Mitsubishi Electric MELFA RV-7FRL-D - Page 12

CONTENTS
iii
Page
(13) RV-4FR/7FR/13FR series: Inspection and replacement of J5 axis timing belt ....................... 4-131
(14) RV-4FR/7FR/13FR series: Inspection and replacement of J6-axis timing belt ...................... 4-133
(15) Timing belt tension .............................................................................................................................................. 4-135
(16) Amount of movement of each axis during the timing belt tension measurement .................... 4-136
5.3.4 Lubrication ..................................................................................................................................................................... 4-137
(1) RV-2FR series ......................................................................................................................................................... 4-137
(2) RV-4FR/7FR/13FR series ................................................................................................................................. 4-139
5.3.5 Replacing the backup battery ................................................................................................................................ 4-143
(1) Replacing the battery of the robot arm ........................................................................................................ 4-144
5.4 About Overhaul ................................................................................................................................................................... 4-146
5.5 Maintenance parts .............................................................................................................................................................. 4-147
5.6 Resetting the origin ........................................................................................................................................................... 5-150
5.6.1 Setting the origin with the origin data input method ................................................................................... 5-151
(1) Confirming the origin data .................................................................................................................................. 5-151
(2) Selecting the origin setting method ................................................................................................................ 5-152
(3) Inputting the origin data ...................................................................................................................................... 5-153
(4) Installing the cover ................................................................................................................................................ 5-154
5.6.2 Jig method ..................................................................................................................................................................... 5-155
(1) J1 axis origin setting (jig) .................................................................................................................................... 5-156
(2) J2 axis origin setting (jig) .................................................................................................................................... 5-159
(3) J3 axis origin setting (jig) .................................................................................................................................... 5-163
(4) J4 axis origin setting (6-axis type robot only) ........................................................................................... 5-167
(5) Origin setting of J5 axis and J6 axis (jig) ..................................................................................................... 5-170
5.6.3 ABS origin method ..................................................................................................................................................... 5-175
(1) RV-2FR series ......................................................................................................................................................... 5-175
(2) RV-4FR series ......................................................................................................................................................... 5-176
(3) RV-7FR series ......................................................................................................................................................... 5-177
(4) RV-13FR series ...................................................................................................................................................... 5-178
(5) Origin setting procedure ...................................................................................................................................... 5-179
5.6.4 User origin method ......................................
............................................................................................................... 5-180
5.6.5 Recording the origin data ........................................................................................................................................ 5-182
(1) Confirming the origin data label ........................................................................................................................ 5-182
(2) Confirming the origin data .................................................................................................................................. 5-182
(3) Recording the origin data .................................................................................................................................... 5-182
(4) Installing the cover ................................................................................................................................................ 5-182
5.7 How to release the brake in an emergency ............................................................................................................. 5-183
6Appendix ............................................................................................................................................................................ Appendix-185
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-185