Mitsubishi RP-1AH Series, Инструкция по эксплуатации

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5 55 5- -- -56 56 56 56 Resetting the origin Resetting the origin Resetting the origin Resetting the origin
5 55 5Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection
5) 5) 5) 5) O O O Origin posture of the robot arm is shown in the following rigin posture of the robot arm is shown in the following rigin posture of the robot arm is shown in the following rigin posture of the robot arm is shown in the following. . . .
The brake of each axis is released, and the end axis is fixed with the transportation jig. The brake of each axis is released, and the end axis is fixed with the transportation jig. The brake of each axis is released, and the end axis is fixed with the transportation jig. The brake of each axis is released, and the end axis is fixed with the transportation jig.
The process is shown in the following.
The process is shown in the following. The process is shown in the following. The process is shown in the following.
a) a) a) a)The transportation jig A (or, D) is pressed against The transportation jig A (or, D) is pressed against The transportation jig A (or, D) is pressed against The transportation jig A (or, D) is pressed against
to the installation surface. to the installation surface. to the installation surface. to the installation surface.
b)The transportation jig A (or, D) is pressed against b)The transportation jig A (or, D) is pressed against b)The transportation jig A (or, D) is pressed against b)The transportation jig A (or, D) is pressed against
to the left side of the jig installation section on to the left side of the jig installation section on to the left side of the jig installation section on to the left side of the jig installation section on
front of the robot arm as it is
front of the robot arm as it is front of the robot arm as it is front of the robot arm as it is. . . .
c)The transportation jig A (or, D) is fixed securely c)The transportation jig A (or, D) is fixed securely c)The transportation jig A (or, D) is fixed securely c)The transportation jig A (or, D) is fixed securely
with the fixing bolts under this condition. with the fixing bolts under this condition. with the fixing bolts under this condition. with the fixing bolts under this condition.
d)Release the brakes of all axis, and take the end d)Release the brakes of all axis, and take the end d)Release the brakes of all axis, and take the end d)Release the brakes of all axis, and take the end
axis of the robot to the V-cut position of the axis of the robot to the V-cut position of the axis of the robot to the V-cut position of the axis of the robot to the V-cut position of the
transportation jig A(or, D).
transportation jig A(or, D). transportation jig A(or, D). transportation jig A(or, D).
e)As it is, lower an end axis until the standard e)As it is, lower an end axis until the standard e)As it is, lower an end axis until the standard e)As it is, lower an end axis until the standard
position of Z-axis hits a transportation jig A (or, position of Z-axis hits a transportation jig A (or, position of Z-axis hits a transportation jig A (or, position of Z-axis hits a transportation jig A (or,
D).
D). D). D).
f)Install the transportation jig B. Tighten the fixing f)Install the transportation jig B. Tighten the fixing f)Install the transportation jig B. Tighten the fixing f)Install the transportation jig B. Tighten the fixing
bolts gradually with releasing of brake. bolts gradually with releasing of brake. bolts gradually with releasing of brake. bolts gradually with releasing of brake.
g)Tighten the central screw of the transportation g)Tighten the central screw of the transportation g)Tighten the central screw of the transportation g)Tighten the central screw of the transportation
jig B with releasing of brake. jig B with releasing of brake. jig B with releasing of brake. jig B with releasing of brake.
Ball screw spline
Side view Side view Side view Side view Top view Top view Top view Top view
Transportation
jig B
Transportation
jig A or D
Transportation
jig B fixing bolts
M3 x
1 4
Transportation
jig A or D
Transportation
jig B
Transportation jig A
fixing bolts : M4 x 1 2
Transportation jig D
fixing bolts : M4 x 1 4
End axis
RP- 1 AH/ 1 AHC-SB
RP-3AH/3AHC-SB
RP-5AH/5AHC-SB
Standard position
of Z-axis
Transportation
jig A or D
Transportation
jig B
ａ）
ｂ）
ｃ）
ｄ）
ｅ）
ｆ）
ｇ）
Front of the
robot arm
↑
↓
Installation
surface
End axis
Cut side
Cut side
End axis