Mitsubishi RP-1AH Series, Инструкция по эксплуатации

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5 55 5Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection Maintenance and Inspection
Resetting the origin Resetting the origin Resetting the origin Resetting the origin 5 55 5- -- -55 55 55 55
5.5 Resetting the origin 5.5 Resetting the origin 5.5 Resetting the origin 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
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
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
this step before starting work. The origin must be reset if the combination of robot and controller being used is this step before starting work. The origin must be reset if the combination of robot and controller being used is
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.
changed or if the motor is changed causing an encoder area. changed or if the motor is changed causing an encoder area.
changed or if the motor is changed causing an encoder area.
The types of origin setting methods are shown in Table 5-6.
The types of origin setting methods are shown in Table 5-6. The types of origin setting methods are shown in Table 5-6. The types of origin setting methods are shown in Table 5-6.
Table 5-6 ： Origin setting method Table 5-6 ： Origin setting method Table 5-6 ： Origin setting method Table 5-6 ： Origin setting method
5.5. 1 Jig method 5.5. 1 Jig method 5.5. 1 Jig method 5.5. 1 Jig method
The method for setting the origin with the transportation jig is explained below. The method for setting the origin with the transportation jig is explained below. The method for setting the origin with the transportation jig is explained below. 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 "TEACH", and
This operation is carried out with the T/B. Set the [MODE] switch on the front of the controller to "TEACH", and This operation is carried out with the T/B. Set the [MODE] switch on the front of the controller to "TEACH", and This operation is carried out with the T/B. Set the [MODE] switch on the front of the controller to "TEACH", and
set the T/B [ENABLE/DISABLE] switch to "ENABLE" to validate the T/B. Move the J4 axis to the upper end
set the T/B [ENABLE/DISABLE] switch to "ENABLE" to validate the T/B. Move the J4 axis to the upper end set the T/B [ENABLE/DISABLE] switch to "ENABLE" to validate the T/B. Move the J4 axis to the upper end set the T/B [ENABLE/DISABLE] switch to "ENABLE" to validate the T/B. Move the J4 axis to the upper end
with jog operation beforehand.
with jog operation beforehand. with jog operation beforehand. with jog operation beforehand.
The following operation is carried out while lightly pressing the T/B deadman switch. The following operation is carried out while lightly pressing the T/B deadman switch. The following operation is carried out while lightly pressing the T/B deadman switch. The following operation is carried out while lightly pressing the T/B deadman switch.
1 ) Press the [5] key on the menu screen, and 1 ) Press the [5] key on the menu screen, and 1 ) Press the [5] key on the menu screen, and 1 ) Press the [5] key on the menu screen, and
display the maintenance screen. display the maintenance screen. display the maintenance screen. display the maintenance screen.
2) Press the [4] key on the maintenance screen, 2) Press the [4] key on the maintenance screen, 2) Press the [4] key on the maintenance screen, 2) Press the [4] key on the maintenance screen,
and display the origin setting method selection and display the origin setting method selection and display the origin setting method selection and display the origin setting method selection
screen.
screen. screen. screen.
3) Press the [3] key and select the jig method.
3) Press the [3] key and select the jig method. 3) Press the [3] key and select the jig method.
3) Press the [3] key and select the jig method.
Then, press the [ 1 ] key and the [INP] key to
Then, press the [ 1 ] key and the [INP] key to Then, press the [ 1 ] key and the [INP] key to
Then, press the [ 1 ] key and the [INP] key to
turn the servo OFF.
turn the servo OFF. turn the servo OFF.
turn the servo OFF.
Securely fix the transportation jig A to the base
Securely fix the transportation jig A to the base Securely fix the transportation jig A to the base
Securely fix the transportation jig A to the base
with the fixing bolts (M4
with the fixing bolts (M4 with the fixing bolts (M4
with the fixing bolts (M4 x
x x
x 1 2, 2 bolts) in this
1 2, 2 bolts) in this 1 2, 2 bolts) in this
1 2, 2 bolts) in this
state.
state. state.
state.
4) As for a release of the brake, set " 1 " to the axis
4) As for a release of the brake, set " 1 " to the axis 4) As for a release of the brake, set " 1 " to the axis
4) As for a release of the brake, set " 1 " to the axis
column of the "BRAKE" which the brakes are to
column of the "BRAKE" which the brakes are to column of the "BRAKE" which the brakes are to
column of the "BRAKE" which the brakes are to
be released, and press the [+X] key while holding
be released, and press the [+X] key while holding be released, and press the [+X] key while holding
be released, and press the [+X] key while holding
down the [MOVE] key. The brake of specified
down the [MOVE] key. The brake of specified down the [MOVE] key. The brake of specified
down the [MOVE] key. The brake of specified
axis will be released only while the [+X] key is
axis will be released only while the [+X] key is axis will be released only while the [+X] key is
axis will be released only while the [+X] key is
pressed.
pressed. pressed.
pressed.
No
No No
No Method
Method Method
Method Explanation
Explanation Explanation
Explanation Remarks
Remarks Remarks
Remarks
1 11 1 Origin data input Origin data input Origin data input Origin data input
method
method method method
The origin data set as the default is input from The origin data set as the default is input from The origin data set as the default is input from The origin data set as the default is input from
the T/B.
the T/B. the T/B. the T/B.
The setting method is explained in "2.3 Setting the origin" on The setting method is explained in "2.3 Setting the origin" on The setting method is explained in "2.3 Setting the origin" on The setting method is explained in "2.3 Setting the origin" on
page
1 2. page 1 2. page 1 2. page 1 2.
2 22 2 Jig method Jig method Jig method Jig method The transportation jig is installed, and the The transportation jig is installed, and the The transportation jig is installed, and the The transportation jig is installed, and the
transportation posture is set as the origin
transportation posture is set as the origin transportation posture is set as the origin transportation posture is set as the origin
posture.
posture. posture. posture.
The setting method is explained in "5.5. 1 Jig method" on page The setting method is explained in "5.5. 1 Jig method" on page The setting method is explained in "5.5. 1 Jig method" on page The setting method is explained in "5.5. 1 Jig method" on page
55. 55. 55. 55.
3 33 3 User origin method User origin method User origin method User origin method A randomly designated position is set as the A randomly designated position is set as the A randomly designated position is set as the A randomly designated position is set as the
origin posture.
origin posture. origin posture. origin posture.
Before using this method, the origin must be set with the origin Before using this method, the origin must be set with the origin Before using this method, the origin must be set with the origin Before using this method, the origin must be set with the origin
data input method (No.
1 above) or jig method (No. 2 above). data input method (No. 1 above) or jig method (No. 2 above). data input method (No. 1 above) or jig method (No. 2 above). data input method (No. 1 above) or jig method (No. 2 above).
The setting method is explained in "5.5.2 User origin method" on The setting method is explained in "5.5.2 User origin method" on The setting method is explained in "5.5.2 User origin method" on The setting method is explained in "5.5.2 User origin method" on
page 58.
page 58. page 58. page 58.
<MENU> <MENU> <MENU> <MENU>
1 .TEACH 2.RUN 1 .TEACH 2.RUN 1 .TEACH 2.RUN 1 .TEACH 2.RUN
3.FILE 4.MONI 3.FILE 4.MONI 3.FILE 4.MONI 3.FILE 4.MONI
5.MAINT 6.SET
5.MAINT 6.SET 5.MAINT 6.SET 5.MAINT 6.SET
<MAINT> <MAINT> <MAINT> <MAINT>
1 . 1 . 1 . 1 .PARAM 2.INIT PARAM 2.INIT PARAM 2.INIT PARAM 2.INIT
3.BRAKE 4. 3.BRAKE 4. 3.BRAKE 4. 3.BRAKE 4.ORIGIN ORIGIN ORIGIN ORIGIN
5.POWER 5.POWER 5.POWER 5.POWER
Display the maintenance screen
Display the maintenance screen Display the maintenance screen
Display the maintenance screen
+C +C +C +C
(J6) (J6) (J6) (J6)
5 5 5 5
STU STU STU STU
<JIG> <JIG> <JIG> <JIG>
SERVO OFF
SERVO OFF SERVO OFF SERVO OFF
OK ? (
1 ) OK ? ( 1 ) OK ? ( 1 ) OK ? ( 1 )
1 :EXECUTE 1 :EXECUTE 1 :EXECUTE 1 :EXECUTE
Display the method selection screen Display the method selection screen Display the method selection screen Display the method selection screen
<MAINT>
<MAINT> <MAINT>
<MAINT>
1 .
1 . 1 .
1 .PARAM 2.INIT
PARAM 2.INIT PARAM 2.INIT
PARAM 2.INIT
3.BRAKE 4.
3.BRAKE 4. 3.BRAKE 4.
3.BRAKE 4.ORIGIN
ORIGIN ORIGIN
ORIGIN
5.POWER
5.POWER 5.POWER
5.POWER
<ORIGIN>
<ORIGIN> <ORIGIN>
<ORIGIN>
1 .DATA 2.MECH
1 .DATA 2.MECH 1 .DATA 2.MECH
1 .DATA 2.MECH
3.JIG 4.ABS
3.JIG 4.ABS 3.JIG 4.ABS
3.JIG 4.ABS
5.USER
5.USER 5.USER
5.USER
-Y -Y -Y -Y
(J2) (J2) (J2) (J2)
4 44 4
MNO
MNO MNO
MNO
<ORIGIN>
<ORIGIN> <ORIGIN>
<ORIGIN>
1 .DATA 2.MECH
1 .DATA 2.MECH 1 .DATA 2.MECH
1 .DATA 2.MECH
3.JIG 4.ABS
3.JIG 4.ABS 3.JIG 4.ABS
3.JIG 4.ABS
5.USER
5.USER 5.USER
5.USER
Select the jig method
Select the jig method Select the jig method
Select the jig method
-Z
-Z -Z
-Z
(J3) (J3) (J3) (J3)
3
33
3
JKL JKL JKL JKL
→ → → →
-B
-B -B
-B
(J5) (J5) (J5) (J5)
1
11
1
DEF DEF DEF DEF
→ → → →
INP
INP INP
INP
EXE EXE EXE EXE
Release the brakes
Release the brakes Release the brakes
Release the brakes
<AXIS> 1 2345678 <AXIS> 1 2345678 <AXIS> 1 2345678 <AXIS> 1 2345678
BRAKE BRAKE BRAKE BRAKE (00000000) (00000000) (00000000) (00000000)
SET AXIS SET AXIS SET AXIS SET AXIS (00000000) (00000000) (00000000) (00000000)
ORIGIN :NOT DEF ORIGIN :NOT DEF ORIGIN :NOT DEF ORIGIN :NOT DEF
STEP STEP STEP STEP
MOVE
MOVE MOVE
MOVE
+X +X +X +X
(J 1 ) (J 1 ) (J 1 ) (J 1 )
. . . .
ﾕ ;^ ﾕ ;^ ﾕ ;^ ﾕ ;^
＋
＋ ＋
＋
-B -B -B -B
(J5) (J5) (J5) (J5)
1 11 1
DEF DEF DEF DEF
→
→ →
→
<AXIS> 1 2345678 <AXIS> 1 2345678 <AXIS> 1 2345678 <AXIS> 1 2345678
BRAKE BRAKE BRAKE BRAKE (((( 1111 1111 1111 1111 0000) 0000) 0000) 0000)
SET AXIS SET AXIS SET AXIS SET AXIS (00000000) (00000000) (00000000) (00000000)
ORIGIN :NOT DEF ORIGIN :NOT DEF ORIGIN :NOT DEF ORIGIN :NOT DEF