MITSUBISHI ELECTRIC MELFA RV-2SDB (01) PDF MANUAL


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PDF Content Summary: MITSUBISHI ELECTRIC MELFA Robots Industrial Robot Instruction Manual RV-2SD/2SDB Robot Arm Setup & Maintenance

BFP-A8791 30 03 2010 Version A MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION

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.) Enforcement of safety training For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.) Preparation of work plan Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.) Setting of emergency stop switch During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.) Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot. Installation of safety fence Establish a set signaling method to the related operators for starting work, and follow this method. Signaling of operation start As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc. Indication of maintenance work in progress Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors. Inspection before starting work

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

CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION WARNING WARNING CAUTION WARNING CAUTION CAUTION CAUTION CAUTION WARNING 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.) Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping. Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration. Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur. Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage. Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults. Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation. Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents. Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation. When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands. Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices. After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. Never carry out modifications based on personal judgments, or use non designated maintenance parts. Failure to observe this could lead to faults or failures. When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION CAUTION CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm. Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters. If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters, the internal information of the robot controller may be damaged. Use the USB devices confirmed by manufacturer. In other case, it might have care difficulty by the effect of temperature, noise and so on. When using it, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm of the operation by the customer

*SD (CR1D) series: CR1DA-7xx

CAUTION CR1DA series Cover 端子カバー Cover 端子カバー Please install the earth leakage breaker in the primary side supply power supply of the controller because of leakage protection. Controller コントローラ earth leakage 漏電遮断器 breaker (NV) Terminal 電源端子台 Earth screw アース接続ネジ 保護アース端子 (PE)

Revision history Date of Point Instruction Manual No. Revision Details 2010-02-04 BFP-A8791 ・ First print 2010-03-30 BFP-A8791-A ・ CE specification of the CR1DA controller was added. 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 .............................................................................................................................................................. 2-6 2.1 Confirming the product ......................................................................................................................................................... 2-6 2.2 Installation .................................................................................................................................................................................. 2-7 2.2.1 Unpacking ............................................................................................................................................................................ 2-7 2.2.2 Transportation procedures(Transportation by people) .................................................................................... 2-8 2.2.3 Installation procedures .................................................................................................................................................. 2-9 2.2.4 Grounding procedures .................................................................................................................................................. 2-10 (1) Grounding methods ................................................................................................................................................... 2-10 (2) Grounding procedures ............................................................................................................................................. 2-10 2.2.5 Connecting with the controller ................................................................................................................................ 2-11 (1) RV-2SD (standard specification) ........................................................................................................................ 2-11 (2) RV-2SDB (CE marking specification) ............................................................................................................... 2-12 2.3 Setting the origin ................................................................................................................................................................... 2-14 2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-14 2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-15 (1) Confirming the origin data ..................................................................................................................................... 2-15 (2) Turning ON the control power ............................................................................................................................. 2-15 (3) Preparing the T/B ..................................................................................................................................................... 2-16 (4) Selecting the origin setting method ................................................................................................................... 2-17 (5) Inputting the origin data ......................................................................................................................................... 2-18 (6) Installing the J1 motor cover. ............................................................................................................................. 2-19 2.4 Confirming the operation .................................................................................................................................................... 2-20 (1) JOINT jog operation ................................................................................................................................................. 2-24 (2) XYZ jog operation ...................................................................................................................................................... 2-26 (3) TOOL jog operation .................................................................................................................................................. 2-28 (4) 3-axis XYZ jog operation ....................................................................................................................................... 2-30 (5) CYLNDER jog operation ......................................................................................................................................... 2-32 (6) Work jog operation ......................................................................................................... 2-34 3 Installing the option devices ..................................................................................................................................................... 3-40 3.1 Installing the solenoid valve set ..................................................................................................................................... 3-40 4 Basic operations ............................................................................................................................................................................ 4-41 5 Maintenance and Inspection ..................................................................................................................................................... 5-42 5.1 Maintenance and inspection interval ............................................................................................................................. 5-42 5.2 Inspection items ..................................................................................................................................................................... 5-43 5.2.1 Daily inspection items .................................................................................................................................................. 5-43 5.2.2 Periodic inspection ........................................................................................................................................................ 5-44 5.3 Maintenance and inspection procedures ..................................................................................................................... 5-45 5.3.1 Robot arm structure ..................................................................................................................................................... 5-45 5.3.2 Installing/removing the cover ................................................................................................................................... 5-47 5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-49 (1) Timing belt replacement period ......................................................................................................................... 5-49 (2) Inspection, maintenance and replacement of J1-axis timing belt ........................................................ 5-50 (3) Inspection, maintenance and replacement of J2-axis timing belt ........................................................ 5-52 (4) Inspection, maintenance and replacement of J3-axis timing belt ........................................................ 5-53 (5) Inspection, maintenance and replacement of J4-axis timing belt ........................................................ 5-54 (6) Inspection, maintenance and replacement of J5 axis timing belt and brake timing belt ............. 5-55 i CONTENTS Page (7) Inspection, maintenance and replacement of J6-axis timing belt ........................................................ 5-58 (8) Timing belt tension ................................................................................................................................................... 5-61 5.3.4 Lubrication ........................................................................................................................................................................ 5-62 (1) Lubrication position and specifications ............................................................................................................ 5-62 (2) Lubrication method ................................................................................................................................................... 5-63 5.3.5 Replacing the backup battery ................................................................................................................................... 5-64 (1) Replacing the robot arm battery ......................................................................................................................... 5-65 5.4 Maintenance parts ................................................................................................................................................................. 5-66 5.5 Resetting the origin .............................................................................................................................................................. 5-67 5.5.1 Mechanical stopper method ...................................................................................................................................... 5-68 (1) J1 axis origin setting(mechanical stopper) ..................................................................................................... 5-68 (2) J2 axis origin setting(mechanical stopper) ..................................................................................................... 5-70 (3) J3 axis origin setting(mechanical stopper) ..................................................................................................... 5-72 (4) J4 axis origin setting(mechanical stopper) ..................................................................................................... 5-74 (5) J5/J6 axis origin setting(mechanical stopper) ............................................................................................. 5-76 5.5.2 Jig method ........................................................................................................................................................................ 5-79 (1) J1 axis origin setting ................................................................................................................................................ 5-80 (2) J2 axis origin setting ................................................................................................................................................ 5-82 (3) J3 axis origin setting ................................................................................................................................................ 5-84 (4) J4 axis origin setting .............................................................................................................................................. 5-86 (5) Origin setting of J5 axis and J6 axis (jig) ........................................................................................................ 5-88 5.5.3 ABS origin method ........................................................................................................................................................ 5-91 (1) Select the T/B ........................................................................................................................................................... 5-92 5.5.4 User origin method ........................................................................................................................................................ 5-93 5.5.5 Recording the origin data ........................................................................................................................................... 5-95 (1) Confirming the origin data label ........................................................................................................................... 5-95 (2) Confirming the origin data ..................................................................................................................................... 5-95 (3) Recording the origin data ....................................................................................................................................... 5-95 (4) Installing the cover ................................................................................................................................................... 5-95 6Appendix ...............................................................................................................................................................................Appendix-96 Appendix 1 : Configuration flag ............................................................................................................................ Appendix-96 ii 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.

Safety Manual Standard Specifications or special Specifications Robot Arm Setup & Maintenance Controller Setup, Basic Operation and Maintenance Detailed Explanation of Functions and Operations Troubleshooting Additional axis function Tracking Func tion Manual Explains the common precautions and safety measures to be taken for robot handling, sys tem design and manufacture to ensure safety of the operators involved with the robot. Explains the product's standard specifications, factory-set special specifications, option configuration and maintenance parts, etc. Precautions for safety and technology, when incorporating the robot, are also explained. Explains the procedures required to operate the robot arm (unpacking, transportation, installation, confirmation of operation), and the maintenance and inspection procedures. Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to auto matic operation, and the maintenance and inspection procedures. Explains details on the functions and operations such as each function and operation, com mands used in the program, connection with the external input/output device, and parame ters, etc. Explains the causes and remedies to be taken when an error occurs. Explanations are given for each error No. Explains the specifications, functions and operations of the additional axis control. Explains the control function and specifications of conveyor tracking. SD series only.

Using the instruction manuals 1-1 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 Terminology Item/Symbol Meaning

Item The "Robot controller" or the "Controller" Indicates the controller which controls the robot arm. Indicates the box which arranged control parts, such as robot CPU, servo amplifier, and the safety circuit.

Symbol Precaution indicating cases where there is a risk of operator fatality or

DANGER WARNING CAUTION serious injury if handling is mistaken. Always observe these precautions to safely use the robot. Precaution indicating cases where the operator could be subject to fatalities or serious injuries if handling is mistaken. Always observe these precautions to safely use the robot. Precaution indicating cases where operator could be subject to injury or physical damage could occur if handling is mistaken. Always observe these precautions to safely use the robot.

[JOG] If a word is enclosed in brackets or a box in the text, this refers to a key on the teaching pendant.

[RESET] + [EXE] (A) (B) This indicates to press the (B) key while holding down the (A) key. In this example, the [RESET] key is pressed while holding down the [+EXE] key.

T/B This indicates the teaching pendant. O/P This indicates the operating panel on the front of the controller. 1-2 Using the instruction manuals 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.) Enforcement of safety training For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.) Preparation of work plan Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.) Setting of emergency stop switch During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.) Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot. Installation of safety fence Establish a set signaling method to the related operators for starting work, and follow this method. Signaling of operation start As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc. Indication of maintenance work in progress Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors. Inspection before starting work

Safety Precautions 1-3 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.

DANGER CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION WARNING WARNING CAUTION WARNING CAUTION CAUTION CAUTION WARNING If the automatic operation of the robot is operated by two or more control equipment, design the right management of operation of each equipment of the customer. 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.) Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping. Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration. Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur. Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage. Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults. Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation. Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents. Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation. When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands. Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices. After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. Never carry out modifications based on personal judgments, or use non-designated maintenance parts. Failure to observe this could lead to faults or failures. When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.

1-4 Safety Precautions 1Before starting use

CAUTION CAUTION DANGER DANGER Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters. If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters , the internal information of the robot controller may be damaged. When the SSCNETIII cable is removed, install the cap in the connector. If the cap is not installed, there is a possibility of malfunctioning by adhesion of the dust etc. Don't remove the SSCNETIII cable, when the power supply of the robot controller is turned on. Don't face squarely the light emitted from the tip of the SSCNETIII connector or the cable. If light strikes the eyes, there is a possibility of feeling the sense of incongruity for the eyes. (The light source of SSCNETIII is equivalent to the class 1 specified to JISC6802 and IEC60825-1.)

Safety Precautions 1-5 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. Remarks 1 Robot arm RV-2SD 1 unit 2 Guarantee card 1 copy 3 Installation bolts M8x35 4 pcs. 4 Spring washer for installation bolts For M8 4 pcs. 5 Plain washer for installation bolts For M8 4 pcs. 6 Fixing plates (For fixing the rotation axis) 2 pcs. This is installed in the robot arm at the time of shipment. 7 Safety socket for fixing plates M5x12 6 pcs. 8 Plain washer for fixing plate For M5 9 Grease nipple For J5 and J6 gears 3 pcs. 2-6 Confirming the product 2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking (a) Topples over (slowly) (b) Pull out (d) Take out ④ (c) Raise ! CAUTION Always unpack the ! robot at a flat place. The robot could tilt over if unpacked at an unstable place. Notes) The packing material is required at re-transportation. Please keep it with care. Fig.2-1 : Unpacking the robot arm The robot is shipped from the factory in cardboard and plywood frame packing. Always refer to Fig. 2-1 and unpack the robot.Handle the robot arm according to "2.2.2 Transportation procedures(Transportation by people)". The unpacking process is shown below. 1) The cardboard box is toppled over horizontally slowly. Take care so that a shock may not be given (Fig. 2-1 (a)) 2) Using a knife, etc., slit the tape fixing the upper lid of the cardboard box. 3) Pull out inner box horizontally with the handle. (Fig. 2-1 (b)) 4) Raise the inner box and the robot simultaneously. (Fig. 2-1 (c)) 5) Remove the robot from the inner box. (Fig. 2-1 (d)) Installation 2-7 2Unpacking to Installation 2.2.2 Transportation procedures(Transportation by people) Mass RV-2SD : Approx. 21kg

Fixing plate Fixing plate Flange of base(A) Base No.2 arm Elbow Lower section of elbow(B) 注意 CAUTION VORSICHT

Fig.2-2 : Transportation of robot arm (Transportation by people) 1) The robot be transported by one worker. Place the robot on a dolly, etc. and move it to the vicinity of the installation site. 2) raises the robot as supports the robot's left side by your body with having the flange of base (A) and the lower section of elbow (B). Please be sure to avoid holding the robot from the front/back side or by the cover because the robot may tilt over and the cover may be damaged or dropped, which may lead to accidents. 3) When transporting the robot, do not apply force on the cover, or apply a strong impact on the robot 4) Remove the fixing plate after installing the robot.

CAUTION To prevent accidents, do not hold the robot from the front/back sides, or hold covers that have no grips.

2-8 Installation 2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. 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 35 hexagon socket bolts). 2) Installation of the robot arm is a very important step for ensuring the optimum functions of the robot. Observe the following points when designing.Install the robot on a level surface. 3) It is recommended that the surface roughness of the table onto which the robot is to be installed by 6.3a or more. If the installation surface is rough, the contact with the table will be poor, and positional deviation could occur when the robot moves. 4) When installing, use a common table to prevent the position of the devices and jigs subject to robot work from deviating. 5) The installation surface must have sufficient strength to withstand the arm reaction during

4-M8 x 35 (Four positions) Spring washer Plain washer ) n o i t a l l a t s n I ( 5 2 z R 4-φ9 installation hole operation, and resistance against deformation and vibration caused by the static (dynamic) load of the robot arm and peripheral devices, etc. 6) Remove the fixing plates after installing the robot. 7) When the robot is installed by hanging from the ceiling or on the wall, the MEGDIR parameter must be changed. For more information about parameters and how to change the parameters, refer to the separate "Instruction Manual/ Detailed Explana-tion of Functions and Opera tions". 8) The installation surface must have sufficient strength to withstand the arm reaction during moving the robot at high speed.

(Installation) Rz 25 Fig.2-3 : Installation dimensions Note) Although the figure is RV-2SD, the RV-2SDB is the same also. CAUTION Please secure the maintenance space required for connection of the machine cable, and exchange of the backup battery in the rear side, and also space for J1 axis belt in the right side.

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

Robot arm Controller and personal computer Robot arm Controller and personal computer Robot arm Controller and personal computer when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance" for details on the controller grounding.) 2) Use Class D grounding (grounding resistance 100Ω or less). Dedicated grounding separated from the other devices should be used. 3) Use a AWG#11(3.5mm2) or more stranded wire for

(a) Dedicated grounding (Optimum)(b) Common grounding (Good) Fig.2-4 : Grounding methods (2) Grounding procedures M4x10, SW, PW A (c) Common grounding (Normal) the grounding wire. The grounding point should be as close to the robot arm and controller as possi ble, and the length of the grounding wire should be short. 1) Prepare the grounding cable (AWG#14(2mm2) or more) and robot side installation screw and washer. 2) If there is rust or paint on the grounding screw sec tion (A), remove it with a file, etc. 3) Connect the grounding cable to the grounding screw section.

Robot grounding cable (AWG#14 (2mm2) or more) (Prepared by customer) Fig.2-5 : Connecting the grounding cable 2-10 Installation 2Unpacking to Installation

2.2.5 Connecting with the controller (1) RV-2SD (standard specification) Controller back Robot arm Motor power モータパワー (CN1)

ロボット本体 Opposite side of figure (ベース部背面) CN1 CN2 ドライブユニット (背面) CN2 Motor signal cable (5m) モータ信号ケーブル(5m) CN1 Connection ring 接続リング部 (fixing) (固定) Motor signal モータ信号 (CN2) ラッチ

(固定用 左右) ラッチ

Connection ring 接続リング部 (fixing) (固定) Connection latch (固定用 左右) (For fixing. Right and left ) Motor power cable (5m) モータパワーケーブル(5m) Connection latch (For fixing. Right and left )

Fig.2-6 : Connecting the machine cables (RV-2SD) Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance" manual. 1) Make sure that the power switch on the front of the controller is turned OFF. 2) Connect the machine cable to its corresponding connector on the robot arm side and controller. Connect the CN2 first at connection. Conversely, remove the CN1 first at removal. After CN1 unites the key slot with each other's connector, insert the connector. And rotates the connec tion ring section to fix it securely. Pick the latch of both sides on CN2 connector, and inserts CN2. CN2 is fixed when the latch is released.

CAUTION CAUTION CAUTION CAUTION Please connect the connector securely. If it inserts by force, the pin will break. And it becomes the cause of failure. The machine cable connectors are dedicated for the controller side and robot arm side, so take special care when connecting. If connected incorrectly, the connector pins could bend or break. Thus, even if connected correctly, the robot will not operate correctly, creating a dangerous situation. Take special care to the leading of the connection cable. If the cable is pulled with force or bent excessively, wires could break or the connector could be damaged. Please be careful not to catch the hand at installation and removal.

Installation 2-11

2Unpacking to Installation (2) RV-2SDB (CE marking specification) Motor power ドライブユニット (背面) モータパワー Connection latch

Controller back ラッチ

CN1 Robot arm ロボット本体 (ベース部背面) Opposite side of figure CN2 (CN1) CN2 (For fixing. Right and left ) CN1 Motor signal モータ信号 (CN2)

ラッチ ラッチ

モータ信号ケーブル(5m) (For fixing. Right and left ) Connection latch Motor signal cable (5m) Connection latch ラッチ (For fixing. Right and left ) Motor power cable (5m) モータパワーケーブル(5m) Fig.2-7 : Connecting the machine cables (RV-2SDB-S15) Connection latch (For fixing. Right and left )

Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance" manual. Note) Although the following figure differs in the robot's image, please make it reference of connector operation. Robot arm Connector on the robot arm side 1) Make sure that the power switch on the front of the

Projection Hook Connector on the machine cable side controller is turned OFF. 2) Connect the machine cable to its corresponding connector on the robot arm side. 3) After connecting the connector, insert the hook attached to the connector on the machine cable side to the rear of the projection of the robot arm connector to fix securely in place.

Hook Projection Hook Projection Minus screwdriver Padding CAUTION Be careful not to get your hand pinched. 4) To remove the cable, insert a minus screwdriver into the hook while padding with a cloth, and remove the cable by lifting the hook.

2-12 Installation 2Unpacking to Installation

CAUTION CAUTION CAUTION CAUTION Please connect the connector securely. If it inserts by force, the pin will break. And it becomes the cause of failure. The machine cable connectors are dedicated for the controller side and robot arm side, so take special care when connecting. If connected incorrectly, the connector pins could bend or break. Thus, even if connected correctly, the robot will not operate correctly, creating a dangerous situation. Take special care to the leading of the connection cable. If the cable is pulled with force or bent excessively, wires could break or the connector could be damaged. Please be careful not to catch the hand at installation and removal.

Installation 2-13 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 55 for the other methods. The teaching pendant is required for this operation. [Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again. Refer to "5.5 Resetting the origin" on page 55 and reset the origin using the jig method or ABS method. 2.3.1 Installing the teaching pendant (T/B) When installing and removing the T/B, turn off the controller power supply. If T/B is installed or removed in the state of power supply ON, emergency stop alarm will occur. If you use the robot wherein T/B is removed, please install the attached dummy connector. With the connector, put the dummy connector or draw it out.

CAUTION Please do not pull the cable of T/B strongly or do not bend it too much. It becomes the breaking of a wire of the cable and the cause of breakage of the connector. Please installing and removing so that stress does not start the cable with the connector itself.

Explain the installation method of T/B below. 1) Check that the POWER (power supply) switch of the robot controller is OFF. 2) Connects T/B connector to the robot controller. Use as the upper surface the lock lever shown in Fig. 2-8, and push in until there is sound.

A部 T/B connector Dummy connector Details of the A section Lock lever B When removing the connector for T/B connection, use lock release (state which raised the lock lever to the up side), make the case of the B section slide to the front, and remove and pull up out the latch. Teaching pendant (T/B)

Fig.2-8 : Installing and removing the T/B The installation of T/B is finished. ◇◆◇ If error C0150 occurs ◇◆◇ At the time of the first power supply injection, error:C0150 (the serial number of the robot arm has not been set up) occur the robot after purchase. Parameter: Please input the serial number of the robot body into RBSERIAL. Refer to "instructions manual / controller setup, and basic operation & maintenance" for the operation method. 2-14 Setting the origin 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 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 .J1 motor cover. (Refer to Fig. 2-9). Referring to "5.3.2 Installing/removing the cover" on page 42, remove the J1 motor cover and confirm the value. Method E E ・ N ・ S P E ・ N ・ S P (O: O(Alphabet), 0: Zero) E・N・SP The value given in the default setting column is the origin settings set with the Note) Meanings of symbols in method column E: Jig method N: Not used SP: Not used Fig.2-9 : Origin data label (an example) calibration jig before shipment.

* The origin data to input is found on also the robot examination report sheet.

WARNING Always install/remove the cover with the controller control power turned OFF. Failure to do so could lead to physical damage or personal injury should the robot start moving due to incorrect operations.

(2) Turning ON the control power

CAUTION Confirm that there are no operators near the robot before turning the power ON.

1) Turn the controller [POWER] switch ON. The control power will be turned ON, and "o. 100" will appear on the STATUS NUMBER display on the front of the controller. Setting the origin 2-15 2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B 1) Set the [MODE] switch on the front of the controller to "MANUAL". MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear. The following operations are carried out with the T/B. Up: Disable 上:DISABLE Down: Enable 下:ENABLE (Lighting) *ランプ点灯 T/B背面 ◇◆◇ Operating from the T/B ◇◆◇ Always set the [MODE] switch (mode selection key switch) on the front of the controller to "MAMNUAL", and then set the T/B [ENABLE] switch to "ENABLE". When the T/B is valid, only operations from the T/B are possible. Operations from the controller or external signals will not be accepted. 2-16 Setting the origin 2Unpacking to Installation

(4) Selecting the origin setting method <MENU> 1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 123 CLOSE <ORIGIN/BRAKE> 1.ORIGIN 2.BRAKE 123 CLOSE <ORIGIN> 1.DATA 2.MECH 3.TOOL 4.ABS 5.USER 123 CLOSE <ORIGIN> DATA D:(■ ) J1( ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE ◇◆◇ Selecting a menu ◇◆◇ 1) Press the [4] key on the menu screen, and display the ORIGIN/BRAKE screen. 2) Press the [1] key on the ORIGIN/BRAKE screen, and display the origin setting method selection screen. 3) Press the [1] key on the origin setting method selection screen, and select the data input method. 4) Display the origin data input screen

The menu can be selected with one of the following methods. A: Press the numeral key for the No. of the item to be selected. B: Using the [ ↓ ] and [ ↑ ] keys, etc., move the cursor to the item to be selected, and then press the [INP] key. ◇◆◇ The input method of numeral ◇◆◇ The number can be inputted if the key displayed on the lower left of each key is pressed. Press the [CHARACTER] key, and in the condition that "123" is displayed on the screen lower side, press the number key. Setting the origin 2-17 2Unpacking to Installation (5) Inputting the origin data

T/B screen <ORIGIN> DATA Origin data label (D,J1,J2,J3,J4,J5,J6,J7,J8) Input the value confirmed in section "(1) Confirming the origin data" on page 15. The correspondence of the origin data label value and axis

D:(■ ) J1( ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE to be input is shown in Fig. 2-10.

Fig.2-10 : Correspondence of origin data label and axis The method for inputting the origin data is explained below. The value shown in Fig. 2-9 will be input as an example.

<ORIGIN> DATA D:(■ ) J1( ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE <ORIGIN> DATA D:(V ) J1( ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) ABC 123 CLOSE <ORIGIN> DATA , D:(V! ) J1( ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) ABC 123 CLOSE , <ORIGIN> DATA D:(V!%S29) J1( ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE <ORIGIN> DATA : D:(V!%S29) : J1( ) J2( ) J3( ) : J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE 1) Confirm that the cursor is at the "D" position on the T/B display screen. 2) Input the D value "V!%S29". Inputting "V" Press the [CHARACTER] key and set to the character input mode. (Condition that "ABC" was displayed under the screen) Press the [TUV] key three times. "V" will be set. Inputting "!" Press the [ , % ] key five times. "!" will be set. Press the [ → ] key once and advance the cursor. Press the [ , % ] key twice (input "%"), and press the [PQRS] key four times (input "S"). Press the [CHARACTER] key and set to the numeral input mode. (Condition that "123" was displayed under the screen) Press the [2] key (input "2"), and press the [9] key (input "9"). "V!%S29" will appear at the "D" data on the teaching pendant screen. 3) Press the [ ↓ ] key, and move the cursor to the J1 input position. 4) Input the J1 value in the same manner as above. Input the J2, J3, J4, J5 and J6 values in the same manner.

2-18 Setting the origin 2Unpacking to Installation

<ORIGIN> DATA D:( V!%S29) J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V) J4( T6!MSY) J5( Z21J%Z) J6( A12%Z0) J7( ) J8( ) ABC CLOSE <ORIGIN> DATA CHANGE TO ORIGIN. OK? Yes 123 No ◇◆◇ Moving the cursor ◇◆◇ Press the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys. ◇◆◇ Inputting characters ◇◆◇ 5) After inputting all of the values, press the [EXE] key. The origin setting confirmation screen will appear. 6) Press [F1] (Yes) to end the origin setting

Press the [CHARACTER] key and set to the character input mode. (Condition that "ABC" was displayed under the screen). The displayed character is scrolled each time at pressing the key. ◇◆◇ Correcting an input ◇◆◇ After returning one character by pressing the [C L E A R] key, input the character again. (6) Installing the J1 motor cover. Return the J1 motor cover removed in section "(1) Confirming the origin data" on page 15 to its original position. This completes the setting of the origin with the origin data input method.

WARNING Always remove and install the cover with the controller power turned OFF. Failure to do so could lead to the robot moving because of incorrect operations, or to physical damage or personal injury.

◇◆◇ If the origin input data is incorrect ◇◆◇ If the origin input data is incorrect, the alarm No. 1760 (origin setting data illegal) will occur when origin data input. In this case, reconfirm the value input for the origin data. Setting the origin 2-19 2 Unpacking 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. This operation is carried out while pressing the deadman switch on the back of the T/B.

CAUTION CAUTION WARNING - The robot will move during this operation. Make sure that there are no operators near the robot, and that there are no obstacles, such as tools, in the robot operation range. To immediately stop the robot, release the deadman switch on the back of the T/B. The servo power will turn OFF, and the robot will stop. The robot will also stop if the [EMG.STOP] switch (emergency stop switch) on the front of the T/B or the [EMG.STOP] switch (emergency stop) on the front of the controller is pressed. Confirm that the origin has been set. If the origin has not been set, "****" will appear at the current position display on the teaching pendant, the JOINT jog oper ation will take place in any jog mode selected. Refer to "2.3 Setting the origin" on page 14 for details on setting the origin. J4 axis + J4軸 J3 axis J3軸 - -

J5 axis J5軸 + +

+ - J6 axis J6軸 - J1 axis J1軸 Fig.2-11 : JOINT jog operation J2 axis J2軸 - + + * Each axis moves independently. ※各軸毎に独立し て動作し ます。 5 軸タ イプの場合、 J 4 軸はあ り ません。

2-20 Confirming the operation 2 Unpacking to Installation

+Z - + + +Z -

+X +Y - + Control point 制御点 -Y -X +X +Y -Z Fig.2-12 : XYZ jog operation * While maintaining the flange surface posture, the axis moves straight along the base. coordinate system. Also, while maintaining the ※各軸毎に独立し て動作し ます。 flange surface position, the flange surface 5 軸タ イプの場合、 J 4 軸はあ り ません。 posture changes.

+ -

+X +Y - + 制御点 - + Control point +Z Fig.2-13 : TOOL jog operation * While maintaining the flange surface posture, the axis moves straight along the tool. coordinate system. Also, while maintaining the ※各軸毎に独立し て動作し ます。 flange surface position, the flange surface 5 軸タ イプの場合、 J 4 軸はあ り ません。 posture changes.

Confirming the operation 2-21

2 Unpacking to Installation - J4 axis + J4軸 +Z

- J5軸

J5 axis +

+ - J6 axis J6軸 -Y -X +X +Y -Z Fig.2-14 : 3-axis XYZ jog operation Vertical * 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 does not change at this time. It ※各軸毎に独立し て動作し ます。 is effective to change the posture of the wrist, 5 軸タ イプの場合、 J 4 軸はあ り ません。 with the position maintained.

半径 上下 +Z

Radius Arc 円弧 Controll point 制御点 -Y -X +X +Y -Z Fig.2-15 : CYLINDER jog operation * The current position is set as the arc centering on the Z axis, and the axis moves along that arc, expands and contracts in the radius direction, and moves vertically. At this time, the flange surface posture is maintained. Also, while maintaining the flange surface position, the ※各軸毎に独立し て動作し ます。 flange surface posture changes. 5 軸タ イプの場合、 J 4 軸はあ り ません。

2-22 Confirming the operation 2 Unpacking to Installation

- +Zw Tool ツール長 length +Z

+Xw +

+ - -Zw -Yw -Xw + Controll point 制御点 - +Yw * While maintaining the flange surface posture, the axis moves straight along the work coordinate system. Also, while maintaining the flange

WORK coordinate system surface position, the flange surface

posture changes. ワーク座標系 +X +Y Fig.2-16 : WORK jog operation Confirming the operation 2-23

2 Unpacking to Installation (1) JOINT jog operation Select joint jog mode <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ Joint jog mode       Set jog speed <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ Setting the speed               J1 axis jog operation [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "joint" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "joint." (If the jog mode which he wishes under the screen is not displayed, it is displayed that the [FUNCTION] key is pressed) If it finishes jog operation, press the [JOG] key again, or function key which correspond to "close." Whenever it presses the key of [OVRD ↑ ], the override goes up. Conversely, if the [OVRD ↓ ] key is pressed, it will go down. The current setting speed is displayed on screen upper right, and "STATUS NUMBER" of the controller. Set the override to 10% here for confirmation work

- + J1 axis J1軸回転

・ When the [+X (J1)] keys are pressed, the J1 axis will rotate in the plus direction. When the [-X (J1)] keys are pressed, Rotate in the minus direction.

J2 axis jog operation

2-24 Confirming the operation 2 Unpacking to Installation ・ When the [+Y (J2)] keys are pressed, the J2 axis will rotate in the plus direction. When the [-Y (J2)] keys are pressed, Rotate in the minus direction. ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area. Move these axes toward the inner side of the movement area. J3 axis jog operation J3 axis J3軸回転 ・ When the [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction. When the [-Z (J3)] keys are pressed, Rotate in the minus direction. J4, J5 and J6 axis jog operation + J4軸 + J4 axis J5 axis J5軸

- - + J6 axis J6軸 -

・ When the [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction. When the [-A (J4)] keys are pressed, Rotate in the minus direction. ・ When the [+B (J5)] keys are pressed, the J5 axis will rotate in the plus direction When the [-B (J5)] keys are pressed, Rotate in the minus direction. ・ When the [+C (J6)] keys are pressed, the J6 axis will rotate in the plus direction When the [-C (J6)] keys are pressed, Rotate in the minus direction. ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Confirming the operation 2-25

2 Unpacking to Installation (2) XYZ jog operation Select XYZ jog mode <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ XYZ jog mode       Set jog speed <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ Setting the speed               Moving along the base coordinate system +Z +Z +X +Y [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "XYZ" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "XYZ." (If the jog mode which he wishes under the screen is not displayed, it is displayed that the [FUNCTION] key is pressed) If it finishes jog operation, press the [JOG] key again, or function key which correspond to "close." Whenever it presses the key of [OVRD ↑ ], the override goes up. Conversely, if the [OVRD ↓ ] key is pressed, it will go down. The current setting speed is displayed on screen upper right, and "STATUS NUMBER" of the controller. Set the override to 10% here for confirmation work

-Y -X * The direction of the flange will not change +X +Y -Z ・ When the [+X (J1)] keys are pressed, the robot will move along the X axis plus direction. When the [-X (J1)] keys are pressed, Move along the minus direction. ・ When the [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction. When the [-Y (J2)] keys are pressed, Move along the minus direction. ・ When the [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction. When the [-Z (J3)] keys are pressed, Move along the minus direction. ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section "(1) JOINT jog operation" on page 24", and move the robot to a position where linear movement is possible, and then carry out XYZ jog. 2-26 Confirming the operation 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the flange surface posture +Z - + +Z +

+X - - + +Y

-Y -X +X +Y -Z * The control point does not change.

・ When the [+A (J4)] keys are pressed, The X axis will rotate in the plus direction. When the [-A (J4)] keys are pressed, Rotate in the minus direction. ・ When the [+B (J5)] keys are pressed, The Y axis will rotate in the plus direction. When the [-B (J5)] keys are pressed, Rotate in the minus direction. ・ When the [+C (J6)] keys are pressed, The Z axis will rotate in the plus direction. When the [-C (J6)] keys are pressed, Rotate in the minus direction. ◇◆◇ When alarm No. 5150 occurs ◇◆◇ If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed Explanation of Functions and Operations" for details. Confirming the operation 2-27

2 Unpacking to Installation (3) TOOL jog operation Select TOOL jog mode <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : ~ XYZ TOOL JOG 3-XYZ CYLNDR ⇒ TOOL jog mode       Set jog speed <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "TOOL" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "TOOL." (If the jog mode which he wishes under the screen is not displayed, it is displayed that the [FUNC TION] key is pressed) If it finishes jog operation, press the [JOG] key again, or function key which correspond to "close." Whenever it presses the key of [OVRD ↑ ], the override goes up. Conversely, if the [OVRD ↓ ] key is pressed, it will go down. Setting the speed               Moving along the tool coordinate system +Z +Y +X +Z The current setting speed is displayed on screen upper right, and "STATUS NUMBER" of the controller. Set the override to 10% here for confirmation work

-Y -X +X +Y -Z * The direction of the flange will not change

・When the [+X (J1)] keys are pressed, the robot will move along the X axis plus direction of the tool coordinate system. When the [-X (J1)] keys are pressed, Move along the minus direction. ・When the [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction of the tool coordinate system. When the [-Y (J2)] keys are pressed, Move along the minus direction. ・When the [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction of the tool coordinate system. When the [-Z (J3)] keys are pressed, Move along the minus direction. ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section "(1) JOINT jog operation" on page 24", and move the robot to a position where linear movement is possible, and then carry out XYZ jog. 2-28 Confirming the operation 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the flange surface posture

+X + +Y -Z + +Z

- - + - +Z -Y -X +X +Y -Z * The control point does not change.

・When the[+A (J4)] keys are pressed, The X axis will rotate in the plus direction of the tool coordinate system. When the[-A (J4)] keys are pressed, Rotate in the minus direction. ・When the[+B (J5)] keys are pressed, The Y axis will rotate in the plus direction of the tool coordinate system. When the[-B (J5)] keys are pressed, Rotate in the minus direction. ・When the[+C (J6)] keys are pressed, The Z axis will rotate in the plus direction of the tool coordinate system. When the[-C (J6)] keys are pressed, Rotate in the minus direction. ◇◆◇ When alarm No. 5150 occurs ◇◆◇ If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed Explanation of Functions and Operations" for details. Confirming the operation 2-29

2 Unpacking to Installation (4) 3-axis XYZ jog operation Select XYZ456 jog mode <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : ~ XYZ TOOL JOG 3-XYZ CYLNDR ⇒ XYZ456 jog mode       Set jog speed <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "XYZ456" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "XYZ456." (If the jog mode which he wishes under the screen is not displayed, it is displayed that the [FUNC TION] key is pressed) If it finishes jog operation, press the [JOG] key again, or function key which correspond to "close." Whenever it presses the key of [OVRD ↑ ], the override goes up. Conversely, if the [OVRD ↓ ] key is pressed, it will go down. The current setting speed is displayed on screen Setting the speed               Moving along the base coordinate system +Z +Z +X +Y upper right, and "STATUS NUMBER" of the controller. Set the override to 10% here for confirmation work

-Y -X +X +Y -Z * The direction of the flange will change

・ When the[+X (J1)] keys are pressed, the robot will move along the X axis plus direction. When the[-X (J1)] keys are pressed, Move along the minus direction. ・ When the[+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction. When the[-Y (J2)] keys are pressed, Move along the minus direction. ・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction. When the[-Z (J3)] keys are pressed, Move along the minus direction. ◇◆◇ The flange surface end axis posture cannot be maintained with 3-axis XYZ jog. ◇◆◇ With 3-axis XYZ jog, the flange surface end axis posture (orientation) is not maintained when moving linearly in the X, Y or Z axis direction. Use XYZ jog to maintain the posture. 2-30 Confirming the operation 2 Unpacking to Installation Changing the flange surface posture + J4軸 + J4 axis J5 axis J5軸

- - + J6 axis J6軸 - * The wrist posecan be changed maintaining the flange's position.

・ When the[+A (J4)] keys are pressed, the J4-axis will rotate in the plus direction. At this time, to maintain the flange's position, other axes move simultaneously except J5 and J6. When the[-A (J4)] keys are pressed, Rotate in the minus direction. ・ When the[+B (J5)] keys are pressed, the J5-axis will rotate in the plus direction. At this time, to maintain the flange's position, other axes move simultaneously except J4 and J6. When the[-B (J5)] keys are pressed, Rotate in the minus direction. ・ When the[+C (J6)] keys are pressed, the J6-axis will rotate in the plus direction. When the[-C (J6)] keys are pressed, Rotate in the minus direction. Confirming the operation 2-31

2 Unpacking to Installation (5) CYLNDER jog operation Select cylindrical jog mode <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : ~ XYZ TOOL JOG 3-XYZ CYLNDR ⇒ CYLNDER jog mode Set jog speed <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "CYLNDER" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "CYLNDER." (If the jog mode which he wishes under the screen is not displayed, it is displayed that the [FUNCTION] key is pressed) If it finishes jog operation, press the [JOG] key again, or function key which correspond to "close." Whenever it presses the key of [OVRD ↑ ], the override goes up. Conversely, if the [OVRD ↓ ] key is pressed, it will go down. Setting the speed               Moving along an arc centering on the Z axis Vertical The current setting speed is displayed on screen upper right, and "STATUS NUMBER" of the controller. Set the override to 10% here for confirmation work

Radius 半径 上下 +Z Arc 円弧

-Y -X +X +Y -Z * The direction of the frange will not change.

Assuming that the current position is on an arc centering on the Z axis, the robot moves along that arc. ・ When the[+X (J1)] keys are pressed, the robot will expand in the radial direction. When the[-X (J1)] keys are pressed, Contract in the radial direction. ・ When the[+Y (J2)] keys are pressed, the robot will move along the arc in the plus direction. When the[-Y (J2)] keys are pressed, Move in the minus direction. ・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction. When the[-Z (J3)] keys are pressed, Move along the minus direction. 2-32 Confirming the operation 2 Unpacking to Installation

Changing the flange surface posture +Z - + + - +X +Z

- + +Y

-Y -X +X +Y -Z * The flange position does not change. This is the same as the A, B and C axis XYZ jog operation.

・ When the [+A (J4)] keys are pressed, The X axis will rotate in the plus direction. When the [-A (J4)] keys are pressed, Rotate in the minus direction. ・ When the [+B (J5)] keys are pressed, The Y axis will rotate in the plus direction. When the [-B (J5)] keys are pressed, Rotate in the minus direction. ・ When the [+C (J6)] keys are pressed, The Z axis will rotate in the plus direction. When the [-C (J6)] keys are pressed, Rotates in the minus direction. Confirming the operation 2-33 2 Unpacking to Installation (6) Work jog operation Setting of the work coordinates system is necessary. By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching operations get easier. When jog operation, select by which work coordinates the robot moves The setting method of the work coordinates system using T/B (R32TB) is shown in the following. (Parameter: Setting the coordinate value to WKnCORD ("n" is meaning the number (1-8) of work coordinates) can also set up the work coordinates system. Refer to the separate manual "Detailed Explanation of Functions and Operations" for details of parameter.) In addition, this jog operation is available at the following software versions. The below-mentioned "6.ENHANCED" menu is not displayed in the other versions. T/B :Ver.1.3 or later SQ series: N8 or later SD series :P8 or later The work coordinates system teaches and sets up the three points (WO, WX, WY). +Z +Zw Notes) The figure is the example of

work coordinates WO WX WY +Xw+Yw RV-6SD, but other types are the same +Y Robot coordinates system Work The jogging movement based on this work is possible. +X < Teaching point> WO: Work coordinates system origin WX: Position on the "+X" axis of work coordinates system. WY: Position at the side of "+Y" axis on the X-Y plane of work coordinates system

[Supplement] : The coordinate values which use all three teaching points for setting of the work coordinates system are each only X, Y, and the Z-axis. Although the coor dinate value of A, B, and C axis is not used, positioning will get easy if the XYZ jog or TOOL jog movement is effected with the same value. (The direction of the hand is the same) Fig.2-17 : Setting of the work coordinates system (teaching point) The setting (definition) method of the work coordinates system is shown in the following. 2-34 Confirming the operation 2 Unpacking to Installation

1) Select "6.ENHANCED" screen on the <MENU> screen. <MENU>     1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED   123 CLOSE <EMHANCED>     1.SQ DIRECT 2.WORK COORD.   123 CLOSE

2) Press the [2] keys in the menu screen and select "2. xxxxx."

<EMHANCED>     1.SQ DIRECT 2.WORK COORD.   123 CLOSE 3) Selection of the work coordinates number <WORK COORD> WORK NUMBER (1) TEACHING POINT (WO) X: 0.00 Y: 0.00 Z: 0.00 TEACH WX   123 WY DEFINE The screen shows the coordinate value of the origin (WO) of the work coordinates number 1.

Press the [FUNCTION] keys, and display "W: JUMP" function. Press the function key corresponding to "W: JUMP"

<WORK COORD> WORK NUMBER (1) TEACHING POINT (WO) X: 0.00 Y: 0.00 Z: 0.00 W.JUMP W.GRID  123 CLOSE <WORK JUMP> CHOOSE ONE OF THE WORK NUMBER 1-8.   123 CLOSE

Press numeral key [1] - [8] and specify the work coordinates number. The coordinate value of the specified work coordinates system is displayed.

<WORK JUMP> CHOOSE ONE OF THE WORK NUMBER 1-8.   123 CLOSE <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 0.00 Y: 0.00 Z: 0.00 W.JUMP W.GRID  123 CLOSE The screen is the example which specified the work coordinates number 2. ("2" at the

upper right of the screen) Operation will be canceled if the [CLOSE] key is pressed. 4) The teaching of the work coordinates system Teach the three points shown in Fig. 2-17. Confirm the name currently displayed on the "TEACHING POINT" at the upper right of the screen. If it differs, press the function key corresponding to each point(WO, WX, WY) to teach. Move the robot's arm by jog operation (other jogging movement), and press the function key corresponding to "TEACH."([F1]) The confirmation screen is displayed.

<WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 0.00 Y: 0.00 Z: 0.00 TEACH WX   123 WY DEFINE Specify the teaching point [WO],[WX],[WY] teaching the position [TEACH] <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) RECORD CURRENT POSITION. OK? Yes   123 No

Confirming the operation 2-35 2 Unpacking to Installation Presses the function key corresponding to"Yes", the robot's current position is registered, and the registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed.

<WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) RECORD CURRENT POSITION. OK? Yes   123 No <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 214.12 Y: -61.23 Z: 553.30 W.JUMP W.GRID  123 CLOSE

Teach the three points, WO, WX, and WY, by the same operation. The position data taught here is each registered into the following parameters. ("n" means the work coor dinates numbers 1-8) WO= parameter: WKnWO WX= parameter: WKnWX WY= parameter: WKnWY 5) Setting of work coordinates (definition) If the function key corresponding to "DEFINE" ([F1]) is pressed, the work coordinates system will be calculated using the three points, and the result will be displayed.

<WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 214.12 Y: -61.23 Z: 553.30 TEACH WX   123 WY DEFINE <WORK COORD> WORK NUMBER (2) WORK COORDINATES DATA (3.53, -220.00, 5.14, 0.00, 0. 00, 0.00)   123 CLOSE

The alarm occurs if the work coordinates system is incalculable. (There are the three points on the straight line, or the two points have overlapped) In this case, reset alarm and re-teach the three points. This work coordinate data is registered into parameter: WKnCORD. ("n" means the work coordinates numbers 1-8) If the function key corresponding to "CLOSE" is pressed, it will return to the previous screen.

<WORK COORD> WORK NUMBER (2) WORK COORDINATES DATA (3.53, -220.00, 5.14, 0.00, 0. 00, 0.00)   123 CLOSE 6) Finishing of setting the work coordinates <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 214.12 Y: -61.23 Z: 553.30 TEACH WX   123 WY DEFINE

Press the [FUNCTION] keys, and display "CLOSE" function. Press the function key corresponding to "CLOSE". Returns to the <MENU> screen.

<WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 214.12 Y: -61.23 Z: 553.30 W.JUMP W.GRID  123 CLOSE <EMHANCED>     1.SQ DIRECT 2.WORK COORD.   123 CLOSE

2-36 Confirming the operation 2 Unpacking to Installation Although setting of work coordinates is finishing above, confirmation of work coordinates can be done by press ing the function key corresponding to "W GRID."([F2])

<WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) X: 214.12 Y: -61.23 Z: 553.30 W.JUMP W.GRID  123 CLOSE Then, the operation method of the work jog is shown. Change to the work jog after nearing the work. Select WORK jog mode <CURRENT> WORK 100% M1 T0 W1 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : <WORK COORD> WORK NUMBER (2) WORK COORDINATES DATA (3.53, -220.00, 5.14, 0.00, 0. 00, 0.00)   123 CLOSE Return to the previous screen by pressing the [CLOSE] ([F4]) key. [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "WORK" in jog mode is displayed on the screen. J4: +0.00 : ~ XYZ TOOL JOG 3-XYZ CYLNDR ⇒ WORK jog mode       Confirmation and selection of the If other jog modes are displayed, please press the function key corresponding to the "WORK." (If the jog mode which he wishes under the screen is not displayed, it is displayed that the [FUNCTION] key is pressed) If it finishes jog operation, press the [JOG] key again, or function key which correspond to "close."

work coordinates system <CURRENT> WORK 100% M1 T0 W1 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ Target work coordinates system Confirm the target work coordinates system. The current target number is displayed on the screen upper right. (W1Å`W8) The number of work coordinates can be changed by the arrow key [Upper arrow], [Lower arrow] Push the key [Upper arrow], the number will

Select the work coordinates system             increase. (W1, W2, ..... W8) Conversely, push the key [Lower arrow], the number will decrease CAUTION Set jog speed Always confirm that the number of the target work coordinates system is displayed correctly (Display of W1-W8 at the upper right of the screen) If mistaken, the robot will move in the direction which is not meant and will cause the damage and the personal injuries. Whenever it presses the key of [OVRD(Upper <CURRENT> JOINT 100% M1 T0 J1: +0.00 J5: +0.00 J2: +0.00 J6: +0.00 J3: +90.00 : J4: +0.00 : XYZ TOOL JOG 3-XYZ CYLNDR ⇒ Setting the speed               arrow)], the override goes up. Conversely, if the [OVRD(Lower arrow)] key is pressed, it will go down. The current setting speed is displayed on screen upper right, and "STATUS NUMBER" of the controller. Set the override to 10% here for confirmation work

Confirming the operation 2-37 2 Unpacking to Installation The jog movement based on work coordinates system +Z Tool +Zw ツール長 length +Xw Controll point 制御点 * The direction of the flange will not change. Move the control point with a straight line in accordance with the work coordinates system

+Yw Work coordinates system -Y -X +X +Y -Z

・ When the[+X (J1)] keys are pressed, the robot will move along the X axis plus direction on the work coordinates system. When the[-X (J1)] keys are pressed, Move along the minus direction. ・ When the[+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction on the work coordinates system. When the[-Y (J2)] keys are pressed, Move along the minus direction. ・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction on the work coordinates system. When the[-Z (J3)] keys are pressed, Move along the minus direction. 2-38 Confirming the operation 2 Unpacking to Installation

Changing the flange surface posture - +Z +Zw ツール長 Tool length

+Xw + + - + Work coordinates system - +Yw Controll 制御点 point -Y -X * The position of the control point does not change. Change the direction of the flange in

+X +Y -Z accordance with the work coordinates system.

・When the[+A (J4)] keys are pressed, The X axis will rotate in the plus direction of the work coordinate system. When the[-A (J4)] keys are pressed, Rotate in the minus direction. ・When the[+B (J5)] keys are pressed, The Y axis will rotate in the plus direction of the work coordinate system. When the[-B (J5)] keys are pressed, Rotate in the minus direction. ・When the[+C (J6)] keys are pressed, The Z axis will rotate in the plus direction of the work coordinate system. When the[-C (J6)] keys are pressed, Rotate in the minus direction. ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section "(1) JOINT jog operation" on page 24", and move the robot to a position where linear movement is possible, and then carry out XYZ jog. ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed Explanation of Functions and Operations" for details. Confirming the operation 2-39

3Installing the option devices 3 Installing the option devices Explain the installation methods, such as the solenoid valve set. 3.1 Installing the solenoid valve set 1 ~ 4:Secondary piping pneumatic coupling 1~4 : 2次配管用継手 電磁弁セット(オプション) Solenoid value set (optional) installation section 取付部分 <a> ア

(φ4) <1>. P round head screw ①Pナベネジ   (φ4用) AIR OUT 1 2 3 4 <b> イ Secondary piping pneumatic nose 2次配管エアホース

(φ4) Note2) GR1 ~ GR4 (connect to <b>)

(M3 × 25) <8>. B port ⑧Bポート <5>. B port ⑤Bポート <3>. No.1 solenoid valve ③第1電磁弁 GR2 <4>. A port ④Aポート <7>. A port ⑦Aポート GR 1GR3 Rポート R port <2>. P port (φ4) 注2) [Expansion view] [拡大図] GR1~GR4 (イと接続) Hand output connector ハンド出力用コネクタ Primary piping pneumatic nose 1次配管エアホース (φ6 x 1) Note2) (φ6×1本) 注2) GR4 ②Pポート 1 <6>. No.2 solenoid ⑥第2電磁弁 valve Note 1) An optional air hand interface (2A-RZ365/ 2A-RZ375) is required to use hand output. 2 3 4 GR1 GR3 GR2 GR4 AIR IN 1 ~ 4 (connect to <a>) AIR IN 1~4 (アと接続) Secondary piping 2次配管用継手(φ4) pneumatic coupling (φ4) GR1~GR4 (イと接続) GR1 ~ GR4 (connect to <b>) ハンド出力用コネクタ Hand output connector

注1)ハンド出力をご使用になる場合は、オプションの Note 2) Please prepare by the customer the エアハンドインタフェース(2A-RZ365)が必要です。 pneumatic hose to connect the solenoid

valve set . 注2)電磁弁セットに接続するエアホースは

お客様でご準備ください。 Fig.3-1 : Solenoid valve installation procedures Fig. 3-1 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) Using the screw holes on the base of the robot arm, install the solenoid valve with the enclosed screw <1> (M3 x 25: 2 screws). 2) Connect the primary air supply air hose (φ6, prepared by customer) to the quick joint (P port) <2> of the solenoid valve. 3) Connect the AIR IN "1" mark secondary piping coupler to the A port <4> of the No. 1 solenoid valve <3> with an air hose (φ4 approx. 250mm, prepared by customer.) In the same manner, connect the AIR IN "2" mark secondary piping coupler to the B port 5 of the No. 1 solenoid valve. For a double valve (1E-VD02), connect the following: Connect the AIR IN "3" mark secondary coupler to the A port <7> of the No. 2 solenoid valve <6>. Connect the AIR IN "4" mark secondary coupler to the B port <8> of the No. 2 solenoid valve <6>. 4) Connect the GR1 plug from the No. 1 solenoid valve <3> to the GR1 connector on the back of the robot arm. Connect the GR2 plug from the No. 1 solenoid valve <3> to the GR2 connector on the back of the robot arm. For a double valve (1E-VD02), connect the following: Connect the GR3 plug from the No. 2 solenoid valve <6> to the GR3 connector on the back of the robot arm. Connect the GR4 plug from the No. 2 solenoid valve <6> to the GR4 connector on the back of the robot arm. 3-40 Installing the solenoid valve set 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. 4-41 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. Always carry these out to prevent unforeseen trouble, to maintain the product for a long time, and to secure safety. (1) Inspection schedule In addition to the monthly inspection, add the following inspection items every three months (estimated at 500 Hr operation hours). 0 Hr Monthly inspection Monthly inspection 500 Hr Monthly inspection 3-month inspection Monthly inspection

n o it c e Monthly inspection

1,000 Hr Monthly inspection 3-month inspection 6-month inspection p s n i y l i

a D Monthly inspection Monthly inspection

1,500 Hr Monthly inspection 3-month inspection Monthly inspection Monthly inspection 2,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection 6,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection 3-year inspection Operating time <Guideline for inspection period> For one shift 8 Hr/day × 20 days/month × 3 months = approx. 500 Hr 10 Hr/day × 20 days/month × 3 months = approx. 600 Hr For two shifts 15 Hr/day × 20 days/month × 3 months = approx. 1000 Hr [Caution] When using two lines, the 3-month inspection, 6-month inspection and yearly inspection must be carried out when half the time has passed. Fig.5-1 : Inspection schedule 5-42 Maintenance and inspection interval 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. Table 5-1 : Daily inspection items (details) Procedure Inspection item (details) Remedies Before turning power ON (Check the following items before turning the power ON.)

1 Are any of the robot installation bolts loose? (Visual) 2 Are any of the cover tightening screws loose?   (Visual) 3 Are any of the hand installation bolts loose?   (Visual) 4 Is the power supply cable securely connected? (Visual) 5 Is the machine cable between the robot and controller securely connected? (Visual) 6 Are there any cracks, foreign contamination or obstacles on the robot and controller cover? 7 Is any grease leaking from the robot arm? (Visual) 8 Is there any abnormality in the pneumatic system? Are there any air leaks, drain clogging or hose damage? Is the air source normal? (Visual) After turning the power ON (Turn the power ON while monitoring the robot.) 1 Is there any abnormal motion or abnormal noise when the power is turned ON? During operation (try running with an original program) 1 Check whether the movement points are deviated? Check the following points if there is any deviation. 1. Are any installation bolts loose? 2. Are any hand installation section bolts loose? 3. Are the positions of the jigs other than the robot deviated? 4. If the positional deviation cannot be corrected, refer to "Troubleshooting", check and remedy. 2 Is there any abnormal motion or abnormal noise? (Visual) Securely tighten the bolts. Securely tighten the screws. Securely tighten the bolts Securely connect. Securely connect. Replace with a new part, or take remedial measures. After cleaning, replenish the grease. Drain the drainage, and remedy the air leaks (replace the part). Follow the troubleshooting section. Follow the troubleshooting section. Follow the troubleshooting section.

Inspection items 5-43 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? 3 Remove the cover at each section, and check the cables for wear damage and adherence of foreign matter. 3-month inspection items Securely tighten the screws. Check and eliminate the cause. If the cables are severely damaged, contact the Mitsubishi Service Department.

1 Is the timing belt tension abnormal? If the timing belt is loose or too tense, adjust it. 6-month inspection items 1 Is the friction at the timing belt teeth severe? If the teeth are missing or severe friction is found, replace the timing belt. Yearly inspection items 1 Replace the backup battery in the robot arm. Exchange it referring to "5.3.5Replacing the backup battery" on page 64. 3-year inspection items 1 Lubricate the grease at the harmonic reduction gears for each axis Lublicate it referring to "5.3.4Lubrication" on page 62 5-44 Inspection items 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 Depart ment 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 "5.4Maintenance parts" on page 66 of this manual. Always contact your dealer when parts are needed.

CAUTION5.3.1 Robot arm structure The origin of the machine system could deviate when this work is carried out. "Review of the position data" and "re-teaching" will be required.

An outline structure drawing is shown in Fig. 5-2.. Each part is as shown below. 1) The rotation of the J1 axis motor <1> arranged in the base is conveyed to the reduction gears <3> via the timing belt <2> to rotate the J1 axis. Brakes are not mounted in the J1 axis motor RV-2SD: Brakes are not mounted in the J1 axis motor. RV-2SDB: Non-excitation magnetic brakes are mounted in the J1 axis motor. 2) The rotation of the J2 axis motor <4> arranged in the No.1 arm is conveyed to the reduction gears <6> via the timing belt <5> to rotate the J2 axis. Non-excitation magnetic brakes are mounted in the J2 axis motor. 3) The rotation of the J3 axis motor <7> arranged in the No.1 arm is conveyed to the reduction gears <9> via the timing belt <8> to rotate the J3 axis. Non-excitation magnetic brakes are mounted in the J3 axis motor. 4) The rotation of the J4 axis motor <10> arranged in the elbow is conveyed to the reduction gears <12> via the timing belt <11> to rotate the J4 axis. Brakes are not mounted in the J4 axis motor. RV-2SD: Brakes are not mounted in the J4 axis motor. RV-2SDB: Non-excitation magnetic brakes are mounted in the J4 axis motor. 5) The rotation of the J5 axis motor <13> arranged in the No.2 arm is conveyed to the reduction gears <16> via the timing belt <14> to rotate the J5 axis. Non-excitation magnetic brakes <17> are mounted via the timing belt <15> in the J5 axis motor. 6) The rotation of the J6 axis motor <18> arranged in the No.2 arm is conveyed to the reduction gears <21> via the timing belt <19> and gear <20> to rotate the J6 axis. Brakes are not mounted in the J6 axis motor. 7) The J6 axes differ as follows depending on the type RV-2SD: The rotation of the J6 axis motor <18> arranged in the No.2 arm is conveyed to the reduction gears <21> via the timing belt <19> and gear <20> to rotate the J6 axis. Brakes are not mounted in the J6 axis motor. RV-2SDB: The rotation of the J6 axis motor <18> arranged in the No.2 arm is conveyed to the reduction gears <21> via the timing belt <19> and gear <20> to rotate the J6 axis. Non-excitation magnetic brakes <23> are mounted via the timing belt <22> in the J6 axis motor. Maintenance and inspection procedures 5-45 5Maintenance and Inspection <13>J5 axis motor

<15>J5 axis timing belt for brake <14> Timing belt <16> Reduction gears <10>J4 axis motor <11> Timing belt

<7>J3 axis motor <4>J2 axis motor <1>J1 axis motor <2> Timing belt <21> Reduction gears <20>Gear <19> Timing belt <9> Reduction gears <8> Timing belt <5> Timing belt <6> Reduction gears <3> Reduction gears <17>J5 axis brake <23>J6 axis brake No.2 Arm <12> Reduction gears <18>J6 axis motor <22>J6 axis timing belt for brake Elbow No.1 Arm Base

Note) <22> J6 axis brake timing belt and <23> J6 axis brake are only RV-2SDB (all axes have the brake).Fig.5-2 : Outline structure drawing of robot arm 5-46 Maintenance and inspection procedures 5Maintenance and Inspection

5.3.2 Installing/removing the cover 8. No.2 arm cover R 3. No.1 arm cover R 2. J1 motor cover Fig.5-3 : Installing/removing the cover 6. Elbow cover R 5. Elbow cover B 7. No.2 arm cover L 4. No.1 arm cover L 1. Battery cover 9. Bottom plate

Maintenance and inspection procedures 5-47 5Maintenance and Inspection Table 5-3 : Cover names No Cover names Qty Installation screw <1> Battery cover 1 Bind screw M3 Four <2> J1 motor cover 1 Bind screw M3 Four <3> No. 1 arm cover R 1 Bind screw M3 Four <4> No. 1 arm cover L 1 Low head safety socket M3 (Nickel plating) Four <5> Elbow cover B 1 Bind screw M3 Two <6> Elbow cover R 1 Bind screw M3 Five <7> No. 2 arm cover L 1 Bind screw M3 Four <8> No. 2 arm cover R 1 Bind screw M3 Four <9> Bottom plate 1 Low head safety socket M3 (Nickel plating) Four (1) Each cover's names and installation screw are shown in Fig. 5-3. Refer to Fig. 5-3 and remove the cover. (2) There are some covers that may be difficult to remove due to the robot posture. In this case, change the robot posture with jog operation, and then remove the cover. (3) When attaching the cover after maintenance and inspection, use the detaching procedure in reverse. The part Nos. and symbols in Table 5-3 correspond to Fig. 5-3. 5-48 Maintenance and inspection procedures 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. Sufficient aging to remove the initial elon gation of the belt, and adjustment of the belt tension have been carried out before shipment from the factory. However, depending on the robot working conditions, elongation will occur gradually over a long time. The tension must be confirmed during the periodic inspection. The timing belt must be replaced in the following cases. In addition, it is serviceable if there is the sound wave type belt tension gauge in inspection and adjustment of the timing belt. The recommendation gauge is shown below. Please prepare by customer. Refer to the "(8)Timing belt tension" on page 61 for the tension adjustment value of the timing belt. Maker:Gates Unitta Asia Company, Type:U-505 (1) Timing belt replacement period The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if the following symptoms occur, replace the belt. 1) When cracks from at the base or back of the belt teeth. 2) When the belt expands due to adherence of oil, etc. 3) When the belt teeth wear (to approx. half of the tooth width). 4) When the belt teeth jump due to belt teeth wear. 5) When the belt snaps.

CAUTION CAUTION Due to the manufacturing of the timing belt, initial wear will occur. Wear chips may accumulate in the cover after approx. 300 Hr of operating the robot, but this is not a fault. If the wear chips appear soon after wiping them off, replace the belt. When the belt is replaced, the machine system origin may deviate. In this case, the position data must be reviewed.

Maintenance and inspection procedures 5-49 5Maintenance and Inspection (2) Inspection, maintenance and replacement of J1-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-4 <3>Tension adjustment screw With the fixing nut <1>Motor plate fixing screw <6>Motor plate hook Pulls and fixing <2>Timing belt <4>Timing pulley (near side)

Inside of J1 motor cover Fig.5-4 : Inspection, maintenance and replacement of J1 axis timing belt ■ Inspecting the J1 axis timing belt 1) Confirm that the robot controller power is OFF. <5>Timing pulley (back)

2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the J1 motor cover. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt. 4) Adjust the belt with reference to following " ■ Adjusting the J1 axis timing belt". ■ Adjusting the J1 axis timing belt 1) Carry out steps "1)" and "2)" indicated in " ■ Inspecting the J1 axis timing belt" above. 2) Lightly loosen the motor plate fixing screw <1>.(two pc.) (Do not loosen too much.) 3) Loosen the nut fixing tension adjustment screw <3>. And lightly loosen tension adjustment screw <3>. 4) In the condition that hook <6> of the motor plate is pulled by 31-39N, fix the motor plate fixing screws <1> tight. (two pc.) The tension of J1 axis timing belt is adjusted with this method. Certainly fix two motor plate fixing screws <1>. Improper tightening can cause the belt to loosen with vibration. If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and <5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate. 5) After adjustment, fixes the fixing nut and certainly fix tension adjustment screw <3>. ■ Replacing the J1 axis timing belt Timing belt replacement of the J1 axis removes the bottom plate in the robot-arm bottom, and replace the belt from the robot's bottom. For this reason, it is necessary to remove the robot arm from the installation surface and to place it sideways. Remove the machine cable or piping, etc. corresponding to the usage condition, and put the robot on the floor sideways.

CAUTION When removing and placing the robot arm, place J1 motor cover upward. Moreover, also to turn the No.1 arm cover upward, turn the J1 axis to the front by jog operation beforehand. (joint angle is near 0 degree) This is the necessity to not damaging the resin cover. Topple slowly so that a shock may not be given. If you have the resin cover, there is a possibility that the cover may be broken.

5-50 Maintenance and inspection procedures 5Maintenance and Inspection

<3>Tension adjustment screw With the fixing nut <1>Motor plate fixing screw <6>Motor plate <2>. Timing belt <5>. Timing pulley <4>. Timing pulley Mark <1>Motor plate fixing screw

Fig.5-5 : Replacing the J1 axis timing belt Inside of the bottom plate of robot arm (bottom)

1) Turn the J1 axis to the front by jog operation beforehand. (joint angle is near 0 degree) 2) Turn off the robot controller. 3) Remove the machine cable or piping, etc. corresponding to the usage condition, and place the robot on the floor sideways. Turn J1 motor cover upward, and place sideways slowly so that a shock may not be given to the robot arm. 4) Please remove J1 motor cover and the bottom plate with reference to "5.3.2Installing/removing the cover" on page 47. 5) The image figure inside the bottom plate of the robot arm is shown in Fig. 5-4. 6) Make sure that the pulleys do not move while replacing the belt. If the timing pulley <4> and <5> position relation deviates, the position could deviate. 7) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-4 so that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 8) Lightly loosen the motor plate fixing screw <1>. (two pc.) (Do not loosen too much.) 9) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 10) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 11) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install. 12) The nut which is fixing tension adjustment screw <3> is loosened, turn tension adjustment screw <3>, and adjust the tension of timing belt <2>. When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen. Confirm that the belt tension is adjusted to slacken approx. 1.0mm when the center of the belt is lightly pressed with a finger (approx. 2.0N). 13) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten motor plate fixing screws <1> certainly. (two pc.) Improper tightening can cause the belt to loosen with vibration. 14) Reinstall the robot arm just as before. 15) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated, refer to "5.5Resetting the origin" on page 67, and reset the origin position. Maintenance and inspection procedures 5-51 5Maintenance and Inspection (3) Inspection, maintenance and replacement of J2-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-6. <3>Tension adjustment screw With the fixing nut <1> Idler inatallation screw Idler J2 axis <4> Timing pulley (motor side)Mark <2> Timing belt <5> Timing pulley

Mark Fig.5-6 : Inspection, maintenance and replacement of J2 axis timing belt ■ Inspecting the J2 axis timing belt 1) Confirm that the robot controller power is OFF. (joint side)

2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the No. 1 arm cover. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt <2>. 4) Confirm that the belt tension is adjusted to slacken approx. 1.4mm when the center of the belt is lightly pressed with a finger (approx. 2N) as shown in "Fig.5-13 : Belt tension". ■ Adjusting the J2 axis timing belt 1) Carry out steps "1)" and "2)" indicated in " ■ Inspecting the J2 axis timing belt" above. 2) Lightly loosen the two idler installation bolts <1>. (Do not loosen too much.) 3) The nut which is fixing tension adjustment screw <3> is loosened, turn tension adjustment screw <3>, and adjust the tension of timing belt <2>. When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen. Confirm that the belt tension is adjusted to slacken approx. 1.4mm when the center of the belt is lightly pressed with a finger (approx. 2.0N). If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and <5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate. 4) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten idler fixing screw <1> certainly. (two pc.) Improper tightening can cause the belt to loosen with vibration. ■ Replacing the J2 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J2 axis timing belt" above. 2) Make sure that the pulleys do not move while replacing the belt. If the timing pulley <4> and <5> position relation deviates, the position could deviate. 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-6 so that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 4) Lightly loosen the two idler installation bolts <1>.(Do not loosen too much.) 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install. 8) Refer to " ■ Adjusting the J2 axis timing belt" and "(8)Timing belt tension" to adjust the tension. 9) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated, refer to "5.5Resetting the origin" on page 67, and reset the origin position. 5-52 Maintenance and inspection procedures 5Maintenance and Inspection (4) Inspection, maintenance and replacement of J3-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-6.

Mark <3>Tension adjustment screw With the fixing nut <1> Idler installation screw

Idler J3 axis <5> Timing pulley <2> Timing belt Mark

(joint side) <5> Timing pulley (motor side) Fig.5-7 : Inspection, maintenance and replacement of J3 axis timing belt ■ Inspecting the J3 axis timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the No. 1 arm cover. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt <2>. 4) Confirm that the belt tension is adjusted to slacken approx. 1.6mm when the center of the belt is lightly pressed with a finger (approx. 2N) as shown in "Fig.5-13 : Belt tension". ■ Adjusting the J3 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J3 axis timing belt" above. 2) Lightly loosen the two idler installation bolts <1>. (Do not loosen too much.) 3) The nut which is fixing tension adjustment screw <3> is loosened, turn tension adjustment screw <3>, and adjust the tension of timing belt <2>. When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen. Confirm that the belt tension is adjusted to slacken approx. 1.6mm when the center of the belt is lightly pressed with a finger (approx. 2.0N). If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and <5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate. 4) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten idler fixing screw <1> certainly. (two pc.) Improper tightening can cause the belt to loosen with vibration. ■ Replacing the J3 axis timing belt 1) Carry out steps "1)" and "2)" indicated in " ■ Inspecting the J3 axis timing belt" above. 2) Make sure that the pulleys do not move while replacing the belt. If the timing pulley <4> and <5> position relation deviates, the position could deviate. 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-6 so that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 4) Lightly loosen the two idler installation bolts <1>. (Do not loosen too much.) 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install. 8) Refer to " ■ Inspecting the J3 axis timing belt" and "(8)Timing belt tension" to adjust the tension. 9) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated, refer to "5.5Resetting the origin" on page 67, and reset the origin position. Maintenance and inspection procedures 5-53 5Maintenance and Inspection (5) Inspection, maintenance and replacement of J4-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-8.

Mark J3 axis <1>Motor plate fixing screw <3>Tension adjustment screw With the fixing nut Mark

<4> Timing pulley (motor side) <2> Timing belt <5> Timing pulley (joint side) <1>Motor plate fixing screw Fig.5-8 : Inspection, maintenance and replacement of J4 axis timing belt ■ Inspecting the J4 axis timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the elbow cover B and R. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt. 4) Confirm that the belt tension is adjusted to slacken approx. 0.8mm when the center of the belt is lightly pressed with a finger (approx. 1.3N) as shown in "Fig.5-13 : Belt tension". ■ Adjusting the J4 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J4 axis timing belt" above. 2) Lightly loosen the two motor plate fixing screws <1>. (Do not loosen too much.) 3) The nut which is fixing tension adjustment screw <3> is loosened, turn tension adjustment screw <3>, and adjust the tension of timing belt <2>. When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen. Confirm that the belt tension is adjusted to slacken approx. 0.8mm when the center of the belt is lightly pressed with a finger (approx. 1.3N). If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and <5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate. 4) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten motor plate fixing screw <1> certainly. (two pc.) Improper tightening can cause the belt to loosen with vibration. ■ Replacing the J4 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J4 axis timing belt" above. 2) Make sure that the pulleys do not move while replacing the belt. If the timing pulley <4> and <5> position relation deviates, the position could deviate. 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-8 so that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 4) Lightly loosen the two motor plate fixing screws <1>. (Do not loosen too much.) 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install. 8) Refer to " ■ Adjusting the J4 axis timing belt" and "(8)Timing belt tension" to adjust the tension. 9) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated, refer to "5.5Resetting the origin" on page 67, and reset the origin position. 5-54 Maintenance and inspection procedures 5Maintenance and Inspection (6) Inspection, maintenance and replacement of J5 axis timing belt and brake timing belt The J5 axis has the timing belt rotating the J5 axis and the brake timing belt conveying the brake. The inspection, maintenance and replacement method of each belt is shown below. A)Inspection, maintenance and replacement of J5-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-9 . <4> Timing pulley

(motor side) <1>Motor plate fixing screw <2> Timing belt Mark Mark J5 axis <5> Timing pulley (joint side)

<3>Tension adjustment screw <1>Motor plate fixing screw With the fixing nut Fig.5-9 : 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 47, and remove the No. 2 arm cover R. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt. 4) Confirm that the belt tension is adjusted to slacken approx. 2.0mm when the center of the belt is lightly pressed with a finger (approx. 1.3N) as shown in "Fig.5-13 : Belt tension". ■ Adjusting the J5 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J5 axis timing belt" above. 2) Lightly loosen the three motor plate fixing screws <1>. (Do not loosen too much.) 3) The nut which is fixing tension adjustment screw <3> is loosened, turn tension adjustment screw <3>, and adjust the tension of timing belt <2>. When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen. Confirm that the belt tension is adjusted to slacken approx. 2.0mm when the center of the belt is lightly pressed with a finger (approx. 1.3N). If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and <5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate. 4) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten motor plate fixing screw <1> certainly. (three pc.) Improper tightening can cause the belt to loosen with vibration. ■ Replacing the J5 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J5 axis timing belt" above. 2) Make sure that the pulleys do not move while replacing the belt. If the timing pulley <4> and <5> position relation deviates, the position could deviate. 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-9 so that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 4) Lightly loosen the three motor plate fixing screws <1>. (Do not loosen too much.) 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install. 8) Refer to " ■ Adjusting the J5 axis timing belt" and "(8)Timing belt tension" to adjust the tension. 9) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated, refer to "5.5Resetting the origin" on page 67, and reset the origin position. Maintenance and inspection procedures 5-55 5Maintenance and Inspection B)Inspection, maintenance and replacement of J5 axis brake timing belt The reference figure at inspection, adjustment, and replacement of the brake timing belt is shown in Fig. 5-10. After adjustment of J5 axis brake timing belt, the adjustment of the timing belt which rotates the J5 axis is also needed. Moreover, it is necessary to remove J5 axis timing belt for the replacement of brake timing belt.

<2>Spring <4> Timing pulley (motor side) <3>Brake timing belt a Timing pulley (brake side) J5 axis

Inside of No.2 arm cover R Timing belt

<1>J5 axis motor fixing screw (two pc.) Inside of No.2 arm cover L

Fig.5-10 : Inspection, maintenance and replacement of J5 axis brake timing belt ■ Inspecting the J5 axis brake timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the No. 2 arm cover R and L. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt. 4) Adjust the tension of the belt with referring to " ■ Adjusting the J5 axis timing belt". ■ Adjusting the J5 axis brake timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J5 axis brake timing belt" above. 2) Loosen J5 axis motor fixing screw (1). (two pc.) (Loosen so that it may not escape from nut.) By loosening the screw, the tension of brake timing belt <3> is automatically adjusted by the work of spring <2> installed in the motor plate. 3) After adjustment, securely tighten the two motor installation screws <1>. Improper tightening can cause the belt to loosen with vibration. 4) Adjust J5 axis timing belt. Adjust the tension of J5 axis timing belt with referring to " ■ Adjusting the J5 axis timing belt". 5-56 Maintenance and inspection procedures 5Maintenance and Inspection ■ Replacing the J5 axis brake timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J5 axis brake timing belt" above. 2) Remove J5 axis timing belt with referring to above " ■ Replacing the J5 axis timing belt". 3) Loosen motor fixing screw (1). (two pc.) (Do not loosen too much.) 4) Move motor side timing belt pulley (4) in the direction of the arrow "a" of Fig. 5-9 , and remove the brake timing belt.. 5) Install the new brake timing belt. The operations of matching the position for brake timing belt is unnecessary. 6) After replacement, securely tighten the two motor installation screws <1>. (Tension is automatically adjusted by the work of the spring.) Improper tightening can cause the belt to loosen with vibration. 7) Install J5 axis timing belt with reference to above " ■ Replacing the J5 axis timing belt", and adjust tension. Maintenance and inspection procedures 5-57 5Maintenance and Inspection (7) Inspection, maintenance and replacement of J6-axis timing belt In the RV-2SDB the J6 axis has the timing belt rotating the J6 axis and the brake timing belt conveying the brake. Also inspection, maintenance and replace the brake timing belt simultaneously. A)Inspection, maintenance and replacement of J6-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-11.

<5> Timing pulley (joint side) Mark <1>Motor plate fixing screw <3>Tension adjustment screw With the fixing nut <4> Timing pulley (motor side) Note) The figure shows RV-2SDB (all axes have the brake).

<2> Timing belt<1>Motor plate fixing screw Mark Fig.5-11 : Inspection, maintenance and replacement of J6 axis timing belt ■ Inspecting the J6 axis timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the No. 2 arm cover L 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt. 4) Confirm that the belt tension is adjusted to slacken approx. 2.0mm when the center of the belt is lightly pressed with a finger (approx. 1.3N) as shown in "Fig.5-13 : Belt tension". ■ Adjusting the J6 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J6 axis timing belt" above. 2) Lightly loosen the three motor plate fixing screws <1>. (Do not loosen too much.) 3) The nut which is fixing tension adjustment screw <3> is loosened, turn tension adjustment screw <3>, and adjust the tension of timing belt <2>. When the screw is turned to the right, the belt will be stretched, and when turned to the left, will loosen. Confirm that the belt tension is adjusted to slacken approx. 2.0mm when the center of the belt is lightly pressed with a finger (approx. 1.3N). If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and <5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate. 4) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>.Moreover, also fasten motor plate fixing screw <1> certainly. (three pc.) Improper tighten ing can cause the belt to loosen with vibration. ■ Replacing the J6 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J6 axis timing belt" above. 2) Make sure that the pulleys do not move while replacing the belt. If the pulley <4> and <5> position relation deviates, the position could deviate. 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-9 so that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 4) Lightly loosen the three motor plate fixing screws <1>. (Do not loosen too much.) 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install. 8) Refer to " ■ Adjusting the J6 axis timing belt" and "(8)Timing belt tension" to adjust the tension. 9) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated, refer to "5.5Resetting the origin" on page 67, and reset the origin position. 5-58 Maintenance and inspection procedures 5Maintenance and Inspection B)Inspection, maintenance and replacement of J6 axis brake timing belt The reference figure at inspection, adjustment, and replacement of the brake timing belt is shown in Fig. 5-12. After adjustment of J6 axis brake timing belt, the adjustment of the timing belt which rotates the J6 axis is also needed. Moreover, it is necessary to remove J6 axis timing belt for the replacement of brake timing belt. Timing belt a

<3>Brake timing belt Timing pulley (brake side) <4> Timing pulley (motor side) <2>Spring

Inside of No.2 arm cover R <1>J6 axis motor fixing screw (two pc.) Inside of No.2 arm cover L Fig.5-12 : Inspection, maintenance and replacement of J6 axis brake timing belt ■ Inspecting the J6 axis brake timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the No. 2 arm cover R and L. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the timing belt. 4) Adjust the tension of the belt with referring to " ■ Adjusting the J6 axis brake timing belt". ■ Adjusting the J6 axis brake timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J6 axis brake timing belt" above. 2) Loosen J6 axis motor fixing screw (1). (two pc.) (Loosen so that it may not escape from nut.) By loosening the screw, the tension of brake timing belt <3> is automatically adjusted by the work of spring <2> installed in the motor plate. 3) After adjustment, securely tighten the two motor installation screws <1>. Improper tightening can cause the belt to loosen with vibration. 4) Adjust J6 axis timing belt. Adjust the tension of J6 axis timing belt with referring to " ■ Adjusting the J6 axis timing belt". Maintenance and inspection procedures 5-59 5Maintenance and Inspection ■ Replacing the J6 axis brake timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J6 axis brake timing belt" above. 2) Remove J6 axis timing belt with referring to above " ■ Replacing the J6 axis timing belt". 3) Loosen motor fixing screw (1). (two pc.) (Do not loosen too much.) 4) Move motor side timing belt pulley (4) in the direction of the arrow "a" of Fig. 5-12 , and remove the brake timing belt.. 5) Install the new brake timing belt. The operations of matching the position for brake timing belt is unnecessary. 6) After replacement, securely tighten the two motor installation screws <1>. (Tension is automatically adjusted by the work of the spring.) Improper tightening can cause the belt to loosen with vibration. 7) Install J6 axis timing belt with reference to above " ■ Replacing the J6 axis timing belt", and adjust tension. 5-60 Maintenance and inspection procedures 5Maintenance and Inspection

(8) Timing belt tension T T T T f : Pressing force s : Span d : Slack T : Tension

■ The preset value and adjustment value in the sound wave type belt tension gauge Axis Preset value Tension: Used belt (N) Tension: New belt (N) Force of pulling the motor plate note 1) wait width span Minimum Maximum Minimum Maximum J1 2.5 6 61 26 32 37 43 31(N) ~ 39(N) J2 2.5 6 88 26 32 37 43 Note 1) The force when pulling the motor plate for belt adjustment of J3 2.5 6 103 26 32 37 43 the J1 axis is shown. J4 2.5 4 52 18 22 26 30 J5 2.5 4 131 18 22 26 30 J6 2.5 4 131 18 22 26 30 The sound wave type belt tension gauge of the standard Maker:Gates Unitta Asia Company, Type:U-505

■ Belt specification Axis Belt type Span : s (mm) J1 210-3GT-6 61 J2 324-3GT-6 88 J3 303-3GT-6 103 J4 186-3GT-4 52 J5 345-3GT-4 131 J5(brake) 174-3GT-4 42 J6 336-3GT-4 131 J5(brake) 174-3GT-4 42 ■ Adjustment ■ Inspection Axis Tension : T (N) Slack : d (mm) Pressing force : f (N) J1 14.7 ~ 43 1.0 1.0 ~ 2.9 J2 14.7 ~ 43 1.4 1.0 ~ 2.9 J3 14.7 ~ 43 1.6 1.0 ~ 2.9 J4 10 ~ 30 0.8 0.7 ~ 2 J5 10 ~ 30 2.0 0.7 ~ 2 J6 10 ~ 30 2.0 0.7 ~ 2 ■ Exchange (New article installation) Axis Tension : T (N) Slack : d (mm) Pressing force : f (N) J1 29 1.0 1.9 J2 29 1.4 1.9 J3 29 1.6 1.9 J4 20 0.8 1.3 J5 20 2.0 1.3 J6 20 2.0 1.3 <Note> Axis Tension : T (N) Slack : d (mm) Pressing force : f (N) J1 40 1.0 2.7 J2 40 1.4 2.7 J3 40 1.6 2.7 J4 28 0.8 1.9 J5 28 2.0 1.9 J6 28 2.0 1.9

The tension of brake timing belt of the J5 and the J6 axis is automatically adjusted by the work of spring installed in the motor plate. Fig.5-13 : 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. If the belt tension is too weak, the belt loosening side will vibrate. On the other hand, if the belt tension is too strong, a sharp sound will be heard and the belt tension side will vibrate. The detailed adjustment (tension) is shown in Fig. 5-13. Check and adjust with the belt pressing force f and the slack amount d between span s. Maintenance and inspection procedures 5-61 5Maintenance and Inspection 5.3.4 Lubrication (1) Lubrication position and specifications 7. J6 axis lubrication port (Gear) 6. J6 axis lubrication port

(Reduction gears) 5. J5 axis lubrication port 1. J1 axis lubrication port Fig.5-14 : Lubrication positions Table 5-4 : Lubrication specifications View A 4. J4 axis lubrication port 3. J3 axis lubrication port 2. J2 axis lubrication port

No. Parts to be lubricated Oiling method Lubrication oil (maker) 1 J1 axis reduction gears Default charge amount 11.9g Lubrication interval Lubrication amountCover to remove 2.8g J1 motor cover

2 J2 axis reduction gears 15.6g 2.3g No1. Arm cover plate 3 J3 axis reduction gears 10.1g 2.3g Grease

Grease nipple Harmonic grease SK-1A

4 J4 axis reduction gears 2.7g 0.5g Elbow cover B

WA-610 (Japan Harmonic Systems) 6,000Hr

5 J5 axis reduction gears 2.7g 0.5g - 6 J6 axis reduction gears 2.7g 0.5g - 7 J6 axis gear 11.0g 1.3g - The lubrication specifications for each place are shown in Fig. 5-4. [Caution] ・ The name of each grease of Table 5-4 is the enclosed at shipping. 5-62 Maintenance and inspection procedures 5Maintenance and Inspection ・ Depending on the robot operation state, the lubrication time will fluctuate, so determine the time according to the state so that the grease does not run out. ・ With the maintenance forecast function of the personal computer support software (option), the guidance of lubrication time is calculated according to the operating environment of the customer. ・ The numbers in theTable 5-4 correspond to the supply positions in Fig. 5-14. ・Avoid excessive lubrication since it may lead to grease leak. Also, the number of lubrications is limited to 3 times. (2) Lubrication method 1) Set the robot to the posture shown in Fig. 5-3. 2) Refer to "5.3.2Installing/removing the cover" on page 47, and remove the covers. 3) Please protect the timing belt with the cloth etc. so that the grease does not take for the timing belt at the time of oil supply. 4) J5 axis lubrication port <5>, the J6 axis lubrication port <6> (reduction gears), and the J6 axis lubrication port <7> (gear) should remove the bolt, and should install the attached grease nipple. Securely tighten the grease nipple by 4.7 Nm to 6.3 Nm. 5) Insert the grease shown in Table 5-6 using a grease gun from the lubrication grease nipple. 6) J5 axis lubrication port <5>, the J6 axis lubrication port <6> (reduction gears), and the J6 axis lubrication port <7> (gear) should remove the grease nipple, and should install the original bolt. Securely tighten the bolt by 4.7 Nm to 6.3 Nm. 7) Replace the covers with the removal procedure in reverse.

CAUTION Use manual grease gun, and inject grease with pressure 0.03Mpa or less. Do not use the grease gun, which derived by the factory air presser to avoid injecting by too high pressure.

Maintenance and inspection procedures 5-63 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. The guideline for replacing the battery is one year, but this will differ according to the robot's usage state. Error No. 7520 :Battery consumption time is over Error No. 133n :Encoder battery voltage low. (n indicates the axis number.) (The encoder battery voltage of the robot arm is low.) Error No. 7510 :Battery voltage low (R/C) (The battery voltage of the controller is low.) Error No. 7500 :No battery voltage (The battery of the controller is depleted.)

CAUTION If error No. 7500 occurs, the program data and other data in the controller is lost and it becomes necessary to load the data again. If any of the battery-related errors above occur and the robot continues to be used, the data integrity of the memory cannot be guaranteed. If an error occurs, replace the batteries of both the robot arm and controller promptly. It is also recommended to save programs and position data on the personal computer side via the personal computer support software and so forth in advance.

5-64 Maintenance and inspection procedures 5Maintenance and Inspection (1) Replacing the robot arm battery

CAUTION Don't disconnect connector, etc. While replacing the battery, the encoder position data is saved by the power supplied from the controller. Thus, if the cable connection is incomplete, the encoder position data will be lost when the controller power is turned OFF. Several batteries are used in the robot arm, but replace all old batteries with new batteries at the same time. Battery

Lead connector + - + - + - + - Battery holder * The figure is RV-2SD.

Inside the battery cover (The back of the robot-arm base portion) Fig.5-15 : Replacing the battery 1) Confirm that the robot arm and controller are connected with a cable. 2) Turn the controller control power ON. The position data is retained by the power supplied from the controller while replacing the battery. Thus, if the cable is not connected correctly, or if the controller power is OFF, the position data will be lost. 3) Press the emergency stop button to set the robot in the emergency stop state. This is a measure for safety, and must always be carried out. 4) Remove battery cover <1>, referring to "Fig. 5-3Installing/removing the cover" on page 47. 5) The battery holder is located in the battery cover <1>. Remove the old battery from the holder, and discon nect the lead connector. 6) Insert the new battery into the holder, and connect the lead connector. The "+" pole is left-hand side. Replace all batteries with new ones at the same time. 7) All the batteries should check that it has been exchanged newly. If the old battery is contained, generating heat and damaging may occur. 8) Install battery cover <1>. 9) Initialize the battery consumption time. Always carry out this step after replacing the battery, and initialize the battery usage time. Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on the opera tion methods. Refer to "5.5Resetting the origin" on page 67 and reset the origin using the jig method or mechanical stopper method or ABS origin method. Maintenance and inspection procedures 5-65 5Maintenance and Inspection 5.4 Maintenance parts The consumable parts that must be replaced periodically are shown in Table 5-5, and spare parts that may be required during repairs are shown in Table 5-5. Purchase these parts from the dealer when required. Some Mit subishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and con troller serial No. and purchase the parts from the dealer. Table 5-5 : Consumable part list No. Part name Type Note1) Usage place Q'ty Supplier 1 Timing belt J1 axis 1 2 J2 axis 1 3 J3 axis 1 4 J4axis 1

5 J5axis 1 6 For J5 axis brakes 1 7 J6 axis 1 Mitsubishi Electric System & Service;Co.,Ltd.

8 For J6 axis brakes Note1) 1 9 Grease Reduction gears of each axis An needed 10 Lithium battery Inside the battery cover 4 Note1)Only for RV-2SDB. Table 5-6 : Spare parts list

No. Names Type Note1) Usage place Q'ty Supplier

1 AC servo motor J1,J2,J3 axis 3 Mitsubishi Electric 2 J4,J5,J6 axis 3 3 Reduction gears J1,J2,J3,J6 axis 4 4 J4,J5 axis 2 Note1)Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. 5-66 Maintenance parts 5 Maintenance 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 5-7. [Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset the origin using the jig method or mechanical stopper method or ABS origin method. . Table 5-7 : Origin setting method No Method Explanation Remarks

1 Origin data input method 2 Mechanical stopper method The origin data set as the default is input from the T/B. This origin posture is set by contacting each axis against the mechanical stopper. The setting method is explained in "2.3Setting the origin" on page 11 . The setting method is explained in "5.5.1Mechanical stopper method" on page 68 .

3 Jig method The origin posture is set with the calibration jig installed. 4 ABS origin method This method is used when the encoder backup data lost in the cause such as battery cutting. 5 User origin method A randomly designated position is set as the origin posture. The setting method is explained in "5.5.2Jig method" on page 79 . Before using this method, the origin must be set with the other method with same encoder. The setting method is explained in "5.5.3ABS origin method" on page 91. The setting method is explained in "5.5.4User origin method" on page 93.

Resetting the origin 5-67 5 Maintenance 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 "MANUAL", and set the T/B [ENABLE] switch to "ENABLE" to validate the T/B.

CAUTION Here, if an axis is equipped with a brake, release the brake and move the arm with both hands.At this point release the brakes and move the arm with both hands. To ensure safety, the brake-release procedure described below should always be done by two persons.

(1) J1 axis origin setting(mechanical stopper) <MENU>     1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED   123 CLOSE <ORIGIN/BRAKE> 1.ORIGIN 2.BRAKE 123 CLOSE <BRAKE> J1:( 0 )J2:( 0 )J3:( 0 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE <BRAKE> 1 J1:( 0 )J2:( 0 )J3:( 0 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE J1(+) ~ SPACE 1) Press the [4] key on the menu screen, and dis play the Origin/BRK selection screen. 2) The type which does not have the brake in the J1 axis should go to "6)"->"8)". Press the [2] key , and display the Break release selection screen. 3) Release the brake of the J1 axis. Input "1" into the J1 axis. Set "0" to other axes. 4) Confirm the axis for which the brakes are to be released. 5) Pressing the [F1] key is kept with the enabling switch of T/B pressed down. The brake is released while pressing the key. 6) With both hands, slowly move the J1 axis in + (plus) direction , and contact the axis against the mechanical stopper.

5-68 Resetting the origin 5 Maintenance and Inspection

<BRAKE> 1 7) Detach the [F1] key and work the brake.

J1:( 0 )J2:( 0 )J3:( 0 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE <ORIGIN/BRAKE> 1.ORIGIN 2.BRAKE 123 CLOSE <ORIGIN> 1.DATA 2.MECH 3.TOOL 4.ABS 5.USER 123 CLOSE <ORIGIN> MECH J1( 1 ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE <ORIGIN> MECH CHANGE TO ORIGIN. OK? Yes 123 No <ORIGIN> MECH COMPLETED J1( 1 ) J2( ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE ◇◆◇ Release the brake ◇◆◇ ~ SPACE Press the [F4] key and return to the origin / brake screen. 8) Press the [1] key , and display the Origin setting selection screen. 9) Press the [2] key , and display the Mechanical stopper selection screen. 10) Input "1" into the J1 axis. Set "0" to other axes. 11) Press the [EXE] key , and display Confirmation screen. 12) Press the [F1] key , and the origin position is set up. 13) Setting of the origin is completed. 14) Refer to "5.5.5Recording the origin data" on page 95 in this manual, and record the origin data on the origin data seal.

Do cursor movement into the parenthesis of each axis by the arrow 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". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are released, the brakes will be work immediately. ◇◆◇ Select the axis of origin setting ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0". Resetting the origin 5-69

5 Maintenance and Inspection (2) J2 axis origin setting(mechanical stopper) <MENU>     1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED   123 CLOSE <ORIGIN/BRAKE> 1.ORIGIN 2.BRAKE 123 CLOSE <BRAKE> J1:( 0 )J2:( 0 )J3:( 0 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE <BRAKE> 1 J1:( 0 )J2:( 0 )J3:( 0 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE J2(-) <BRAKE> 1 J1:( 0 )J2:( 0 )J3:( 0 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE ~ SPACE 1) Press the [4] key on the menu screen, and dis play the Origin/BRK selection screen. 2) Press the [2] key , and display the Break release selection screen. 3) Release the brake of the J2 axis. Input "1" into the J2 axis. Set "0" to other axes. 4) Confirm the axis for which the brakes are to be released. 5) Pressing the [F1] key is kept with the enabling switch of T/B pressed down. The brake is released while pressing the key. 6) With both hands, slowly move the J2 axis in + (plus) direction , and contact the axis against the mechanical stopper. 7) Detach the [F1] key and work the brake. Press the [F4] key and return to the Origin / BRK screen.

5-70 Resetting the origin 5 Maintenance and Inspection

<ORIGIN/BRAKE> 1.ORIGIN 2.BRAKE 123 CLOSE <ORIGIN> 1.DATA 2.MECH 3.TOOL 4.ABS 5.USER 123 CLOSE <ORIGIN> MECH J1( ) J2( 1 ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE <ORIGIN> MECH CHANGE TO ORIGIN. OK? Yes 123 No <ORIGIN> MECH COMPLETED J1( ) J2( 1 ) J3( ) J4( ) J5( ) J6( ) J7( ) J8( ) 123 CLOSE ◇◆◇ Release the brake ◇◆◇ ~ SPACE 8) Press the [1] key , and display the Origin setting selection screen. 9) Press the [2] key , and display the Mechanical stopper selection screen. 10) Input "1" into the J2 axis. Set "0" to other axes. 11) Press the [EXE] key , and display Confirmation screen. 12) Press the [F1] key , and the origin position is set up. 13) Setting of the origin is completed. 14) Refer to "5.5.5Recording the origin data" on page 95 in this manual, and record the origin data on the origin data seal.

Do cursor movement into the parenthesis of each axis by the arrow 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". If the [F1] key on the teaching pendant or the enabling switch is detached while the brakes are released, the brakes will be work immediately. ◇◆◇ Select the axis of origin setting ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key. The origin is set only for the axis for which a "1" is displayed on the screen. If the origin is not to be set, press the [0] key and display a "0". Resetting the origin 5-71

5 Maintenance and Inspection (3) J3 axis origin setting(mechanical stopper) <MENU>     1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED   123 CLOSE <ORIGIN/BRAKE> 1.ORIGIN 2.BRAKE 123 CLOSE <BRAKE> 0 J1:( 0 )J2:( 0 )J3:( 1 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE <BRAKE> J1:( 0 )J2:( 0 )J3:( 1 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE J3(+) <BRAKE> J1:( 0 )J2:( 0 )J3:( 1 ) J4:( 0 )J5:( 0 )J6:( 0 ) J7:( 0 )J8:( 0 ) REL. 123 CLOSE ~ SPACE 1) Press the [4] key on the menu screen, and dis play the Origin/BRK selection screen. 2) Press the [2] key , and display the Break release selection screen. 3) Release the brake of the J3 axis. Input "1" into the J3 axis. Set "0" to other axes. 4) Confirm the axis for which the brakes are to be released. 5) Pressing the [F1] key is kept with the enabling switch of T/B pressed down. The brake is released while pressing the key. 6) With both hands, slowly move the J3 axis in + (plus) direction , and contact the axis against the mechanical stopper. 7) Detach the [F1] key and work the brake. Press the [F4] key and return to the Origin / BRK screen.

5-72 Resetting the origin


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