page 10: 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 11: 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 12: 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 13: 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 14: 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 15: Installation
2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking Pull off Pull off Pull off Pull off <1>. Tape <1>. Tape <1>. Tape <1>. Tape <2>. Upper lid <2>. Upper lid <2>. Upper lid <2>. Upper lid <3>. Cushioning <3>. Cushioning <3>. Cushioning <3>. -
Page 16: Transportation Procedures (Transporting With A Crane)
2Unpacking to Installation 2.2.2 Transportation procedures (Transporting with a crane) Arm fixing plate Suspension fitting Hexagon socket bolt (M6×16, 2 bolts) Wire Arm fixing plate Suspension fitting 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 (M6 x 16 - 2 bolts). -
Page 17: Transportation Procedures(Transportation By People)
2Unpacking to Installation 2.2.3 Transportation procedures(Transportation by people) Forearm CAUTION CAUTION CAUTION CAUTION Arm fixing plate Elbow cover Upper arm Don't hold the resin cover when carrying the robot, as this may lead to breakage. BU147D428H01 Shoulder CAUTION CAUTION CAUTION CAUTION Ｂ... -
Page 18: Installation Procedures
2Unpacking to Installation 2.2.4 Installation procedures 1) The robot installation surface has been machine finished. Use the installation holes (4-φ18 holes) opened at the four corners of the base, and securely fix the robot with the enclosed installa- tion bolts (M16x60 hexagon socket bolts). 4-M8×40 hexagon socket bolt (Clean SA type is 4-M8×100) (Four positions) -
Page 19: Grounding Procedures
2Unpacking to Installation 2.2.5 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-6, but the dedicated grounding (Fig. 2-6 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"... -
Page 20: Connecting With The Controller
2Unpacking to Installation 2.2.6 Connecting with the controller Robot arm Controller Motor signal （CN2） Motor power （CN1） Motor power cable（5m） Motor signal cable（5m） Fig.2-8 ： Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"... -
Page 21: 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 22: 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 23: 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 24: 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 25: 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 26: Moving The Cursor
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 27: 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 28 2Unpacking to Installation ＋Z ＋Z ＋Z － ＋ － － ＋X ＋ ＋ ＋ － ＋Y Control point － ＋ －Ｙ －Ｙ Control point －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 coordinate system.
- Page 29 2Unpacking to Installation ＋Z ＋Z ＋ － － － ＋ ＋ ＋ ＋ － － Control 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.
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Page 30: 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 31 2Unpacking to Installation J3 axis jog operation - - - - Z Z Z Z STEP STEP STEP STEP ＋ (J (J (J (J3 3 3 3 ) ) ) ) MOVE MOVE MOVE MOVE JKL 3 3 3 3 STEP STEP - - - - Z Z Z Z...
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Page 32: 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 33: Tool Length
2Unpacking to Installation Changing the flange surface posture ＋Z ＋Z - - - - C C C C + + + + C C C C STEP STEP STEP STEP STEP STEP STEP STEP ＋ ＋ (J (J (J (J6 6 6 6 ) ) ) ) (J (J (J (J6 6 6 6 ) ) ) ) MOVE MOVE... -
Page 34: 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 35 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.
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Page 36: 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 37 2Unpacking to Installation J4, J5 and J6 axis jog + + + + C C C C STEP STEP STEP STEP ＋ - - - - B B B B STEP STEP STEP STEP (J (J (J (J6 6 6 6 ) ) ) ) ＋...
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Page 38: 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 39 2Unpacking to Installation Changing the flange surface posture ＋Z ＋Z STEP STEP - - - - C C C C STEP STEP + + + + C C C C STEP STEP STEP STEP ＋ ＋ (J (J (J (J6 6 6 6 ) ) ) ) (J (J (J (J6 6 6 6 ) ) ) ) MOVE MOVE...
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Page 40: 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/VD03/VD03E) <1>. Shoulder cover (B) <2>. Socket bolt Section <11>. B port <6>. A port <7>. B port <10>. A port GR 1 <4>. P round head screw (M3 ×... - Page 41 3Installing the option devices Connect the hose marked with "3" to the A port <10> of the No. 2 solenoid valve <9>. Connect the hose marked with "4" to the B port <11> of the No. 2 solenoid valve <9>. Connect in the same manner for the three-row valve 1E-VD03/VD03E.
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Page 42: Changing The Operating Range
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 +160 +135 One of the points shown +side on the left... - Page 43 3Installing the option devices Table 3-3 ： Change valve of parameter MORG -Side Change angle Change value for MORG 1st element － １ ３ ５ ° ＋ ４ ０ － ９ ０ ° － ９ ５ － ４ ５ ° －...
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Page 44: 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. 4-35... - Page 45 4Basic operations 4-36...
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Page 46: 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 47: 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 48: 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 49: 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 50 5Maintenance and Inspection <4>. J2 axis harmonic <5>. J3 axis motor <3>.J2 axis motor reduction gears <6>. J3 axis harmonic reduction gears Elbow block Upper arm Shoulder_ <9>. J5 axis motor <10>. J5 axis timing belt <1>. <11>. J5 axis harmonic J1 axis motor reduction gears <2>.
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Page 51: Installing/Removing The Cover
5Maintenance and Inspection 5.3.2 Installing/removing the cover 7. Wrist cover 6. No.2 arm cover 4. Elbow cover 2. Shoulder cover 1. Battery cover 5. No.2 arm cover 3. No.1 arm cover Fig.5-4 ： Installing/removing the cover (5-axis type) 7. Wrist cover 6. - Page 52 5Maintenance and Inspection Table 5-3 ： Cover names Cover names Qty. Remarks Battery cover １ Shoulder cover １ No. 1 arm cover １ For 5-axis type １ Elbow cover (J) For 6-axis type １ Elbow cover (J) No. 1 arm cover (K) １...
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Page 53: 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 54: Inspection, Adjustment And Replacement Of The J5 Axis Timing Belt
5Maintenance and Inspection (2) Inspection, adjustment and replacement of the J5 axis timing belt <3>. Motor <1>. Motor installation screw M3x14 (socket bolt) <2>. Timing belt Mark <5>. Timing belt Mark <4>. Timing pulley Fig.5-6 ： Inspection, adjustment and replacement of J5 axis timing belt ■... -
Page 55: Timing Belt Tension
5Maintenance and Inspection (3) Timing belt tension 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. Instead, it should be adjusted to a degree that elasticity is felt when the belt is pressed with the thumb. -
Page 56: Lubrication
5Maintenance and Inspection 5.3.4 Lubrication (1) Lubrication position and specifications Ｂ Ｂ Ｂ Ｂ J6 axis air bleed bolt (M4) J6 axis air bleed bolt (M4) J6 axis air bleed bolt J6 axis air bleed bolt (M4) (M4) J2 J2 J2 axis air bleed bolt axis air bleed bolt axis air bleed bolt... -
Page 57: Base View
5Maintenance and Inspection Ｂ Ｂ Ｂ Ｂ J6 axis air bleed bolt J6 axis air bleed bolt (M4) (M4) J6 axis air bleed bolt J6 axis air bleed bolt (M4) (M4) J4 J4 J4 axis air bleed bolt axis air bleed bolt axis air bleed bolt (M4) axis air bleed bolt (M4) -
Page 58: Lubrication Method
5Maintenance and Inspection Table 5-5 ： Lubrication specifications Lubrication Lubrication oil Parts to be lubricated Oiling method intervalLubrication amount Cover to remove Default charge amount (maker) guide*1 J1 axis reduction gears Grease Harmonic grease SK-1A 2000Hr J2 axis reduction gears Shoulder cover (Japan Harmonic Systems) J3 axis reduction gears... -
Page 59: 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 user. -
Page 60: Maintenance Parts
Grease SK-1A Reduction gears of each axis An needed Shell Alvania Grease No.2 Spring shaft (in base) An needed Mitsubishi Electric Lithium battery A6BAT 5-axis type: 4 In battery cover 6-axis type: 5 Table 5-8 ： Spare parts list Part name... -
Page 61: 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 62: 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 63: 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 64: 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 65: Releasing The Brakes
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 66 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.
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Page 67: 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 (11101000) Press the [0] key twice and then press the [1] ORIGIN :NOT DEF key. - Page 68 5Maintenance and Inspection <MECHA> 12345678 6) Press the [1] keys. "1" will display at the 4 BRAKE (00010000) position to set the brake release. SET AXIS (11101000) 7) Confirm the axis for which the brakes are to be ORIGIN :NOT DEF released.
- Page 69 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".
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Page 70: 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) -
Page 71: 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 72 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 "5.5.4Recording the origin data"...
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Page 73: All Axis Origin Setting
5Maintenance and Inspection (8) All axis origin setting 1) First, refer to step "(6)J5 axis origin setting" on page 61 and set the origin of the J5 axis. 2) To prevent impacts of the J5 axis on the robot arm, move the J5 axis to near 0 degrees with joint jog operation refer to "(1)JOINT jog operation"... - Page 74 5Maintenance and Inspection 6) Press the [ ↓ ] key. The cursor will move to ↓ Move the cursor SET AXIS . <JIG> 12345678 7) Designate the axis for which the origin is to be BRAKE (00000000) set. SET AXIS (11110000) The origin setting of the 5 axis has been ORIGIN :NOT DEF completed with the first operation, so set the 5...
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Page 75: 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. 5-11. 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 76 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 77 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 (11111100) BRAKE (11101100) "SET AXIS". To set the origin, set "1". Set "0" SET AXIS (11111100) SET AXIS (11101100) for the axis for which the origin is not to be set.
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Page 78: 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 79: Select The T/B
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. -
Page 80: 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 81 5Maintenance and Inspection 5-72 Resetting the origin...
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Page 82: 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 83 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 (6-axis type) FLIP NON FILIP J6 axis flange surface Ｆ Ｌ １ (Flag １ ) ＆...
- Page 84 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 FEB..2002 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
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