MITSUBISHI Mitsubishi Industrial Robot RV-6S Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8323-A
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. The robot which is the target of these supplementary contents is shown below. No.
. 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. (1) Lubrication method of products affected by the change 1) Set the robot to the posture shown in Fig. 5-6.
. 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.
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 CAUTION WARNING CAUTION WARNING CAUTION CAUTION 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.
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 environment, etc.) CAUTION Transport the robot with the designated transportation posture.
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.
■ 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. ・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. ・ The details of this manual are subject to change without notice.
CONTENTS Page 1 Before starting use ......................................................................................................................................................................... 1.1 Using the instruction manuals ............................................................................................................................................ 1.1.1 The details of each instruction manuals .....................................................................................
Page (2) Lubrication method ................................................................................................................................................... 5-50 5.3.5 Replacing the backup battery ................................................................................................................................... 5-51 (1) Replacing the robot arm battery .........................................................................................................................
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. For special specifications, a separate instruction manual describing the special section may be enclosed.
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 DANGER Precaution indicating cases where there is a risk of operator fatality or serious injury if handling is mistaken. Always observe these precautions to safely use the robot.
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 CAUTION WARNING CAUTION DANGER CAUTION CAUTION 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.
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. (Temperature, humidity, atmosphere, noise environment, etc.) CAUTION Transport the robot with the designated transportation posture.
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 ： Standard configuration No. Part name Type Qty. RV-6S series 1 unit 1 Robot arm 2 Guarantee card 3 Installation bolts M8x40 4 pcs. 4 Spring washer for installation bolts For M8 4 pcs.
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. Always refer to Fig. 2-1 and unpack the robot. Handle the robot arm according to "2.2.2 Transportation procedures (Transporting with a crane)".
2Unpacking to Installation 2.2.2 Transportation procedures (Transporting with a crane) Wire 1300 Fixing plate Suspension fitting Front Hexagon socket bolt (four M10 x 25, four spring washers for M10) 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).
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 installation 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. Observe the following points when designing. 2) Install the robot on a level surface.
2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods Robot arm Controller and personal computer Robot arm (a) Dedicated grounding (Optimum) Controller and personal computer (b) Common grounding (Good) Robot arm Controller and personal computer (c) Common grounding (Normal) 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.
2Unpacking to Installation 2.2.5 Connecting with the controller Controller Robot arm CN2 CN1 Motor power cable (7m) （CN1） Motor signal cable (7m) （CN2） Controller Robot arm Motor power （ＣＮ1） Motor signal （ＣＮ2） CN2 CN1 Motor power cable (5m) Motor signal cable (5m) Fig.
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 Hook 1) Make sure that the power switch on the front of the controller is turned OFF. Projection 2) Connect the machine cable to its corresponding connector on the robot arm side.
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. There are several methods for setting the origin, but the origin data input method will be explained here. Refer to "5.5 Resetting the origin" on page 53 for the other methods.
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 Date Default Ｄ V!#S29 Ｊ １ 06DTYY Ｊ ２ 2?HL9X Ｊ ３ 1CP55V Ｊ ４ T6!M$Y Ｊ ５ Z2IJ%Z Ｊ ６ A12%Z0 Method Ｅ . . . . . . . . . The origin data to be input is noted in the origin data sheet enclosed with the arm, or on the origin data history table attached to the back side of the shoulder coverB. (Refer to Fig.
2Unpacking to Installation (3) Preparing the T/B STATUS NUMBER MODE EMG.STOP CHANG DISP SVO ON START RESET SVO OFF STOP END Next, prepare to use the T/B 1) Set the [MODE] switch on the front of the controller to "TEACH". TEACH AUTO (Op.) AUTO (Ext.) REMOVE T/B MODE TEACH AUTO (Op.) AUTO (Ext.) DISABLE DI SABLE ENABLE 2) Set the T/B [ENABLE/DISABLE] switch to "ENABLE". The menu selection screen will appear. The following operations are carried out with the T/B. ENABLE P8TB-TE EMG.
2Unpacking to Installation (4) Selecting the origin setting method
2Unpacking to Installation (5) Inputting the origin data T/B screen 1: J1 3: J3 5: J5 Origin data label (D,J1,J2,J3,J4,J5,J6) D( D ) J2 J4 J6 Input the value confirmed in section "(1) Confirming the origin data" on page 13. The correspondence of the origin data label value and axis to be input is shown in Fig. 2-9. Fig.2-9 ： Correspondence of origin data label and axis The method for inputting the origin data is explained below. The value shown in Fig. 2-8will be input as an example.
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. ◇◆◇ Correcting an input ◇◆◇ After returning one character by pressing the [DEL] key, input the character again.
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.
2Unpacking to Installation ＋Z h gt n le ol o T ＋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 ： XYZ jog operation －X th ng e l ol To －Z － －Y ＋ － ＋Z ＋ Control point ＋ ＋Y － ＋X * While maintaining the flange surface posture, the axis moves straight along the tool coordinate system.
2Unpacking to Installation ＋Z ＋ le ol o T th ng J4 － J5 － ＋ ＋ J6 － 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.
2Unpacking to Installation (1) JOINT jog operation Select the JOINT jog mode JOINT LOW J1 +34.50 J2 +20.00 J3 +80.00 STEP MOVE JOINT jog mode JOINT ＋ ( )? Set the jog speed JOINT LOW J1 +34.50 J2 +20.00 J3 +80.00 STEP Set the speed ＋ ＋ FORWD MOVE Press the [MOVE] + [JOINT] keys to select the JOINT jog mode. "JOINT" will appear at the upper left of the screen.
2Unpacking to Installation J3 axis jog operation STEP MOVE -Z (J3) ＋ JKL 3 J3 axis STEP MOVE +Z (J3) ＋ , @\ 8 ・ 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.
2Unpacking to Installation (2) XYZ jog operation Select the XYZ jog mode XYZ LOW X +134.50 Y +220.00 Z +280.00 STEP MOVE XYZ jog mode Press the [MOVE] + [XYZ] keys to select the XYZ jog mode. "XYZ" will appear at the upper left of the screen. XYZ ＋ $": Each time the [MOVE] + [+] keys are pressed, the override will increase in the order of LOW → HIGH → 3 → 5 → 10 → 30 → 50 → 70 → 100%. When the [MOVE] + [-] keys are pressed, the override will decrease in the reverse order.
2Unpacking to Installation Changing the flange surface posture ＋Z STEP -C (J6) ＋ MOVE 0 STEP ABC ＋Z － STEP MOVE MOVE 7 YZ_ ＋ MOVE -A (J4) ＋ 2 5 STU th ng e l ol To － ＋X － STEP ＋ ＋ +A (J4) ＋ +C (J6) GHI Control point ＋ STEP MOVE STEP MOVE -B (J5) ＋ 1 DEF ＋Y +B (J5) ＋ 6 VWX －Ｙ * The flange position does not change. －Ｘ ＋X ＋Y －Z ・ When the [MOVE] + [+A (J4)] keys are pressed, The X axis will rotate in the plus direction.
2Unpacking to Installation (3) TOOL jog operation Select the TOOL jog mode TOOL LOW X +134.50 Y +220.00 Z +280.00 TOOL STEP ＋ MOVE TOOL jog mode Press the [MOVE] + [TOOL] keys to select the TOOL jog mode. "TOOL" will appear at the upper left of the screen. =*/ Set the jog speed TOOL LOW X +134.50 Y +220.00 Z +280.
2Unpacking to Installation Changing the flange surface posture STEP MOVE ＋ T +C (J6) th ng e l l oo STEP － STU 5 ＋ ＋Z STEP MOVE ＋ ＋Y － － -C (J6) ＋ MOVE 0 STEP MOVE ＋ ABC +A (J4) ＋ 7 ＋X -B (J5) ＋ 1 STEP MOVE STEP MOVE DEF +B (J5) ＋ VWX 6 -A (J4) ＋ 2 GHI YZ_ * The flange position does not change. ・ When the [MOVE] + [+A (J4)] keys are pressed, The X axis will rotate in the plus direction of the tool coordinate system.
2Unpacking to Installation (4) 3-axis XYZ jog operation Select the 3-axis XYZ jog mode XYZ456 LOW X +134.50 Y +220.00 Z +280.00 XYZ STEP MOVE 3-axis XYZ jog mode Press the [MOVE] + [XYZ] keys, and then press only the [XYZ] key. "XYZ456" will appear at the upper left of the screen. XYZ ＋ $": $": Each time the [MOVE] + [+] keys are pressed, the override will increase in the order of LOW → HIGH → 3 → 5 → 10 → 30 → 50 → 70 → 100%.
2Unpacking to Installation Changing the flange surface posture STEP MOVE STEP MOVE +C (J6) ＋ STEP STU 5 J6 axis ＋ － － -C ＋ (J6) 0 MOVE -B (J5) ＋ STEP DEF 1 ＋ MOVE ＋ +A (J4) 7 YZ_ J4 axis ABC J5 axis － ＋ STEP MOVE STEP MOVE ＋ -A (J4) 2 GHI +B (J5) ＋ 6 VWX * The flange position changes. This is the same as the J4, J5 and J6 axis JOINT jog operation. ・ When the [MOVE] + [+A (J4)] keys are pressed, the J4-axis will rotate in the plus direction.
2Unpacking to Installation (5) CYLNDER jog operation Select the cylindrical jog mode CYLNDER LOW R +134.50 T +220.00 Z +280.00 STEP MOVE CYLNDER jog mode Press the [MOVE] + [XYZ] keys, and then press only the [XYZ] key. "CYLNDER" will appear at the upper left of the screen. XYZ ＋ $": Set the jog speed CYLNDER LOW R +134.50 T +220.00 Z +280.
2Unpacking to Installation Changing the flange surface posture ＋Z STEP -C (J6) ＋ MOVE STEP ABC 0 － STEP MOVE ＋Z MOVE 7 YZ_ ＋ MOVE -A (J4) ＋ 2 5 STU o To th ng e l l ＋X － STEP ＋ ＋ +A (J4) ＋ +C (J6) GHI MOVE MOVE － ＋ STEP STEP -B (J5) ＋ 1 DEF ＋Y +B (J5) ＋ 6 VWX Control point －Ｙ * The flange position does not change. This is the same as the A, B and C axis XYZ jog operation.
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) <4>Socket bolt (M4×8, 4 bolts) Ｃ <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 GR7 No.1 solenoid valve GR5 GR3 No.2 solenoid valve B port ２ GR1 No.3 solenoid valve ４ No.
3Installing the option devices Fig. 3-1 and Fig. 3-2 shows the solenoid valve installation procedures and the solenoid valve connector connection procedures. The installation procedures are as follow. This work must be carried out with the controller power turned OFF. 1) Remove the hexagon socket bolts (five M4 x 10) and truss screw (three M3 x 8) that hold the No. 2 arm cover B <2>, and then remove both the No. 2 arm cover B <2>. 2) Remove the socket bolts <4> (four M4 x 8) that hold the No.
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. The connections after the installation appear as in Table 3-1 for single type valves, hand 2 is not applicable.
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 and "Fig. 3-4Installing the hand input cable" on page 34 below. This work must be carried out with the controller power turned OFF. <4> Socket bolts （M4×8, 4 bolts） Grommet Remove Remove D D Grommet Plate <5> Solenoid valves <3> No.
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 and "Fig. 3-5Installing the hand output cable" on page 35 below. This work must be carried out with the controller power turned OFF. <4> Socket bolts （M4×8, 4 bolts） Grommet Remove Remove D D Grommet Plate <5> Solenoid valves <3> No.
3Installing the option devices 3.4 .Changing the operating range The operating range of the J1 axis can be changed to the range shown in Table 3-2.
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. Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing the parameter.
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.
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.
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.
5Maintenance and Inspection 5.2.2 Periodic inspection Carry out periodic inspection with the procedures given in Table 5-2. Table 5-2 ： Periodic inspection items (details) Procedure Inspection item (details) Remedies Monthly inspection items 1 Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts. 2 Are any of the connector fixing screws or terminal block terminal screws loose? Securely tighten the screws.
5Maintenance and Inspection 5.3 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 Department 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 "5.
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 Wrist housing <10>J5 axis timing belt <11>J5 axis reduction gear Upper arm <2>J1 axis reduction gear Shoulder <3>J2 axis motor <4>J2 axis reduction gear <1>J1 axis motor Fig 5-2 ： Outline structure of robot arm Maintenance and inspection procedures 5-43
5Maintenance and Inspection 5.3.2 Installing/removing the cover （a） 6. No. 2 arm cover C （f） （b） 9. Wrist cover （g） （a） （c） 5. Elbow cover A （d） 2. Shoulder cover B 8. No. 2 arm cover B 4. Shoulder cover （d） （h） （ｇ） （b） 7. No. 2 arm cover A （e） 3. No. 1 arm cover 1. Bottom plate （i） Fig.5-3 ： Installing/removing the cover CAUTION Check to see that the packing has not been peeled off when the cover was mounted/removed. If it has been peeled off, report to dealer.
5Maintenance and Inspection Table 5-3 ： Cover names No. Cover names Qty. 1 Bottom plate １ 2 Shoulder cover B １ 3 No. 1 arm cover １ 4 Shoulder cover 2 5 Elbow cover A 1 6 No. 2 arm cover C １ 7 No. 2 arm cover A １ 8 No. 2 arm cover B １ 9 Wrist cover １ Remarks Table 5-4 ： Cover installation screw list No.
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 adjustment are inadequate, the life could drop and noise could be generated.
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 Fig.5-4 ： Inspection, maintenance and replacement of J5-axis timing belt ■ Inspecting the J5 axis timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to "5.3.2Installing/removing the cover" on page 44, and remove the No. 2 arm cover A.
5Maintenance and Inspection (3) Timing belt tension s ｆ ： Pressing force ｓ ： Span ｄ ： Slack f d Axis Belt type Span ： s (mm) Slack ： d (mm) Pressing force ： f (N) J5 393-3GT-4 145 2.3 1.3 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. Instead, it should be adjusted to a degree that elasticity is felt when the belt is pressed with the thumb.
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. J3 axis lubrication port J3 axis drain bolt (M4) J2 axis drain bolt (M4) A 1. J1 axis lubrication port 2. J2 axis lubrication port J1 axis drain bolt (M4) View from A Fig.
5Maintenance and Inspection Table 5-5 ： Lubrication specifications No.
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.
5Maintenance and Inspection 5.4 Maintenance parts The consumable parts that must be replaced periodically are shown in Table 5-6, and spare parts that may be required during repairs are shown in Table 5-7. Purchase these parts from the dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer. Table 5-6 ： Consumable part list No.
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. The types of origin setting methods are shown in Table 5-8.
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. The following operation is carried out while lightly pressing the deadman switch on the teaching pendant.
5Maintenance and Inspection (1) J1 axis origin setting 12345678 BRAKE (00000000) SET AXIS (11110000) ORIGIN :NOT DEF 1) Move the J1 axis slowly toward the front using both hands. Align the pinhole of the No.1 arm and the pinhole at the base section, feed through the origin jig (φ8) into the pinholes and fasten. -B (J5) Designate the origin setting axis 1 DEF Pinhole (J1 axis) Diagram of the robot viewed from the top 2) Press the [ ↓ ] key. The cursor will move to "SET AXIS".
5Maintenance and Inspection (2) J2 axis origin setting 12345678 BRAKE (00000000) SET AXIS (11110000) ORIGIN :NOT DEF Designate the origin setting axis 1) Slowly rotate the J2 axis in the direction of minus 90° with both hands. Align the pinholes of the No. 1 arm and shoulder, feed through the origin jig (φ8) into the pinholes and fasten.
5Maintenance and Inspection (3) J3 axis origin setting 12345678 BRAKE (00000000) SET AXIS(11110000) ORIGIN :NOT DEF Designate the origin setting axis 1) Slowly rotate the J3 axis to the plus direction with both hands. Align the pinholes of the No. 1 and No. 2 arm, feed through the origin jig (φ8) into the pinholes and fasten.
5Maintenance and Inspection (4) J4 axis origin setting 12345678 BRAKE (00000000) SET AXIS(11110000) ORIGIN :NOT DEF Designate the origin setting axis 1) Slowly rotate the J4 axis to the plus direction with both hands. Align the pinholes of the No. 2 arm and elbow , feed through the origin jig (φ6) into the pinholes and fasten.
5Maintenance and Inspection (5) J5 axis origin setting 12345678 BRAKE (00000000) SET AXIS(11110000) ORIGIN :NOT DEF Designate the origin setting axis 1) Slowly rotate the J5 axis in the direction of plus 90° with both hands. Align the pinholes of the No. 2 arm and wrist housing , feed through the origin jig (φ6) into the pinholes and fasten.
5Maintenance and Inspection (6) J6 axis origin setting 12345678 BRAKE (00000000) SET AXIS(11110000) ORIGIN :NOT DEF Designate the origin setting axis 1) Slowly move the J6 axis with both hands, and align the ABS mark of the wrist housing with the ABS mark of the hand mounting flange. -B (J5) 1 DEF ABS mark J6 axis Bolt (M5: 2 bolts) Prepared by customer CAUTION The J6-axis dose not have a mechanical stopper.
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 61. The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant.
5Maintenance and Inspection CHANGES TO ORIGIN OK?( ) 1:EXECUTE 12345678 BRAKE (00000000) SET AXIS (11111100) ORIGIN:NOT DEF RPL ↓ Designate the origin setting axis Set the origin 1 DEF -B (J5) 1 DEF INP → EXE 12345678 BRAKE (00000000) SET AXIS(11111100) ORIGIN :NOT DEF CHANGES TO ORIGIN OK?(1) 1:EXECUTE -B (J5) → 8) Press the [ ↓ ] key, and input "1" for the axis for which the origin is to be set. Press the [INP] key to display the Confirmation screen.
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. This operation is carried out with the teaching pendant.
5Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Select the T/B
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). The origin data label is enclosed with the arm or attached on the back of the shoulder coverB.
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). The types of configuration flags are shown below.
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.. FLIP J4 axis Ｆ Ｌ １ (Flag １ ) ＆Ｂ ００００ ００００ ↑ １／０＝ Ｎ Ｏ Ｎ Ｆ Ｌ Ｉ Ｐ ／ Ｆ Ｌ Ｉ Ｐ Note) "&B" is shows the binary NON FILIP J6 axis flange surface Fig.
HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE 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.
