Mitsubishi RH-3SQHR3515, Instruction Manual

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CONTENTS
ii
Page
5.3.2 Installing/removing the cover ................................................................................................................................... 5-65
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-67
(1) Timing belt replacement period ......................................................................................................................... 5-67
(2) Inspection and maintenance of J1 axis timing belt ..................................................................................... 5-68
(3) Inspection and maintenance of J2 axis timing belt ..................................................................................... 5-69
(4) Inspection and maintenance of J3 axis timing belt ..................................................................................... 5-70
(5) Inspection and maintenance of J4 axis timing belt ..................................................................................... 5-71
(6) Timing belt tension ................................................................................................................................................... 5-73
5.3.4 Lubrication ........................................................................................................................................................................ 5-74
(1) Lubrication position and specifications ............................................................................................................ 5-74
(2) Lubrication method ................................................................................................................................................... 5-75
(3) Lubrication method to the J1, J2 axis ............................................................................................................. 5-75
(4) Lubrication method to the shaft ......................................................................................................................... 5-75
5.3.5 Replacing the backup battery ................................................................................................................................... 5-76
(1) Replacing the robot arm battery ......................................................................................................................... 5-77
5.4 About Overhaul ...................................................................................................................................................................... 5-78
5.5 Maintenance parts ................................................................................................................................................................. 5-79
5.6 Resetting the origin .............................................................................................................................................................. 5-80
5.6.1 Mechanical stopper method ...................................................................................................................................... 5-81
(1) J1 axis origin setting(mechanical stopper) ..................................................................................................... 5-81
(2) J2 axis origin setting(mechanical stopper) ..................................................................................................... 5-83
(3) J3 and J4 axis origin setting(mechanical stopper) ...................................................................................... 5-85
(4) All axis origin setting ................................................................................................................................................ 5-88
5.6.2 Jig method ........................................................................................................................................................................ 5-89
(1) J1 axis origin setting ................................................................................................................................................ 5-90
(2) J2 axis origin setting ................................................................................................................................................ 5-92
(3) J3 and J4 axis origin setting ................................................................................................................................ 5-93
(4) All axis origin setting ................................................................................................................................................ 5-94
5.6.3 ABS origin method ........................................................................................................................................................ 5-95
(1) Select the T/B ........................................................................................................................................................... 5-96
5.6.4 User origin method ........................................................................................................................................................ 5-97
5.6.5 Recording the origin data ........................................................................................................................................... 5-99
(1) Confirming the origin data label ........................................................................................................................... 5-99
(2) Confirming the origin data ..................................................................................................................................... 5-99
(3) Recording the origin data ....................................................................................................................................... 5-99
(4) Installing the cover ................................................................................................................................................... 5-99
6Appendix ............................................................................................................................................................................ Appendix-100
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-100