Mitsubishi RV-2AJ User Manual

2Unpacking to Installation
Confirming the operation 2-25
・ When the [MOVE] + [+A (J4)] keys are pressed,
6-axis type: The X axis will rotate in the plus direction of the tool coordinate system.
5-axis type: The Z axis will rotate in the plus direction of the tool coordinate system.
When the [MOVE] + [-A (J4)] keys are pressed,
6-axis type: Rotate in the minus direction.
5-axis type: Rotate in the minus direction.
・ When the [MOVE] + [+B (J5)] keys are pressed,
6-axis type: The Y axis will rotate in the plus direction of the tool coordinate system.
5-axis type: The Y axis will rotate in the plus direction of the tool coordinate system.
When the [MOVE] + [-B (J5)] keys are pressed, Rotate in the minus direction.
・ When the [MOVE] + [+C (J6)] keys are pressed,
6-axis type: The Z axis will rotate in the plus direction of the tool coordinate system.
5-axis type: There is no operation.
When the [MOVE] + [-C (J6)] keys are pressed,
6-axis type: Rotate in the minus direction.
5-axis type: There is no operation.
◇
◆◇ When an
X
appears on the T/B screen display ◇◆◇
If the robot is moved outside the movement area with any of the axes, an X will appear. In this case, move the axis
in the opposite direction.
In the example on the left, further linear movement in the same direction is not possible.
Ｘ
Ｘ
TOOL LOW
X X +360.00
X Y +280.00
X Z +170.00
Ｘ
Ｘ
Ｘ
Tool length
6-axis type
＋X
＋Y
＋Z
＋
－
－
－
＋
＋
STEP
MOVE
＋
5
STU
+ C
(J6)
0
ABC
- C
(J6)
STEP
MOVE
＋
7 YZ_
+ A
(J4)
STEP
MOVE
＋
5-axis type
1
DEF
- B
(J5)
STEP
MOVE
＋
6
VWX
+ B
(J5)
STEP
MOVE
＋
2
GHI
- A
(J4)
STEP
MOVE
＋
＋X
＋Y
＋Z
6
VWX
+ B
(J5)
STEP
MOVE
＋
7 YZ_
+ A
(J4)
STEP
MOVE
＋
2
GHI
- A
(J4)
STEP
MOVE
＋
Tool length
Control point
＋
＋
－
1
DEF
- B
(J5)
STEP
MOVE
＋
＋Z
＋Y
(Tool coordinate system)
－
Changing the flange surface posture
* The control point does not change.
◇◆◇ When alarm No. 5150 occurs ◇◆◇
If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for
the origin data.
◇◆◇ Tool length ◇◆◇
The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.

Mitsubishi RV-2AJ Specifications

General

Brand	Mitsubishi
Model	RV-2AJ
Category	Robotics
Language	English