Mitsubishi-electric Mitsubishi Industrial Robot RV-6S Manuel d'utilisateur

MITSUBISHIMitsubishi Industrial RobotRV-6S Series INSTRUCTION MANUALROBOT ARM SETUP & MAINTENANCEBFP-A8323-A

iiPage(2) Lubrication method ...

1Before starting use Using the instruction manuals 1-1 1 Before starting useThis chapter ex

1-2 Using the instruction manuals1Before starting use1.1.2 Symbols used in instruction manualThe symbols and expressions shown in Table 1-1 are used

1Before starting use Safety Precautions 1-3 1.2 Safety PrecautionsAlways read the following p

1-4 Safety Precautions1Before starting use1.2.1 Precautions given in the separate Safety ManualThe points of the precautions given in the separate &

2Unpacking to Installation Confirming the product 2-5 2 Unpacking to Installation2.1 Confirm

2-6 Installation2Unpacking to Installation2.2 Installation2.2.1 UnpackingFig.2-1 ： Unpacking the robot armThe robot is shipped from the factory in c

2Unpacking to Installation Installation 2-7 2.2.2 Transportation procedures (Transporting with

2-8 Installation2Unpacking to Installation2.2.3 Installation procedures1) The robot installation surface has been machine finished. Use the installa

2Unpacking to Installation Installation 2-9 2.2.4 Grounding procedures(1) Grounding methods1)

Supplemental Instruction Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. This document additionally explains to the Mitsubi

2-10 Installation2Unpacking to Installation2.2.5 Connecting with the controllerFig.2-6 ： Connecting the machine cables（ＣＮ2）（ＣＮ1） CN1CN2Robot armCont

2Unpacking to Installation Installation 2-11 Carry out the following procedure after installin

2-12 Setting the origin2Unpacking to Installation2.3 Setting the originThe origin is set so that the robot can be used with a high accuracy. After p

2Unpacking to Installation Setting the origin 2-13 2.3.2 Setting the origin with the origin

2-14 Setting the origin2Unpacking to Installation(3) Preparing the T/BNext, prepare to use the T/B1) Set the [MODE] switch on the front of the contr

2Unpacking to Installation Setting the origin 2-15 (4) Selecting the origin setting method

2-16 Setting the origin2Unpacking to Installation(5) Inputting the origin dataInput the value confirmed in section "(1) Confirming the origin d

2Unpacking to Installation Setting the origin 2-17 (6) Installing the shoulder coverBReturn

2-18 Confirming the operation2Unpacking to Installation2.4 Confirming the operationIn this section, the robot will be moved manually using the T/B t

2Unpacking to Installation Confirming the operation 2-19 Fig.2-11 ： XYZ jog operationFig.2-1

3. Change of the lubrication method and notes Details of change and supplement A procedure and precautions applicable to the products affected by the

2-20 Confirming the operation2Unpacking to InstallationFig.2-13 ： 3-axis XYZ jog operationFig.2-14 ： CYLINDER jog operationJ5J6＋－－＋＋X＋Y＋Z－Z－Ｙ－ＸTool

2Unpacking to Installation Confirming the operation 2-21 (1) JOINT jog operationPress the [M

2-22 Confirming the operation2Unpacking to Installation・ When the [MOVE] + [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction

2Unpacking to Installation Confirming the operation 2-23 (2) XYZ jog operationPress the [MOV

2-24 Confirming the operation2Unpacking to Installation・ When the [MOVE] + [+A (J4)] keys are pressed, The X axis will rotate in the plus direction.

2Unpacking to Installation Confirming the operation 2-25 (3) TOOL jog operationPress the [MO

2-26 Confirming the operation2Unpacking to Installation・ When the [MOVE] + [+A (J4)] keys are pressed, The X axis will rotate in the plus direction

2Unpacking to Installation Confirming the operation 2-27 (4) 3-axis XYZ jog operationPress t

2-28 Confirming the operation2Unpacking to Installation・ When the [MOVE] + [+A (J4)] keys are pressed, the J4-axis will rotate in the plus direction

2Unpacking to Installation Confirming the operation 2-29 (5) CYLNDER jog operationPress the

4. Supplemental note for the installation surface receiving force Supplemental details Magnitude of each reaction force added to P2-8 “2.2.3 Installat

2-30 Confirming the operation2Unpacking to Installation・ When the [MOVE] + [+A (J4)] keys are pressed, The X axis will rotate in the plus direction.

3Installing the option devices Installing the solenoid valve set (1S-VD01-02/VD02-02/VD03-02/VD04-02)

3-32 Installing the solenoid valve set (1S-VD01-02/VD02-02/VD03-02/VD04-02)3Installing the option devicesFig. 3-1 and Fig. 3-2 shows the solenoid v

3Installing the option devices Installing the solenoid valve set (1S-VD01-02/VD02-02/VD03-02/VD04-02)

3-34 Installing the hand input cable3Installing the option devices3.2 Installing the hand input cableThe procedure for installing the hand input cab

3Installing the option devices Installing the hand output cable 3-35 3.3 Installing the ha

3-36 .Changing the operating range3Installing the option devices3.4 .Changing the operating rangeThe operating range of the J1 axis can be changed t

3Installing the option devices .Changing the operating range 3-37 (2) Setting the parameter

4-38 4Basic operations4 Basic operationsThe basic operations from creating the program to automatic operation are explained in section "4. Basi

5Maintenance and Inspection Maintenance and inspection interval 5-39 5 Maintenance and Insp

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 t

5-40 Inspection items5Maintenance and Inspection5.2 Inspection itemsThe inspection items for the robot arm are shown below.Also refer to section &qu

5Maintenance and Inspection Inspection items 5-41 5.2.2 Periodic inspectionCarry out periodic

5-42 Maintenance and inspection procedures5Maintenance and Inspection5.3 Maintenance and inspection proceduresThe procedures for carrying out the pe

5Maintenance and Inspection Maintenance and inspection procedures 5-43 Fig 5-2 ： Outline st

5-44 Maintenance and inspection procedures5Maintenance and Inspection5.3.2 Installing/removing the coverFig.5-3 ： Installing/removing the coverCheck

5Maintenance and Inspection Maintenance and inspection procedures 5-45 Table 5-3 ： Cover na

5-46 Maintenance and inspection procedures5Maintenance and Inspection5.3.3 Inspection, maintenance and replacement of timing beltThis robot uses a t

5Maintenance and Inspection Maintenance and inspection procedures 5-47 (2) Inspection, main

5-48 Maintenance and inspection procedures5Maintenance and Inspection(3) Timing belt tensionFig.5-5 ： Belt tensionThe timing belt can satisfactorily

5Maintenance and Inspection Maintenance and inspection procedures 5-49 5.3.4 Lubrication(1)

The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for detai

5-50 Maintenance and inspection procedures5Maintenance and InspectionTable 5-5 ： Lubrication specificationsThe grease nipple position is shown in Fi

5Maintenance and Inspection Maintenance and inspection procedures 5-51 5.3.5 Replacing the

5-52 Maintenance parts5Maintenance and Inspection5.4 Maintenance partsThe consumable parts that must be replaced periodically are shown in Table 5-6

5Maintenance and Inspection Resetting the origin 5-53 5.5 Resetting the originThe origin is

5-54 Resetting the origin5Maintenance and Inspection5.5.1 Jig methodThe procedure of setting the origin with the calibration jig is shown below.This

5Maintenance and Inspection Resetting the origin 5-55 (1) J1 axis origin setting1) Move the

5-56 Resetting the origin5Maintenance and Inspection(2) J2 axis origin setting1) Slowly rotate the J2 axis in the direction of minus 90° with both h

5Maintenance and Inspection Resetting the origin 5-57 (3) J3 axis origin setting1) Slowly ro

5-58 Resetting the origin5Maintenance and Inspection(4) J4 axis origin setting1) Slowly rotate the J4 axis to the plus direction with both hands. Al

5Maintenance and Inspection Resetting the origin 5-59 (5) J5 axis origin setting1) Slowly ro

Revision historyDate of Point Instruction Manual No. Revision Details2003-10-10 BFP-A8323 First print2004-05-20 BFP-A8323-A Installing the hand input/

5-60 Resetting the origin5Maintenance and Inspection(6) J6 axis origin setting1) Slowly move the J6 axis with both hands, and align the ABS mark of

5Maintenance and Inspection Resetting the origin 5-61 5.5.2 User origin methodBefore using t

5-62 Resetting the origin5Maintenance and Inspection8) Press the [ ↓ ] key, and input "1" for the axis for which the origin is to be set.

5Maintenance and Inspection Resetting the origin 5-63 5.5.3 ABS origin methodWhen the origin

5-64 Resetting the origin5Maintenance and InspectionThe procedures for setting the origin with the ABS method are explained below.(1) Select the T/B

5Maintenance and Inspection Resetting the origin 5-65 5.5.4 Recording the origin dataWhen th

Appendix-66 Configuration flag6Appendix6 AppendixAppendix 1 ： Configuration flagThe configuration flag indicates the robot posture.For the 6-axis t

6Appendix Configuration flag Appendix-67 (3) NONFLIP/FLIP (6-axis robot only.)This means in w

MAY..2004 MEE Printed in Japan on recycled paper. Specifications are subject to chang

IntroductionThank you for purchasing the Mitsubishi industrial robot.This instruction manual explains procedures to be taken for unpacking, installi

CONTENTSiPage1 Before starting use .............................