MITSUBISHI ELECTRIC Mitsubishi Industrial Robot RV-6S - Manual (Page 64)

5-54 Resetting the origin
5Maintenance and Inspection
5.5.1 Jig method
The procedure of setting the origin with the calibration jig is shown below.
This operation is carried out with the teaching pendant. Set the [MODE] switch on the front of the controller to
"TEACH", and set the [ENABLE/DISABLE] switch on the teaching pendant to "ENABLE" to enable the teaching
pendant.
The following operation is carried out while lightly pressing the deadman switch on the teaching pendant.
1) Press the [5] key on the Menu screen to select
the Maintenance screen.
2) Press the [4] key to select the Origin Setting
screen.
3) Press the [3] key to select the jig method. Then,
press the [1] key and the [INP] key to turn the
servo OFF.
Then, cancel the brake of each axis, move the
arm with both hands, and secure it with the OP
jig.
At this point release the brakes and move the arm with both hands.
To ensure safety, the brake-release procedure described below should always be
done by two persons.
<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET <MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER
Select the maintenance screen
+C
(J6)
5 STU
<TOOL>
SERVO OFF
OK ? (1)
1:EXECUTE
Select the Origin Setting screen
<MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER <ORIGIN>
1.DATA 2.MECH
3.JIG
4.ABS
5.USER
-Y
(J2)
4 MNO
<ORIGIN>
1.DATA 2.MECH
3.JIG
4.ABS
5.USER
Select the jig method
-Z
(J3)
3 JKL
→
-B
(J5)
1 DEF
→
INP
EXE
CAUTION