Mitsubishi RV-2AJ - Page 8

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5.1 Maintenance and inspection interval ............................................................................................................................. 5-43
5.2 Inspection items ..................................................................................................................................................................... 5-44
5.2.1 Daily inspection items .................................................................................................................................................. 5-44
5.2.2 Periodic inspection ........................................................................................................................................................ 5-45
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-46
5.3.1 Robot arm structure ..................................................................................................................................................... 5-46
5.3.2 Installing/removing the cover ................................................................................................................................... 5-48
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-50
(1) Timing belt replacement period ......................................................................................................................... 5-50
(2) Inspection, maintenance and replacement of J5-axis timing belt ........................................................ 5-51
(3) Timing belt tension ................................................................................................................................................... 5-52
5.3.4 Cleaning inside the cover of clean specification （RV-2AC-SA/SB, RV-3AJC-SA/SB） ............ 5-53
5.3.5 Lubrication ........................................................................................................................................................................ 5-54
(1) Lubrication position and specifications ............................................................................................................ 5-54
(2) Reduction gears lubrication method .................................................................................................................. 5-56
(3) Oil seal section lubrication method (for only clean specification) ........................................................ 5-60
5.3.6 How to lubricate the spring shaft area ................................................................................................................. 5-62
5.3.7 Replacing the backup battery ................................................................................................................................... 5-63
(1) Replacing the robot arm battery ......................................................................................................................... 5-63
5.4 Maintenance parts ................................................................................................................................................................. 5-65
5.5 Resetting the origin .............................................................................................................................................................. 5-66
5.5.1 Mechanical stopper method ...................................................................................................................................... 5-67
(1) Select the T/B ........................................................................................................................................................... 5-67
(2) J1 axis origin setting ................................................................................................................................................ 5-68
(3) J2 axis origin setting ................................................................................................................................................ 5-69
(4) J3 axis origin setting ................................................................................................................................................ 5-70
(5) J4 axis origin setting (Only 6-axis type) ......................................................................................................... 5-72
(6) J5 axis origin setting ................................................................................................................................................ 5-74
(7) J6 axis origin setting ................................................................................................................................................ 5-75
(8) All axis origin setting ................................................................................................................................................ 5-77
5.5.2 Jig method ........................................................................................................................................................................ 5-78
5.5.3 User origin method ........................................................................................................................................................ 5-81
5.5.4 ABS origin method ........................................................................................................................................................ 5-83
(1) Select the T/B ........................................................................................................................................................... 5-83
5.5.5 Recording the origin data ........................................................................................................................................... 5-84
(1) Confirming the origin data label ........................................................................................................................... 5-84
(2) Confirming the origin data ..................................................................................................................................... 5-84
(3) Recording the origin data ....................................................................................................................................... 5-84
(4) Installing the cover ................................................................................................................................................... 5-84
6Appendix ...............................................................................................................................................................................Appendix-85
Appendix 1 ： Configuration flag ............................................................................................................................ Appendix-85