Rv1 a2aj instruction manual.bfp-a8052e

Mitsubishi Industrial Robot
RV-1A/2AJ Series INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8052-E

All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and fol-
low this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicat-
ing that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
Always read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
Safety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,
noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Fail-
ure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to mal-
functioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal inju-
ries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with periph-
eral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic opera-
tion, the door is locked or that the robot will automatically stop. Failure to do so
could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fin-
gers catching depending on the posture.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

Do not stop the robot or apply emergency stop by turning the robot control-
ler's main power OFF. If the robot controller main power is turned OFF dur-
ing automatic operation, the robot accuracy could be adversely
affected.Moreover, it may interfere with the peripheral device by drop or
move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parame-
ters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of
the robot controller may be damaged.
Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the
controller.)
Provide an earth leakage breaker that packed together on the primary
power supply of the controller as protection against electric leakage. Con-
firm the setting connector of the input power supply voltage of the controller,
if the type which more than one power supply voltage can be used. Then
connect the power supply.
Failure to do so could lead to electric shock accidents.
CAUTION
CAUTION
CAUTION
Cover
Terminal cover
Rear side of controller
Earth leakage
breaker
(NV)
Protective earth
terminal
(PE)
Cover
Terminal
Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
*Except the above: Single phase 180-253VAC.

Revision history
Date of Point Instruction Manual No. Revision Details
2000-02-17 BFP-A8052Z First print
2000-04-05 BFP-A8052 Formal style
2000-05-10 BFP-A8052-A Error in writing correction.
2000-07-12 BFP-A8052-B Spare parts (option) list was added.
Error in writing correction.
2001-03-21 BFP-A8052-C Error in writing correction.
2002-06-05 BFP-A8052-D RV-1AC-SB, RV-2AJC-SB (Clean specification) was added.
Error in writing correction.
2009-09-30 BFP-A8052-E The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2006/42/EC)

■ Introduction
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains procedures to be taken for unpacking, installing, servicing and inspecting the
robot arm.
Always read through this manual before starting use to ensure correct usage of the robot.
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The details of this manual are subject to change without notice.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
･ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may
occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
･ This Instruction Manual is original.
Copyright(C) 2002-2009 MITSUBISHI ELECTRIC CORPORATION

CONTENTS
i
Page
1 Before starting use .......................................................................................................................... 1-1
1.1 Using the instruction manuals ................................................................................................... 1-1
1.1.1 The details of each instruction manuals .............................................................................. 1-1
1.1.2 Symbols used in instruction manual .................................................................................... 1-2
1.2 Safety Precautions .................................................................................................................... 1-3
1.2.1 Precautions given in the separate Safety Manual ............................................................... 1-4
2 Unpacking to Installation .............................................................................................................................................................. 2-5
2.1 Confirming the product ......................................................................................................................................................... 2-5
2.2 Installation .................................................................................................................................................................................. 2-6
2.2.1 Unpacking ............................................................................................................................................................................ 2-6
2.2.2 Transportation procedures .......................................................................................................................................... 2-7
2.2.3 Installation procedures .................................................................................................................................................. 2-8
2.2.4 Grounding procedures .................................................................................................................................................... 2-9
(1) Grounding methods ..................................................................................................................................................... 2-9
(2) Grounding procedures ............................................................................................................................................... 2-9
2.2.5 Connecting with the controller ................................................................................................................................ 2-10
2.3 Setting the origin ................................................................................................................................................................... 2-11
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-11
(1) Installing with the control power OFF .............................................................................................................. 2-11
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-12
(1) Confirming the origin data ..................................................................................................................................... 2-12
(2) Turning ON the control power ............................................................................................................................. 2-12
(3) Preparing the T/B ..................................................................................................................................................... 2-13
(4) Selecting the origin setting method ................................................................................................................... 2-14
(5) Inputting the origin data ......................................................................................................................................... 2-15
(6) Installing the connector box cover .................................................................................................................... 2-16
2.4 Confirming the operation .................................................................................................................................................... 2-17
(1) JOINT jog operation ................................................................................................................................................. 2-20
(2) XYZ jog operation ...................................................................................................................................................... 2-22
(3) TOOL jog operation .................................................................................................................................................. 2-24
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-26
(5) CYLNDER jog operation ......................................................................................................................................... 2-28
3 Installing the option devices ..................................................................................................................................................... 3-30
3.1 Installing the solenoid valve set (1E-VD01/VD01E/VD02/VD02E) ................................................................ 3-30
3.2 Installation the pneumatic hand set （4A-HP01/HP01E） ................................................................................... 3-32
3.3 Installation the motorized hand set （4A-HM01） .................................................................................................... 3-34
3.4 Hand output cable (1E-GR35S) ...................................................................................................................................... 3-35
3.5 Installing the hand input cable (1A-HC20) and hand curl tube (1A-ST040*C) .......................................... 3-35
3.6 Installing the hand adaptor (1A-HA01) ........................................................................................................................ 3-35
4 Basic operations ............................................................................................................................................................................ 4-36
5 Maintenance and Inspection ..................................................................................................................................................... 5-37
5.1 Maintenance and inspection interval ............................................................................................................................. 5-37
5.2 Inspection items ..................................................................................................................................................................... 5-38
5.2.1 Daily inspection items .................................................................................................................................................. 5-38
5.2.2 Periodic inspection ........................................................................................................................................................ 5-39
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-40
5.3.1 Robot arm structure ..................................................................................................................................................... 5-40
5.3.2 Installing/removing the cover ................................................................................................................................... 5-42
5.3.3 Inspection, maintenance and replacement of timing belt .............................................................................. 5-44
(1) Timing belt replacement period ......................................................................................................................... 5-44
(2) Inspection, maintenance and replacement of J2-axis timing belt ........................................................ 5-45

CONTENTS
ii
Page
(6) Timing belt tension ................................................................................................................................................... 5-49
5.3.4 Lubrication ........................................................................................................................................................................ 5-50
(1) Lubrication position and specifications ............................................................................................................ 5-50
(2) Lubrication method ................................................................................................................................................... 5-51
5.3.5 Replacing the backup battery ................................................................................................................................... 5-52
(1) Replacing the robot arm battery ......................................................................................................................... 5-53
5.4 Maintenance parts ................................................................................................................................................................. 5-54
5.5 Resetting the origin .............................................................................................................................................................. 5-55
5.5.1 Mechanical stopper method ...................................................................................................................................... 5-56
(1) Select the T/B ........................................................................................................................................................... 5-56
(2) J1 axis origin setting ................................................................................................................................................ 5-57
(5) J4 axis origin setting (Only 6-axis type) ......................................................................................................... 5-62
(8) All axis origin setting ................................................................................................................................................ 5-68
5.5.2 User origin method ........................................................................................................................................................ 5-70
5.5.3 Recording the origin data ........................................................................................................................................... 5-71
(1) Confirming the origin data label ........................................................................................................................... 5-71
(2) Confirming the origin data ..................................................................................................................................... 5-71
(3) Recording the origin data ....................................................................................................................................... 5-71
(4) Installing the cover ................................................................................................................................................... 5-71
6Appendix ...............................................................................................................................................................................Appendix-72
Appendix 1 ： Configuration flag ............................................................................................................................ Appendix-72

1-1 Using the instruction manuals
1Before starting use
1 Before starting use
This chapter explains the details and usage methods of the instruction manuals, the basic terminology and
the safety precautions.
1.1 Using the instruction manuals
1.1.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these doc-
uments according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Explains the common precautions and safety measures to be taken for robot han-
dling, system design and manufacture to ensure safety of the operators involved
with the robot.
Explains the product's standard specifications, factory-set special specifications,
option configuration and maintenance parts, etc. Precautions for safety and technol-
ogy, when incorporating the robot, are also explained.
Explains the procedures required to operate the robot arm (unpacking, transporta-
tion, installation, confirmation of operation), and the maintenance and inspection
procedures.
Explains the procedures required to operate the controller (unpacking, transporta-
tion, installation, confirmation of operation), basic operation from creating the pro-
gram to automatic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and opera-
tion, commands used in the program, connection with the external input/output
device, and parameters, etc.
Explains details on the MOVEMASTER commands used in the program.
(For RV-1A/2AJ, RV-2A/3AJ and RV-3S/3SJ/3SB/3SJB series)
Explains the causes and remedies to be taken when an error occurs. Explanations
are given for each error No.
Safety Manual
Standard
Specifications
Robot Arm
Setup &
Maintenance
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Explanations
of MOVEMAS-
TER
COMMANDS
Troubleshoot-
ing

Using the instruction manuals 1-2
1.1.2 Symbols used in instruction manual
The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the
meaning of these symbols before reading this instruction manual.
Table 1-1:Symbols in instruction manual
Symbol Meaning
Precaution indicating cases where there is a risk of operator fatality or
serious injury if handling is mistaken. Always observe these precautions
to safely use the robot.
Precaution indicating cases where the operator could be subject to fatali-
ties or serious injuries if handling is mistaken. Always observe these pre-
cautions to safely use the robot.
Precaution indicating cases where operator could be subject to injury or
physical damage could occur if handling is mistaken. Always observe
these precautions to safely use the robot.
[JOINT]
If a word is enclosed in brackets or a box in the text, this refers to a key on
the teaching pendant.
[+/FORWD]+[+X]
(A) (B)
This indicates to press the (B) key while holding down the (A) key.
In this example, the [+/Forward] key is pressed while holding down the
[+X/+Y] key.
[STEP/MOVE]+([COND]-[RPL])
(A) (B) (C)
This indicates to hold down the (A) key, press and release the (B) key, and
then press the (C) key. In this example, the [Step/Move] key is held down,
the [Condition] key is pressed and released, and the [Replace] key is
pressed.
T/B This indicates the teaching pendant.
DANGER
WARNING
CAUTION

1-3 Safety Precautions
1.2 Safety Precautions
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to
learn the required measures to be taken.
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and fol-
low this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicat-
ing that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION

Safety Precautions 1-4
1.2.1 Precautions given in the separate Safety Manual
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,
noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to personal
injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic oper-
ation, the door is locked or that the robot will automatically stop. Failure to do so
could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-desig-
nated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fin-
gers catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF.
If the robot controller main power is turned OFF during automatic operation, the
robot accuracy could be adversely affected.
Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters. If the main
power to the robot controller is turned off while in automatic operation or rewriting
the program or parameters , the internal information of the robot controller may be
damaged.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
CAUTION
CAUTION

2-5 Confirming the product
2Unpacking to Installation
2 Unpacking to Installation
2.1 Confirming the product
The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1.
Confirm the parts.
Users who have purchased optional products should refer to the separate "Standard Specifications".
Table 2-1 ： Standard configuration
Note） The number 3 - 5, 8-10 are in the plastic bag of the robot arm attachment.
No. Part name Type Qty. Remarks
1 Robot arm RV-1A, RV-2AJ,
RV-1AC-SB or
RV-2AJC-SB
Either 1
unit
2 Guarantee card 1 copy
3 Installation bolts M8x30 4 pcs.
For robot arm installation4 Spring washer for installation bolts For M8 4 pcs.
5 Plain washer for installation bolts For M8 4 pcs.
6 Suspension fitting 1 pcs.
For robot arm transportation
7 Suspension fitting installation bolt M5x10 4 pcs.
8 Nylon clamp （Three kinds one each） 3 pcs.
For wiring and piping for optional
hand
9 Nylon clamp installation bolts M3x22 1 pcs.
10 Plain washer for Nylon clamp installation
bolts
For M3
1 pcs.

Installation 2-6
2.2 Installation
2.2.1 Unpacking
Fig.2-1 ： Unpacking the robot arm
The robot is shipped from the factory in cardboard packing. Always refer to Fig. 2-1 and unpack the robot.
Handle the robot arm according to"2.2.2 Transportation procedures"
"2.2.2 Transportation procedures"The unpacking process is shown below.
1) Carefully lay the cardboard box on its side while taking care not to apply impacts. (Fig. 2-1 (a))
2) Using a knife, cut the tape fixing the opening of the cardboard box. (Fig. 2-1 (b))
3) Horizontally pull out the inner box onto the floor. (Fig. 2-1 (c))
4) Remove the inner box and upper cushioning material. (Fig. 2-1 (d))
5) Pull up the robot arm together with the lower cushioning material. (Fig. 2-1 (e))
When repackaging the robot in the cardboard box, always use the fixing plates.
Lａｙｓ
( a )
( c )
( b )
( d ) ( e )
Ｓｔａｎｄｕｐ
Pull out
Robot arm
Arm fixing
plate
! CAUTION
!Always unpack the
robot at a flat place.
The robot could tilt
over if unpacked at an
unstable place.
Note) The cushioning material will be required if the robot is transported again , so save it in a safe place.
CAUTION

2-7 Installation
2.2.2 Transportation procedures
Fig.2-2 ： Transportation of robot arm
1) The robot must be transported by two workers. Place the robot on a dolly, etc., and move it to near the
installation place. Transporting the robot with the following grips should be limited to placing the robot on
the frame or dolly, and to positioning.
2) When transporting with the grips, one worker should hold the grip (A) at the base, and support the arm from
the front with his body. The other worker should support the back of the upper arm (B). If the robot is held
from the left/right sides or if a cover is held, the robot could tilt over, the cover could be damaged, or
accidents such as dropping could occur.
3) When transporting the robot, do not apply force on the cover, or apply a strong impact on the robot
4) Remove the fixing plates after installing the robot.
To prevent accidents, do not hold the robot from the left/right sides, or hold
covers that have no grips.
When installing the fixing plates again, set each axis of the robot to J1=0 degree,
J2=-30 degree, J3=120 degree, J4=0 degree (6-axis type only), J5=90 degree, and
J6=0 degree.
Forearm
Upper arm
Base
Arm fixing plate
Ａ
Ｂ
Front
Note) The figure shows the 6-axis type, but this also applies for the
5-axis type.
6-axis type
5-axis type
Mass
RV-1A series : Approx. 21kg
RV-2AJ series: Approx .19kg
CAUTION
CAUTION

Installation 2-8
2.2.3 Installation procedures
1) The robot installation surface has been machine
finished. Use the installation holes (4-φ18 holes)
opened at the four corners of the base, and
securely fix the robot with the enclosed installa-
tion bolts (M8 x 30 hexagon socket bolts).
Installation of the robot arm is a very important
step for ensuring the optimum functions of the
robot. Observe the following points when design-
ing.
2) Install the robot on a level surface.
3) It is recommended that the surface roughness of
the table onto which the robot is to be installed
by 6.3a or more. If the installation surface is
rough, the contact with the table will be poor, and
positional deviation could occur when the robot
moves.
4) When installing, use a common table to prevent
the position of the devices and jigs subject to
robot work from deviating.
5) The installation surface must have sufficient
strength to withstand the arm reaction during
operation, and resistance against deformation and
vibration caused by the static (dynamic) load of
the robot arm and peripheral devices, etc.
6) When installing on the ceiling, use the ceiling sus-
pension jig available from Mitsubishi. Contact Mit-
subishi or your dealer for the ceiling suspension
jig.
7) Remove the fixing plates after installing the robot.
Fig.2-3 ： Installation dimensions
4-M8×30
(Four positions)
Spring washer
Plain washer
Base bottom
(Front of robot )
(installation bolt M8×35)
(4-Φ9 installation hole )
Installation
reference surface
6.3a
6.3a
Installation dimension details
・ The contact section shown with shading on the robot installation surface
must be finished to 6.3a.
・ The section marked with *1 must be contacted against the installation surface
to ensure the robot rigidity.
*1
188
186
160
2
15
95
60
82
205
250
φ
81

2-9 Installation
2.2.4 Grounding procedures
(1) Grounding methods
1) There are three grounding methods as shown in
Fig. 2-4, but the dedicated grounding (Fig. 2-4 (a))
should be used for the robot arm and controller
when possible. (Refer to the separate " Controller
Setup, Basic Operation and Maintenance" for
details on the controller grounding.)
2) Use Class D grounding (grounding resistance
100Ω or less).
Dedicated grounding separated from the other
devices should be used.
3) Use a AWG#14(2mm2) or more stranded wire for
the grounding wire. The grounding point should be
as close to the robot arm and controller as possi-
ble, and the length of the grounding wire should
be short.
Fig.2-4 ： Grounding methods
(2) Grounding procedures
1) Prepare the grounding cable (AWG#14(2mm2) or
more) and robot side installation screw and
washer.
2) If there is rust or paint on the grounding screw
section (A), remove it with a file, etc.
3) Connect the grounding cable to the grounding
screw section.
Fig.2-5 ： Connecting the grounding cable
Robot arm
Controller
and
personal
computer
(a) Dedicated grounding
(Optimum)
(b) Common grounding
(Good)
(c) Common grounding
(Normal)
Robot arm
Controller
and
personal
computer
Robot arm
Controller
and
personal
computer
Robot arm
A
M4×10, SW, PW
Robot grounding cable
(AWG#14（2mm2
) or more）
（Prepared by customer）

Installation 2-10
2.2.5 Connecting with the controller
Fig.2-6 ： Connecting the machine cables
Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic
Operation and Maintenance" manual.
1) Make sure that the power switch on the front of the controller is turned OFF.
2) Connect the machine cable to the robot arm and the corresponding connector on the controller
The machine cable connectors are dedicated for the controller side and robot arm
side, so take special care when connecting.
If connected incorrectly, the connector pins could bend or break. Thus, even if
connected correctly, the robot will not operate correctly, creating a dangerous
situation.
Take special care to the leading of the connection cable. If the cable is pulled with
force or bent excessively, wires could break or the connector could be damaged.
CN1
CN2
Robot arm
Controller
Motor power
（CN1）
Motor signal
（CN2）
Motor signal cable（5m）
Motor power cable（5m）
CAUTION
CAUTION

2-11 Setting the origin
2.3 Setting the origin
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. This step must also be carried out if the combination of robot and controller being
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
"5.5 Resetting the origin" on page 55 for the other methods.
The teaching pendant is required for this operation.
[Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again.
Refer to "5.5 Resetting the origin" on page 55 and reset the origin using the mechanical stopper method
.
2.3.1 Installing the teaching pendant (T/B)
By using the "REMOVE T/B" switch, the T/B can be installed and removed while the controller's control power is
ON. However, in this procedure, the teaching pendant will be installed with the control power OFF.
Refer to the separate "Controller setup, basic operation, and maintenance" for details on installing the teaching
pendant with the control power ON.
(1) Installing with the control power OFF
1) Confirm that the controller's power supply switch is OFF.
2) Connect the T/B connector to the RS-422 (T/B)
connector on the controller.
3) Do not pull the cable with force or bend it excessively, as
the cable could break or the connector could be damaged.
4) Confirm that the [REMOVE T/B] switch on the side of the
controller is not depressed (is projected).
5) Set the T/B [ENABLE/DISABLE] switch to "DISABLE".
Fig.2-7 ： Installing the T/B (control power OFF)
Teaching pendant
(T/B)
REMOVE T/B switchConnector
Appearance of teaching pendant
ENABLE/DISABLE switch
Emergency stop switch
Display LCD
Operation keys
◇◆◇ [REMOVE T/B] switch ◇◆◇
When using the robot with the T/B, this switch is used to invalidate the emergency stop from the T/B. This is
also used to install the T/B with turning the controller's power supply ON.

Setting the origin 2-12
2.3.2 Setting the origin with the origin data input method
(1) Confirming the origin data
The origin data to be input is noted in the
origin data sheet enclosed with the arm,
or on the origin data history table
attached to the back side of the con-
nector box cover. (Refer to Fig. 2-8).
Referring to "5.3.2 Installing/removing
the cover" on page 42, remove the con-
nector box cover, and confirm the value.
The value given in the default setting
column is the origin settings set with the
calibration jig before shipment.
Note that the 5-axis type does not have
the J4 axis.
Fig.2-8 ： Origin data label (an example)
Always install/remove the cover with the controller control power turned OFF.
Failure to do so could lead to physical damage or personal injury should the robot
start moving due to incorrect operations.
(2) Turning ON the control power
Confirm that there are no operators near the robot before turning the power ON.
1) Turn the controller [POWER] switch ON.
The control power will be turned ON, and " □ . 100" will appear on the STATUS NUMBER display on the
front of the controller.
● Origin data history table (Origin Data History) Serial No.ES804008
(O: O(Alphabet), 0: Zero)
Note) Meanings of symbols in method column
E: Jig method
N: Not used
SP: Not used
Date Default . . . . . . . . .
Ｄ V!#S29
Ｊ１ 06DTYY
Ｊ２ 2?HL9X
Ｊ３ 1CP55V
Ｊ４ T6!M$Y
Ｊ５ Z2IJ%Z
Ｊ６ A12%Z0
Method ＥＥ・Ｎ・ＳＰＥ・Ｎ・
ＳＰ
Ｅ・Ｎ・ＳＰ
WARNING
CAUTION

(3) Preparing the T/B
Next, prepare to use the T/B
1) Set the [MODE] switch on the front of the controller to "TEACH".
2) Set the T/B [ENABLE/DISABLE] switch to "ENABLE". The menu
selection screen will appear.
The following operations are carried out with the T/B.
SVO OFF STOP END
SVO ONMODE
TEACH
AUTO
(Ext.)
AUTO
(Op.)
START RESET
STATUS NUMBER
REMOVE T/B
EMG.STOPCHANG DISP
MODE
TEACH
AUTO
(Ext.)
AUTO
(Op.)
P8TB-TE
DISABLE　　　ENABLE
EMG.STOP
DISABLE ENABLE
◇◆◇ Operating from the T/B ◇◆◇
Always set the [MODE] switch (mode selection key switch) on the front of the controller to "TEACH", and then
set the T/B [ENABLE/DISABLE] switch to "ENABLE".
When the T/B is valid, only operations from the T/B are possible. Operations from the controller or external
signals will not be accepted.
◇◆◇ When T/B operations are mistaken ◇◆◇
The displayed screen will return to the "menu selection screen" when the [MENU] key is pressed. Carry out the
operations again from this screen. Operations can also be carried out again by setting the T/B [ENABLE/
DISABLE] switch to "DISABLE" once and then setting to "ENABLE".

(4) Selecting the origin setting method
<T/B screen> [Keys used]
1) Press the [5] key on the menu screen, and display the maintenance screen.
2) Press the [4] key on the maintenance screen, and display the origin setting
method selection screen.
3) Press the [1] key on the origin setting method selection screen, and select
the data input method.
The origin data input method will be selected, and the screen for turning
OFF the servo power will appear.
4) Press the [1] and [INP] keys to turn OFF the servo power. The screen for
inputting the origin data will appear.
<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET
<DATA>D(000000)
1:000000 000000
3:000000 000000
5:000000 000000
<MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER
<ORIGIN>
1.DATA 2.MECH
3.JIG 4.ABS
5.USER
<ORIGIN>
SERVO OFF
OK?(1)
1:EXECUTE
-B
(J5)
1 DEF
INP
EXE
-B
(J5)
1 DEF
INP
EXE
+C
(J6)
5 STU
-Y
(J2)
4 MNO
◇◆◇ Selecting a menu ◇◆◇
The menu can be selected with one of the following methods.
A: Press the numeral key for the No. of the item to be selected.
B: Using the [ ↓ ] and [ ↑ ] keys, etc., move the cursor to the item to be selected, and then press the [INP] key.

(5) Inputting the origin data
Input the value confirmed in section "(1) Confirming the origin
data" on page 12.
The correspondence of the origin data label value and axis to be
input is shown in Fig. 2-9.(For the 5-axis robot, the J4 axis is
meaningless.)
Fig.2-9 ： Correspondence of origin data label and axis
The method for inputting the origin data is explained below. The value shown in Fig. 2-8will be input as an example.
<T/B screen> [Keys used]
1) Confirm that the cursor is at the "D" position on the T/B display
screen.
2) Input the D value V!%S29.
Inputting "V"
Press the [VWX] key once while holding down the [CHAR] key. "V"
will appear, so release the [CHAR] key. "V" will be set.
Inputting "!"
Press the [#%!] key three times while holding down the [CHAR] key.
"!" will appear, so release the [CHAR] key. "!" will be set.
In the same manner, while holding down the [CHAR] key, press the
["%"] key twice, and the [STU] key once (input "S").
Release the [CHAR] key, and press the [2] key (input "2") and then
the [9] key (input "9").
V!%S29 will appear at the "D" data on the teaching pendant screen.
3) Press the [ ↓ ] key, and move the cursor to the J1 input position.
4) Input the J1 value in the same manner as above.
5) Input the J2, J3, J4, J5 and J6 values in the same manner. Note
that the J4 axis is not required for the 5-axis type.
6) After inputting all of the values, press the [INP] key. The origin
setting confirmation screen will appear.
7) Press [1] (-B/-P) and [INP] key to end the origin setting
<DATA> D( D )
1: J1 J2
3: J3 J4
5: J5 J6
Origin data label
(D,J1,J2,J3,J4,J5,J6)T/B screen
<DATA>D(V!%S29)
1:A@B&8F G#$Y5#
3:H+7%2H B="!1L
5:59A37! K8#&6P
<DATA>D(000000)
1:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(V00000)
1:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(V!0000)
1:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(V!%S29)
1:000000 000000
3:000000 000000
5:000000 000000
<DATA>D(V!%S29)
CHANGES TO ORIGIN
OK? (1)
1:EXECUTE
<DATA>D(V!0000)
1:000000 000000
3:000000 000000
5:000000 000000
＋
＋
＋
＋
POS
CHAR
+B
(J5)
6 VWX
POS
CHAR
POS
CHAR
POS
CHAR
SPD
#%!
SPD
#%!
+C
(J6)
5 STU
-A
(J4)
2 GHI
+Y
(J2)
9 &<>
RPL
↓
-B
(J5)
1 DEF
INP
EXE
INP
EXE

(6) Installing the connector box cover
Return the connector box cover, removed in section "(1) Confirming the origin data" on page 12 to its original
position.
This completes the setting of the origin with the origin data input method.
Always remove and install the cover with the controller power turned OFF. Failure
to do so could lead to the robot moving because of incorrect operations, or to
physical damage or personal injury.
◇◆◇ Moving the cursor ◇◆◇
Press the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys.
◇◆◇ Inputting characters ◇◆◇
Hold down the [CHAR] key and press the key with the character to be input on the lower right. Three characters
will scroll each time the character key is pressed.
◇◆◇ Correcting an input ◇◆◇
After returning one character by pressing the [DEL] key, input the character again.
WARNING
◇◆◇ If the origin input data is incorrect ◇◆◇
If the origin input data is incorrect, the alarm No. 1760 (origin setting data illegal) will occur when origin data input.
In this case, reconfirm the value input for the origin data.

2-17 Confirming the operation
2.4 Confirming the operation
In this section, the robot will be moved manually using the T/B to confirm that the operation is correct.
Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis,
the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate
system, and the CYLNDER jog that moves along the circular arc.
This operation is carried out while pressing the deadman switch on the back of the T/B.
The robot will move during this operation. Make sure that there are no operators
near the robot, and that there are no obstacles, such as tools, in the robot operation
range.
To immediately stop the robot, release the deadman switch on the back of the T/B.
The servo power will turn OFF, and the robot will stop.
The robot will also stop if the [EMG.STOP] switch (emergency stop switch) on the
front of the T/B or the [EMG.STOP] switch (emergency stop) on the front of the
controller is pressed.
Confirm that the origin has been set. If the origin has not been set, "****" will
appear at the current position display on the teaching pendant, the JOINT jog oper-
ation will take place in any jog mode selected.
Refer to "2.3 Setting the origin" on page 11 for details on setting the origin.
Fig.2-10 ： JOINT jog operation
CAUTION
CAUTION
WARNING
6-axis type5-axis type
－
＋
J2 axis
－
＋
J3 axis
－
＋
－
＋
J6 axis
J5 axis
－
＋
J2 axis
－
＋
J3 axis－
＋
－
＋
J6 axis
J5 axis
－
J1 axis
－
J1 axis
＋
－
J4 axis
* Each axis moves independently.
The 5-axis type does not have the J4 axis.

Confirming the operation 2-18
Fig.2-11 ： XYZ jog operation
Fig.2-12 ： TOOL jog operation
－
＋
－
＋
Toollength
６-axis type
－＋
＋X
＋Y
＋Z
Control point
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
５-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
－
＋
Toollength
Control point
＋
－
* While maintaining the flange surface posture, the axis moves straight along the base coor-
dinate system.
Also, while maintaining the flange surface position, the flange surface posture changes.
－
＋
－
＋
６-axis type
－
＋
＋X
＋Z
Control point
Toollength
＋Y
－Z
－X
－Y
Toollength
５-axis type
Control point ＋X
＋Z
＋Y
* While maintaining the flange surface posture, the axis moves straight along the tool
coordinate system.
Also, while maintaining the flange surface position, the flange surface posture changes.
With the 5-axis type, the axis moves only in the X and Y axis directions of the tool
coordinates.

Fig.2-13 ： 3-axis XYZ jog operation
Fig.2-14 ： CYLINDER jog operation
５-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ－
＋
J6
－
＋
J5
－
＋
Toollength ６-axis type
Control point
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
J6
－
＋
＋
－J5
J4
Toollength
Control
point
* The axis moves straight along the base coordinate system. At this time, the flange surface
posture is not maintained.
Also, the flange surface posture changes. The flange surface position changes at this time.
５-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
Toollength
Redius
Vertical
Control
point
Arc
Toollength
６-axis type
Redius
Vertical
Control point
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
Arc
* The current position is set as the arc centering on the Z axis, and the axis moves along that arc,
expands and contracts in the radius direction, and moves vertically. At this time, for the 6-axis type, the
flange surface posture is maintained. Also, while maintaining the flange surface position, the flange
surface posture changes.

(1) JOINT jog operation
Press the [MOVE] + [JOINT] keys to select the
JOINT jog mode. "JOINT" will appear at the upper
left of the screen.
Each time the [MOVE] + [+] keys are pressed, the
override will increase in the order of LOW → HIGH →
3 → 5 → 10 → 30 → 50 → 70 → 100%.
When the [MOVE] + [-] keys are pressed, the
override will decrease in the reverse order.
The currently set speed will appear on the upper right
of the screen.
Set the override to 10% here for confirmation work.
・ When the [MOVE] + [+X (J1)] keys are pressed, the J1 axis will rotate in the plus direction.
When the [MOVE] + [-X (J1)] keys are pressed, Rotate in the minus direction.
・ When the [MOVE] + [+Y (J2)] keys are pressed, the J2 axis will rotate in the plus direction.
When the [MOVE] + [-Y (J2)] keys are pressed, Rotate in the minus direction.
JOINT LOW
J1 +34.50
J2 +20.00
J3 +80.00
Select the JOINT jog mode
JOINT LOW
J1 +34.50
J2 +20.00
J3 +80.00
Set the jog speed
＋
JOINT jog mode 　
STEP
MOVE
JOINT
( )?
Set the speed
＋
STEP
MOVE
＋
FORWD
－
BACKWD
＋
6-axis type
J1 axis
STEP
MOVE
- X
(J1)
SPACE POR 　　　' ; ^
+ X
(J1)＋
STEP
MOVE
＋
－
5-axis type
＋
J1 axis
－
STEP
MOVE
＋
STEP
MOVE
＋
　　　' ; ^
+ X
(J1)
- X
(J1)
SPACE POR
J1 axis jog operation
6-axis type
STEP
MOVE
＋
4　　 MNO
- Y
(J2)
STEP
MOVE 9　　 &< >
+Y
(J2)＋
5-axis type
＋
－
STEP
MOVE
＋
4　　 MNO
- Y
(J2)
STEP
MOVE 9　　 &< >
+Y
(J2)＋
＋
－
◇◆◇ When the robot is in the transportation posture ◇◆◇
The axes may be outside the movement area. Move these axes toward the inner side of the movement area. If
moved outward, an X will appear on the T/B screen, and the robot will not move.Ｘ

・ When the [MOVE] + [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction.
When the [MOVE] + [-Z (J3)] keys are pressed, Rotate in the minus direction.
・ When the [MOVE] + [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction.
When the [MOVE] + [-A (J4)] keys are pressed, Rotate in the minus direction. (6-axis type only)
・ When the [MOVE] + [+B (J5)] keys are pressed, the J5 axis will rotate in the plus direction
When the [MOVE] + [-B (J5)] keys are pressed, Rotate in the minus direction.
・ When the [MOVE] + [+C (J6)] keys are pressed, the J6 axis will rotate in the plus direction
When the [MOVE] + [-C (J6)] keys are pressed, Rotate in the minus direction.
STEP
MOVE
＋
3　　 JKL
- Z
(J3)
STEP
MOVE
＋
3　　 , @
+ Z
(J3)
STEP
MOVE
＋
3　　 JKL
- Z
(J3)
STEP
MOVE
＋
3　　 , @
+ Z
(J3)
J3 axis
J3 axis
＋
6-axis type
－
J 5 axis
－
＋J6 axis
＋
－
J 4 axis
　　
7　　 YZ_
+ A
(J4)
STEP
MOVE
＋
6　　
VWX
B
(J5)
STEP
MOVE
＋
0　　 ABC
- C
(J6)
5　　 STU
+ C
(J6)
STEP
MOVE
＋
1　　 DEF
- B
(J5)
STEP
MOVE
＋
STEP
MOVE
＋
GHI
-
5-axis type
＋
－
－
＋
J5 axis
　　
　　
＋
0　　 ABC
- C
(J6)
5　　 STU
+ C
(J6)
STEP
MOVE
＋
1　　 DEF
- B
(J5)＋J6 axis
STEP
MOVE
STEP
MOVE
6 VWX
B
(J5)
+
＋
STEP
MOVE
2
A
(J4)
STEP
MOVE
＋
J4, J5 and J6 axis jog
◇◆◇ When an X appears on the T/B screen display ◇◆◇
If the robot is moved outside the movement area, an X will appear. In this case, move the axis in the opposite
direction.
In the example on the left, the J1 axis is at the limit of the plus side movement area.
Ｘ
Ｘ
JOINT LOW
X J1 +160.00
J2 +20.00
J3 +80.00
Ｘ

(2) XYZ jog operation
Press the [MOVE] + [XYZ] keys to select the XYZ
jog mode. "XYZ" will appear at the upper left of
the screen.
override will increase in the order of LOW → HIGH
→ 3 → 5 → 10 → 30 → 50 → 70 → 100%. When
the [MOVE] + [-] keys are pressed, the override
will decrease in the reverse order. The currently
set speed will appear on the upper right of the
screen. Set the override to 10% here for
confirmation work.
・ When the [MOVE] + [+X (J1)] keys are pressed, the robot will move along the X axis plus direction.
When the [MOVE] + [-X (J1)] keys are pressed, Move along the minus direction.
・ When the [MOVE] + [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction.
When the [MOVE] + [-Y (J2)] keys are pressed, Move along the minus direction.
・ When the [MOVE] + [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the [MOVE] + [-Z (J3)] keys are pressed, Move along the minus direction.
XYZ LOW
X +134.50
Y +220.00
Z +280.00
Select the XYZ jog mode
XYZ LOW
X +134.50
Y +220.00
Z +280.00
Set the jog speed
＋
XYZ jog mode
STEP
MOVE
XYZ
$":
Set the speed
＋
STEP
MOVE
＋
FORWD
－
BACKWD
6-axis type
＋X ＋Y
＋Z
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
＋
STEP
MOVE 4　　 MNO
- Y
(J2)
＋
STEP
MOVE 3　　 JKL
- Z
(J3)
＋
STEP
MOVE 　　　' ; ^
+ X
(J1)
＋
- X
(J1)
SPACE POR
STEP
MOVE
＋
STEP
MOVE 9 &< >
+Y
(J2)
5-axis type
＋X
＋Y
＋Z
－Z
－Ｙ－Ｘ＋X ＋Y
＋Z
＋
STEP
MOVE 8　　 , @
+ Z
(J3)
＋
STEP
MOVE 4　　 MNO
- Y
(J2)
＋
STEP
MOVE 9 &< >
+Y
(J2)
＋
STEP
MOVE 3　　 JKL
- Z
(J3)
＋
STEP
MOVE 　　　' ; ^
+ X
(J1)
＋
- X
(J1)
SPACE POR
STEP
MOVE
＋
STEP
MOVE 8　　 , @
+ Z
(J3)
Toollength
Toollength
Moving along the base coordinate system
※ The direction of the frange will not change
There are directions from which linear movement is not possible from the transportation posture. In this case, an
X will appear on the T/B screen, and the robot will not move. Refer to section "(1) JOINT jog operation" on page
20", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.
Ｘ
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
XYZ LOW
X X +360.00
X Y +280.00
X Z +170.00
Ｘ
Ｘ
Ｘ

・ When the [MOVE] + [+A (J4)] keys are pressed,
6-axis type: The X axis will rotate in the plus direction.
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, 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.
5-axis type: The Y axis will rotate in the plus direction of the tool coordinate system.
・ When the [MOVE] + [+C (J6)] keys are pressed,
6-axis type: The Z axis will rotate in the plus direction.
5-axis type: There is no operation.
When the [MOVE] + [-C (J6)] keys are pressed,
6-axis type: Rotate in the minus direction.
＋X
＋Y
＋Z
－Ｙ
　　
STEP
MOVE 0　　 ABC
- C
(J6)＋
7　　 YZ_
+ A
(J4)
STEP
MOVE
＋
　　2 GHI
- A
(J4)
STEP
MOVE
＋
－
＋
－
＋
－＋
＋X
＋Y
＋Z
Control
point
Toollength
1 DEF
- B
(J5)
STEP
MOVE
＋
6 VWX
+ B
(J5)
STEP
MOVE
＋
＋X
＋Y
＋Z
6　　 VWX
+ B
(J5)
STEP
MOVE
＋
7　　 YZ_
+ A
(J4)
STEP
MOVE
＋
2　　 GHI
- A
(J4)
STEP
MOVE
＋
Toollength
Control point
＋＋
－
1 DEF
- B
(J5)
STEP
MOVE
＋
＋Z
＋Y
(Tool coordinate system)
－
5　　 STU
+ C
(J6)
STEP
MOVE
＋
* The control point does not change.
Changing the flange surface posture
◇◆◇ 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.

(3) TOOL jog operation
Press the [MOVE] + [TOOL] keys to select the
TOOL jog mode. "TOOL" will appear at the upper
left of the screen.
→ 3 → 5 → 10 → 30 → 50 → 70 → 100%. When
the [MOVE] + [-] keys are pressed, the override
will decrease in the reverse order. The currently
set speed will appear on the upper right of the
screen. Set the override to 10% here for
confirmation work.
・When the [MOVE] + [+X (J1)] keys are pressed, the robot will move along the X axis plus direction of the tool
coordinate system.
・When the [MOVE] + [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction of the tool
coordinate system.
When the [MOVE] + [-Y (J2)] keys are pressed, Move along the minus direction. (6-axis type only)
・When the [MOVE] + [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction of the tool
coordinate system.
TOOL LOW
X +134.50
Y +220.00
Z +280.00
Select the TOOL jog mode
TOOL LOW
X +134.50
Y +220.00
Z +280.00
Set the jog speed
＋
TOOL jog mode
STEP
MOVE
TOOL
=*/
Set the speed
＋
STEP
MOVE
＋
FORWD
－
BACKWD
Toollength
6-axis type
＋X
＋Y
＋Z
　　　' ; ^
+ X
(J1)
- X
(J1)
SPEACE POR
STEP
MOVE
＋
STEP
MOVE
＋
4　　 MNO
- Y
(J2)
STEP
MOVE
＋
8　　 , @
+ Z
(J3)
STEP
MOVE
＋
3 JKL
- Z
(J3)
STEP
MOVE
＋
9 &< >
+Y
(J2)
STEP
MOVE
＋
5-axis type
Toollength
- X
(J1)
STEP
MOVE
＋
SPEACE POR
　　　' ; ^
+ X
(J1)
STEP
MOVE
＋8　　 , @
+ Z
(J3)
STEP
MOVE
＋
＋X
＋Z
3 JKL
- Z
(J3)
STEP
MOVE
＋
＋Y
Moving along the tool coordinate system
＊ The direction of the frange will not change.
There are directions from which linear movement is not possible from the transportation posture. In this case,
an X will appear on the T/B screen, and the robot will not move. Refer to section "(1) JOINT jog operation" on
page 20, and move the robot to a position where linear movement is possible, and then carry out TOOL jog.
Ｘ

6-axis type: The X 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: The J5 axis will rotate in the plus direction.
5-axis type: The J6 axis will rotate in the plus direction.
When the [MOVE] + [-C (J6)] keys are pressed,Rotate in the minus direction.
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
Toollength
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
－
＋
J6
－
＋
J5
1　　 DEF
- B
(J5)
STEP
MOVE
＋
STEP
MOVE
＋ 5　　 STU
+ C
(J6)
0　　 ABC
- C
(J6)
STEP
MOVE
＋
6 VWX
+ B
(J5)
STEP
MOVE
＋
1　　 DEF
- B
(J5)
STEP
MOVE
＋
6 VWX
+ B
(J5)
STEP
MOVE
＋
2　　 GHI
- A
(J4)
STEP
MOVE
＋
* 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.

(4) 3-axis XYZ jog operation
Press the [MOVE] + [XYZ] keys, and then
press only the [XYZ] key. "XYZ456" will appear
at the upper left of the screen.
Each time the [MOVE] + [+] keys are pressed,
the override will increase in the order of LOW
→ HIGH → 3 → 5 → 10 → 30 → 50 → 70 →
100%. When the [MOVE] + [-] keys are pressed,
the override will decrease in the reverse order.
The currently set speed will appear on the
upper right of the screen. Set the override to
10% here for confirmation work.
・ When the [MOVE] + [+X (J1)] keys are pressed, the robot will move along the X axis plus direction.
・ When the [MOVE] + [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction.
When the [MOVE] + [-Y (J2)] keys are pressed, Move along the minus direction.
XYZ456 LOW
X +134.50
Y +220.00
Z +280.00
Select the 3-axis XYZ jog mode
XYZ456 LOW
X +134.50
Y +220.00
Z +280.00
Set the jog speed
＋
3-axis XYZ jog mode 　　
STEP
MOVE
XYZ
$":
Set the soeed
＋
STEP
MOVE
＋
FORWD
－
BACKWD
XYZ
$":
6-axis type
＋X ＋Y
＋Z
＋X
＋Y
＋Z
－Z
－Ｙ－Ｘ
＋
STEP
MOVE 8　　 , @
+ Z
(J3)
＋
STEP
MOVE 4　　 MNO
- Y
(J2)
＋
STEP
MOVE 3　　 JKL
- Z
(J3)
＋
STEP
MOVE 　　　' ; ^
+ X
(J1)
＋
- X
(J1)
SPACE POR
STEP
MOVE
＋
STEP
MOVE 9 &< >
+Y
(J2)
5-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
＋
＋X
＋Y
＋Z
STEP
MOVE 8　　 , @
+ Z
(J3)
＋
STEP
MOVE 4　　 MNO
- Y
(J2)
＋
STEP
MOVE 9 &< >
+Y
(J2)
＋
STEP
MOVE 3　　 JKL
- Z
(J3)
＋
STEP
MOVE 　　　' ; ^
+ X
(J1)
＋
- X
(J1)
SPACE POR
STEP
MOVE
Toollength
Toollength
Moving along the base coordinate system
* The flange position does change.
◇◆◇ Jog mode will change when only [XYZ] key is pressed again ◇◆◇
When the [MOVE] + [XYZ] keys are pressed and then only the [XYZ] key is pressed, the upper left display will
change in the order of "XYZ" → "XYZ456" → "CYLNDER". Each jog mode can be selected.
◇◆◇ The flange surface end axis posture cannot be maintained with 3-axis XYZ jog. ◇◆◇
With 3-axis XYZ jog, the flange surface end axis posture (orientation) is not maintained when moving linearly in
the X, Y or Z axis direction.
Use XYZ jog to maintain the posture.

・ When the [MOVE] + [+A (J4)] keys are pressed, the J4-axis will rotate in the plus direction.
When the [MOVE] + [-A (J4)] keys are pressed, Rotate in the minus direction. (6-axis type only)
・ When the [MOVE] + [+B (J5)] keys are pressed, the J5-axis will rotate in the plus direction.
・ When the [MOVE] + [+C (J6)] keys are pressed, the J6-axis will rotate in the plus direction.
When the [MOVE] + [-C (J6)] keys are pressed, Rotate in the minus direction.
＋
6-axis type
－
J 5 axis
－
＋J6 axis
＋
－
J 4 axis
　　
7　　 YZ_
+ A
(J4)
STEP
MOVE
＋
6　　
VWX
B
(J5)
STEP
MOVE
＋
0　　 ABC
- C
(J6)
5　　 STU
+ C
(J6)
STEP
MOVE
＋
1　　 DEF
- B
(J5)
STEP
MOVE
＋
STEP
MOVE
＋
GHI
-
5-axis type
＋
－
－
＋
J5 axis
　　
　　
＋
0　　 ABC
- C
(J6)
5　　 STU
+ C
(J6)
STEP
MOVE
＋
1　　 DEF
- B
(J5)＋J6 axis
STEP
MOVE
STEP
MOVE
6 VWX
B
(J5)
+
＋
STEP
MOVE
2
A
(J4)
STEP
MOVE
＋
* The flange position changes.
This is the same as the J4, J5 and J6 axis JOINT jog operation.

(5) CYLNDER jog operation
Press the [MOVE] + [XYZ] keys, and then press
only the [XYZ] key. "CYLNDER" will appear at the
upper left of the screen.
→ 3 → 5 → 10 → 30 → 50 → 70 → 100%. When
the [MOVE] + [-] keys are pressed, the override will
decrease in the reverse order. The currently set
speed will appear on the upper right of the screen.
Set the override to 10% here for confirmation work.
　 Assuming that the current position is on an arc centering on the Z axis, the robot moves along that arc.
・ When the [MOVE] + [+Y (J2)] keys are pressed, the robot will move along the arc in the plus direction.
When the [MOVE] + [-Y (J2)] keys are pressed, Move in the minus direction.
・ When the [MOVE] + [+X (J1)] keys are pressed, the robot will expand in the radial direction.
When the [MOVE] + [-X (J1)] keys are pressed, Contract in the radial direction.
CYLNDER LOW
R +134.50
T +220.00
Z +280.00
Select the cylindrical jog mode
CYLNDER LOW
R +134.50
T +220.00
Z +280.00
Set the jog speed
＋
CYLNDER jog mode
STEP
MOVE
XYZ
$":
Set the speed
＋
STEP
MOVE
＋
FORWD
－
BACKWD
5-axis type
＋X
＋Y
＋Z
－Z
－Ｙ
－Ｘ
Toollength
Redius
Vertical
Control
point
STEP
MOVE
　　　' ; ^
8　　 , @
+ X
(J1)
+ Z
(J3)＋
3　　 JKL
- Z
(J3)
STEP
MOVE
＋
STEP
MOVE
＋
STEP
MOVE
＋
4 MNO
- Y
(J2)
STEP
MOVE
＋
9 &< >
+ Y
(J2)
- X
(J1)
STEP
MOVE
＋
SPACE POR
＋
－
Toollength
6-axis type
Redius
Vertical
Control
point
＋Y
＋Z
－Z
－Ｙ
－Ｘ
Arc
STEP
MOVE
3　　 JKL
8　　 , @
- Z
(J3)
+ Z
(J3)＋
STEP
MOVE
＋
+ X
(J1)
STEP
MOVE
＋
' ; ^
STEP
MOVE
＋
4 MNO
- Y
(J2)
- X
(J1)
STEP
MOVE
＋
SPACE POR
STEP
MOVE
＋
9 &< >
+ Y
(J2)
＋
－
Arc
Moving along an arc centering on the Z axis
＊ The direction of the frange will not change.

6-axis type: The X axis will rotate in the plus direction.
When the [MOVE] + [-A (J4)] keys are pressed, Rotate in the minus direction.
6-axis type: The Y axis will rotate in the plus direction.
6-axis type:The Z axis will rotate in the plus direction.
When the [MOVE] + [-C (J6)] keys are pressed,
6-axis type:Rotates in the minus direction.
6-axis type
＋X
＋Y
＋Z
－Ｙ
　　
STEP
MOVE 0　　 ABC
- C
(J6)＋
5　　 STU
+ C
(J6)
STEP
MOVE
＋
7　　 YZ_
+ A
(J4)
STEP
MOVE
＋
　　2 GHI
- A
(J4)
STEP
MOVE
＋
－
＋
－
＋
－＋
＋X
＋Y
＋Z
Control
point
1 DEF
- B
(J5)
STEP
MOVE
＋
6 VWX
+ B
(J5)
STEP
MOVE
＋
5-axis type
＋X
＋Y
＋Z
6　　 VWX
+ B
(J5)
STEP
MOVE
＋
7　　 YZ_
+ A
(J4)
STEP
MOVE
＋
2　　 GHI
- A
(J4)
STEP
MOVE
＋
Toollength
Control
point
－
＋
＋
－
1 DEF
- B
(J5)
STEP
MOVE
＋
＋Z
＋Y
Toollength
* The flange position does not change.
This is the same as the A, B and C axis XYZ jog operation.

3Installing the option devices
Installing the solenoid valve set (1E-VD01/VD01E/VD02/VD02E) 3-30
3 Installing the option devices
3.1 Installing the solenoid valve set (1E-VD01/VD01E/VD02/VD02E)
Fig.3-1 ： Solenoid valve installation procedures
Fig. 3-1 shows the solenoid valve installation procedures and the solenoid valve connector connection
procedures. The installation procedures are as follow. This work must be carried out with the controller power
turned OFF.
1) Using the screw holes on the base of the robot arm, install the solenoid valve with the enclosed screw <1>
(M3 x 25: 2 screws).
2) Connect the primary air supply air hose (φ6, prepared by customer) to the quick joint (P port) <2> of the
solenoid valve.
3) Connect the AIR IN "1" mark secondary piping coupler on the back of the robot arm to the A port <4> of the
No. 1 solenoid valve <3> with an air hose (φ4 approx. 250mm, prepared by customer.)
In the same manner, connect the AIR IN "2" mark secondary piping coupler to the B port 5 of the No. 1
solenoid valve.
For a double valve (1E-VD02/VD02E), connect the following:
Connect the AIR IN "3" mark secondary coupler to the A port <7> of the No. 2 solenoid valve <6>.
Connect the AIR IN "4" mark secondary coupler to the B port <8> of the No. 2 solenoid valve <6>.
<8>. B port
GR2
GR 1
GR3
GR4
<1>. P round head
screw
(M3 x 25)
<3>. No.1 solenoid
valve
<7>. A port
<4>. A port
<5>. B port
R port
<6>. No.2 solenoid
valve
Connector connection
<2>. P port
GR1
GR2
GR3
GR4
When using one-row
solenoid valve
When using two-row
solenoid valve
Solenoid value set(optional)
installation section
<a>

Secondary piping
pneumatic nose
（φ４）
Primary piping pneumatic nose
（φ6 x 1）
GR1～GR4 （connect to ）
Hand output connector
(2) GR1～GR4 （connect to ）
(4) AIR IN 1～4 （connect to <a>）
Secondary piping
pneumatic coupling（φ４）
CN2 CN1
GR1 GR2 GR3 GR4
1 2 3 4
pneumatic coupling number
AIR IN
[Expansion view]
Robot arm base
Note) AIR IN4 is used for the
internal suction of the
clean specification.

3-31 Installing the solenoid valve set (1E-VD01/VD01E/VD02/VD02E)
4) Connect the GR1 plug from the No. 1 solenoid valve <3> to the GR1 connector on the back of the robot arm.
Connect the GR2 plug from the No. 1 solenoid valve <3> to the GR2 connector on the back of the robot arm.
For a double valve (1E-VD02/VD02E), connect the following:
The connections after the installation appear as in Table 3-1 for single type valves, hand 2 is not applicable.
Table 3-1 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports
Hand Hand port
Fore arm
coupling No.
AIR OUT
Robot arm back
side coupling No.
AIR IN
Solenoid valve
port
Solenoid valve
used
Hand 1
OPEN 1 1 A
First set
CLOSE 2 2 B
Hand 2
OPEN 3 3 A
Second set
CLOSE 4 4 B

Installation the pneumatic hand set （4A-HP01/HP01E） 3-32
3.2 Installation the pneumatic hand set （4A-HP01/HP01E）
Table 3-1 shows the construction of the pneumatic hand set and the installation procedure and Table 3-1 shows
the configuration equipment which correspond with the Table 3-1.
Fig.3-2 ： Pneumatic hand set installation procedures
Fig. 3-2 shows the procedures for installing the pneumatic hand set. To install the pneumatic hand set, the
pneumatic hand must be installed, the solenoid valve set must be installed and wired, and the pneumatic hand
interface must be installed on the controller.
Carry out this work with the controller power turned OFF.
1) Install the hand adaptor <3> on the robot arm's mechanical interface <1> with the enclosed screw M3 x 8 <2>.
2) Install the pneumatic hand <5> onto the hand adaptor <3> with the enclosed screw M3 x 12 <4>.
3) Connect the pneumatic hand <5> and the robot arm's hand input signal connector <6> with the hand curled
cable <7>.
4) Pipe the "0" mark piping coupler on the pneumatic hand <5> with the "1" mark secondary piping coupler <8>
on the robot arm, and the "C" mark piping coupler on the pneumatic hand <5> with the "2" mark secondary
piping coupler <8> on the robot arm with the hand curl tube <9>.
Coupling Nos. for hand
1 2 3 4
<8>. 1～4 : Secondary piping
couplings（φ4）
Note) This part dosen't exist
for 5-axis type
Solenoid valve set(optional)
installation section
<a>

9 8 7 6 5 4 3 2 1
<6>. Hand input signal or
motorized hand connectors
Hand connector
pin assignment
Hand input signals and
motorized hand cables
Secondary piping hoses
（φ4x4）
Secondary piping
pneumatic hose（φ4）
Primary piping
pneumatic hose(φ6x1)
GR1～GR4 :Connect to the )
(4) AIR IN 1～4 Connect to the <a>）
Secondary piping air coupling（φ4）
CN2 CN1
GR1 GR2GR3GR4
1 2 3 4
Connector Nos. for hand output.
Coupling Nos. for hand.
ＣＯＮ１Ｈ
AIR OUT
AIR IN
[Magnification]
<1>. Mechanical interface
<5>. Pneumatic hand
<3>. Hand adapter
<4>. M3x12
2. M3x8
<7>. Curl cable
<9>. Hand curl tube
(2)GR1～GR4 :Connect to the )
Note) AIR IN4 is used for the internal suction
of the clean specification.
Note) AIR OUT4 is not used
for the clean specification.

3-33 Installation the pneumatic hand set （4A-HP01/HP01E）
5) Bundle the hand curl cable <7> and hand curl
tube <9>. （Fig. 3-3）
6) Remove the installation screw on the top of
the forearm cover, and fix the hand curl cable
<7> and hand curl tube <9> with the nylon
clamp 10, M3 x 22 <11> and flat washer <12>
enclosed with the robot arm. (Tighten with the
cover) Fix so that force is not applied on the
hand input signal connector <6> or secondary
piping coupler when the robot's J5 axis and J6
axis move.
(Adjust the fixing force with the size of the
nylon clamp.) Cut and adjust both ends of the
hand curl tube <7> to match the robot
movement.
Fig.3-3 ： Fix the air hand cable
If the cable is incorrectly fixed and force is repeatedly applied on the connectors
due to the robot movement, wire breakage could occur at the connector section.
7) Follow "3.1Installing the solenoid valve set (1E-VD01/VD01E/VD02/VD02E)", and install the solenoid valve
set (single row). The air hose (φ4, 250mm) for connecting the solenoid valve and the AIR IN secondary
piping coupler on the back of the robot arm is enclosed with the pneumatic hand set.
8) Refer to the separate "Standard Specifications", and install the pneumatic hand interface on the controller.
This completes the installation of the pneumatic hand set.
<11>. M3×22
Remove
<12>.
<10>. Nylon clamp
CAUTION

Installation the motorized hand set （4A-HM01） 3-34
3.3 Installation the motorized hand set （4A-HM01）
Fig.3-4 ： Motorized hand set installation procedures
Fig. 3-4 shows the procedures for installing the motorized hand set. To install the motorized hand set, the
motorized hand must be installed and wired, and the motorized hand interface must be installed on the controller.
Carry out this work with the controller power turned OFF.
1) Install the hand adaptor <3> on the robot arm's mechanical interface <1> with the enclosed screw M3 x 8 <2>.
2) Install the motorized hand <5> onto the hand adaptor <3> with the enclosed screw M3 x 12 <4>.
3) Connect the motorized hand <5> and the robot arm's motorized hand connector <6> with the hand curled
cable <7>.
4) Remove the installation screw on the top of
the forearm cover, and fix the hand curl cable
<7> with the nylon clamp <8>, M3 x 22 <9>
and flat washer <10> enclosed with the robot
arm. (Tighten with the cover) Fix so that force
is not applied on the motorized hand
connector <6> when the robot's J5 axis and
J6 axis move.
(Adjust the fixing force with the size of the
nylon clamp.) (Fig. 3-5）
Fig.3-5 ： Fix the motorized hand cable
Note）This part does't exist for the 5-axis type
9 8 7 6 5 4 3 2 1
<6>. Hand input signal or
motorized hand connector
Hand connector
pin assign
Hand input signal and
motorized hand cable
Secondary pneumatic hose
（φ４ * ４）
ＣＯＮ１Ｈ
<1>. Mchanical interface
<5>.Motorized hand
<3>. Hand adapter
<4>. M3 * 12
<2>. M3×8
<7>. Carl cable
<9>. M3×22
<10>. Spur washer
<8>. Nylon clamp
Remove

3-35 Hand output cable (1E-GR35S)
If the cable is incorrectly fixed and force is repeatedly applied on the connectors due
to the robot movement, wire breakage could occur at the connector section.
5) Refer to the separate "Instruction Manual/Controller setup, basic operation, and maintenance", and install
the motorized hand interface (RZ-364) on the controller.
The motorized hand interface is mounted on the RZ-386 or RZ-387 card in the controller's control unit.
This completes the installation of the motorized hand set.
3.4 Hand output cable (1E-GR35S)
This hand output cable is used by the customer to connect to the handle output connector on the shoulder sec-
tion of the robot arm.
Refer to section "3.1Installing the solenoid valve set (1E-VD01/VD01E/VD02/VD02E)", 4) Table 3-1 on page 31
for the connection methods.
3.5 Installing the hand input cable (1A-HC20) and hand curl tube (1A-ST040*C)
The hand input cable and hand curl tube are used to connect to the hand and sensor manufactured by the
customer.
Refer to section "3.2Installation the pneumatic hand set （4A-HP01/HP01E） " 5) and 6) on page 32 for the
installation methods.
3.6 Installing the hand adaptor (1A-HA01)
The hand adaptor is used to change the RV-1A/2AJ mechanical interface to the RV-M1 interface.
Refer to section "3.2Installation the pneumatic hand set （4A-HP01/HP01E） " 1) on page 32 for the installation
methods.
CAUTION

4Basic operations
4-36
4 Basic operations
The basic operations from creating the program to automatic operation are explained in section "4. Basic
operations" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary.

5-37 Maintenance and inspection interval
5Maintenance and Inspection
5 Maintenance and Inspection
The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are
described in this chapter. The types and replacement methods of consumable parts are also explained.
5.1 Maintenance and inspection interval
Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry
out at set intervals. Always carry these out to prevent unforeseen trouble, to maintain the product for a long time,
and to secure safety.
(1) Inspection schedule
In addition to the monthly inspection, add the following inspection items every three months (estimated at 500 Hr
operation hours).
Fig.5-1 ： Inspection schedule
0 Hr
Dailyinspection
Monthly inspection
Monthly inspection
500 Hr Monthly inspection 3-month inspection
Monthly inspection
Monthly inspection
1,000 Hr Monthly inspection 3-month inspection 6-month inspection
Monthly inspection
Monthly inspection
1,500 Hr Monthly inspection 3-month inspection
Monthly inspection
Monthly inspection
2,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection
4,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection 2-year inspection
Operating time
<Guideline for inspection period>
For one shift
8 Hr/day × 20 days/month × 3 months = approx. 500 Hr
For two shifts
[Caution] When using two lines, the 3-month inspection, 6-month inspection and yearly
inspection must be carried out when half the time has passed.

Inspection items 5-38
5.2 Inspection items
The inspection items for the robot arm are shown below.
Also refer to section "5. Maintenance and inspection" in the "Controller setup, basic operation, and maintenance"
manual, and inspect the controller.
5.2.1 Daily inspection items
Carry out the daily inspections with the procedures given in Table 5-1.
Table 5-1 ： Daily inspection items (details)
Procedure Inspection item (details) Remedies
Before turning power ON (Check the following items before turning the power ON.)
1 Are any of the robot installation bolts loose?
(Visual)
Securely tighten the bolts.
2 Are any of the cover tightening screws loose? 　
(Visual)
Securely tighten the screws.
3 Are any of the hand installation bolts loose? 　
(Visual)
Securely tighten the bolts
4 Is the power supply cable securely connected?
(Visual)
Securely connect.
5 Is the machine cable between the robot and controller securely
connected?
(Visual)
Securely connect.
6 Are there any cracks, foreign contamination or obstacles on the robot
and controller cover?
Replace with a new part, or take remedial measures.
7 Is any grease leaking from the robot arm?
(Visual)
After cleaning, replenish the grease.
8 Is there any abnormality in the pneumatic system? Are there any air
leaks, drain clogging or hose damage? Is the air source normal? 　
(Visual)
Drain the drainage, and remedy the air leaks (replace
the part).
After turning the power ON (Turn the power ON while monitoring the robot.)
1 Is there any abnormal motion or abnormal noise when the power is
turned ON?
Follow the troubleshooting section.
During operation (try running with an original program)
1 Check whether the movement points are deviated?
Check the following points if there is any deviation.
1. Are any installation bolts loose?
2. Are any hand installation section bolts loose?
3. Are the positions of the jigs other than the robot deviated?
4. If the positional deviation cannot be corrected, refer to
"Troubleshooting", check and remedy.
2 Is there any abnormal motion or abnormal noise?
(Visual)

5-39 Inspection items
5.2.2 Periodic inspection
Carry out periodic inspection with the procedures given in Table 5-2.
Table 5-2 ： Periodic inspection items (details)
Procedure Inspection item (details) Remedies
Monthly inspection items
1 Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.
2 Are any of the connector fixing screws or terminal block terminal
screws loose?
Securely tighten the screws.
3 Remove the cover at each section, and check the cables for wear
damage and adherence of foreign matter.
Check and eliminate the cause.
If the cables are severely damaged, contact the
Mitsubishi Service Department.
3-month inspection items
1 Is the timing belt tension abnormal? If the timing belt is loose or too tense, adjust it.
6-month inspection items
1 Is the friction at the timing belt teeth severe? If the teeth are missing or severe friction is found,
replace the timing belt.
Yearly inspection items
1 Replace the backup battery in the robot arm. Exchange it referring to "5.3.5Replacing the backup
battery" on page 52.
2-year inspection items
1 Lubricate the grease at the harmonic reduction gears for each axis. Lublicate it referring to "5.3.4Lubrication" on page 50.

Maintenance and inspection procedures 5-40
5.3 Maintenance and inspection procedures
The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly
read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Depart-
ment for a fee. (Never disassemble, etc., the parts not described in this manual.)
The maintenance parts, etc., required for the customer to carry out maintenance and inspection are described in
"5.4Maintenance parts" on page 54 of this manual. Always contact your dealer when parts are needed.
The origin of the machine system could deviate when this work is carried out.
"Review of the position data" and "re-teaching" will be required.
5.3.1 Robot arm structure
An outline structure drawing of the 5-axis type robot arm is shown in Fig. 5-2, and of the 6-axis type robot arm in
Fig. 5-3.. Each part is as shown below.
1) The J1 axis rotation is driven by the J1 axis motor <1> and reduction gears <2> arranged in the base.
Non-excitation magnetic brakes are mounted in the J1axis motor <1>.
2) The rotation of the J2 axis motor <3> arranged in the shoulder is conveyed to the reduction gears <5> via
the timing belt <4> to rotate the upper arm and following parts.
Non-excitation magnetic brakes are mounted in the J2 axis motor <3>.
3) The rotation of the J3 axis motor <6> arranged in the shoulder is conveyed to the reduction gears <8> via
the timing belt <7> to rotate the elbow block and following parts.
4) J4 axis rotation section (only 6-axis type)
The rotation of the J4 axis motor <9> arranged in the 6-axis type elbow block is conveyed to the reduction
gears <11> via the timing belt <10> to rotate the forearm and following parts.
5) The rotation of the J5 axis motor <12> arranged in the forearm is conveyed to the reduction gears <14> via
the timing belt <13> to rotate the wrist housing and following parts.
The rotation of the J6 axis is driven by the J6 axis motor <15> arranged in the wrist housing and the reduction
gears <16>.
CAUTION

5-41 Maintenance and inspection procedures
Fig.5-2 ： Outline structure drawing of robot arm (5-axis type)
Fig.5-3 ： Outline structure drawing of robot arm (6-axis type)
<1>. J1 axis motor
<14>. Reducation gears
<3>. J2 axis motor
<12>. J5 axis motor
<13>. Timing belt
Upper arm
Shoulder
Forearm
<15>. J6 axis motor
Wrist housing
<6>. J3 axis motor
<7>. Timing belt
<4>. Timing belt
Base
Front of robot
<1>. J1 axis motor
<3>. J2 axis motor
<9>. J4 axis motor
<12>. J5 axis motor
<13>. Timing belt
Elbow block
Upper arm
Shoulder
Forearm
<15>. J6 axis motor
Wrist housing
<6>. J3 axis motor
<7>. Timing belt
<4>. Timing belt
<10>. Timing belt
<2>. Reducation gearsBase
Front of robot

5.3.2 Installing/removing the cover
Fig.5-4 ： Installing/removing the cover (5-axis type)
Fig.5-5 ： Installing/removing the cover (6-axis type)
1. Connecta box cover
9. 10.
The wrist covers A and B are
integrated with the J6 motor.
(The customer must not remove these.)
2. Shoulder cover-Ｆ
*
7. No.2 arm cover （J5） x 2
　（Right and left is the same）
3. Shoulder cover-B
*
4. No.1 arm cover x 2
Note) The packing is attached for
the cover marked with "*"
for the clean specification.
Take special care to not
remove the packing.
2. Shoulder cover-Ｆ
*
8. No.2 arm cover （J6） x 2
3. Shoulder cover-Ｂ
1. Connecta box cover
*
4. No.1 arm cover x 2
*
5. Elbow cover-Ｌ
　The opposite side is the
* 6. Elbow cover-R.
9. 10.
The wrist covers A and B
are integrated with the J6
motor.
(The customer must not remove these.)
*
11. Belt cover (Ｊ4)
Note) Only RV-1AC-SB type

Table 5-3 ： Cover names
Note) In the case of clean specification, there are some places using the packing on the cover of no.4 to 8, and 11
shown in Table 5-3. Take special care to not remove the packing at removing/installing the cover.
Table 5-4 ： Cover installation screw list
(1) Refer to Fig. 5-4 when using the 5-axis type robot arm, and Fig. 5-5 when using the 6-axis type robot arm, and
remove the cover.
(2) The names of the covers are given in Table 5-3, and a list of the cover installation screws is given in Table 5-4.
(3) There are some covers that may be difficult to remove due to the robot posture. In this case, change the robot
posture with jog operation, and then remove the cover.
(4) When attaching the cover after maintenance and inspection, use the detaching procedure in reverse.
The part Nos. and symbols in Table 5-3 and Table 5-4 correspond to Fig. 5-4 and Fig. 5-5.
Wrist cover A is also used as the J6 axis encoder cover. Do not remove it.
No Cover names
Qty.
Remarks
For 5-axis type For 6-axis type
1 Connector box cover 1 1
2 Shoulder cover Ｆ 1 1
3 Shoulder coverＢ 1 1
4 No. 1 arm cover 2 2 The packing is attached for the clean specification.
5 Elbow cover Ｌ－ 1 The packing is attached for the clean specification.
6 Elbow coverＲ－ 1 The packing is attached for the clean specification.
7 No. 2 arm cover （J5） 2 － The packing is attached for the clean specification.
8 No. 2 arm cover （J6）－ 2 The packing is attached for the clean specification.
9 Wrist coverＡ (1) (1)
10 Wrist coverＢ (2) (2)
11 Belt cover (J4) － 1 Only RV-1AC-SB type.
The packing is attached for the clean specification.
Installation screw name Qty. Remarks
Socket bolt M3 × 10 （nickel plated） 23 For 5-axis type
31 For 6-axis type
CAUTION

5.3.3 Inspection, maintenance and replacement of timing belt
This robot uses a timing belt for the drive conveyance system of the J5 axis. Compared to gears and chains, the
timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjust-
ment are inadequate, the life could drop and noise could be generated. Sufficient aging to remove the initial elon-
gation of the belt, and adjustment of the belt tension have been carried out before shipment from the factory.
However, depending on the robot working conditions, elongation will occur gradually over a long time. The tension
must be confirmed during the periodic inspection. The timing belt must be replaced in the following cases.
(1) Timing belt replacement period
The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if
the following symptoms occur, replace the belt.
1) When cracks from at the base or back of the belt teeth.
2) When the belt expands due to adherence of oil, etc.
3) When the belt teeth wear (to approx. half of the tooth width).
4) When the belt teeth jump due to belt teeth wear.
5) When the belt snaps.
Due to the manufacturing of the timing belt, initial wear will occur. Wear chips may
accumulate in the cover after approx. 300 Hr of operating the robot, but this is not a
fault. If the wear chips appear soon after wiping them off, replace the belt.
When the belt is replaced, the machine system origin may deviate. In this case, the
position data must be reviewed.
CAUTION
CAUTION

(2) Inspection, maintenance and replacement of J2-axis timing belt
Fig.5-6 ： Inspection, maintenance and replacement of J2-axis timing belt
■ Inspecting the J2 axis timing belt
1) Confirm that the robot controller power is OFF.
2) Refer to "5.3.2Installing/removing the cover" on page 42, and remove the No. 1 arm cover.
3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period" have not occurred with the
timing belt.
4) Confirm that the belt tension is adjusted to slacken approx. 1.5mm when the center of the belt is lightly pressed
with a finger (approx. 2N) as shown in "Fig.5-10 ： Belt tension".
■ Adjusting the J2 axis timing belt
1) Carry out steps "1)" and "2)" indicated in " ■ Inspecting the J2 axis timing belt" above.
2) Lightly loosen the two idler installation bolts <1>. (Do not loosen too much.)
3) While confirming the tension of the timing belt <2>, move the idler <3> in the direction of the arrow shown in the
figure. Move until the belt slackens approx. 1.5mm when the center of the belt is lightly pressed with a finger
(approx. 2N).
4) The belt tension will increase when moved in the direction of arrow "a", and will decrease when moved in the
direction of arrow "b".
5) If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys <4> and
<5>, or if the belt and pulley teeth engagement is deviated, the machine system's origin will deviate.
6) After adjusting, securely tighten the two idler installation bolts <1>. Improper tightening can cause the belt to
loosen with vibration.
■ Replacing the J2 axis timing belt
1) Fig. 5-6 shows the methods for inspecting, adjusting and replacing the timing belt.
2) Move the robot posture with the teaching pendant so that the J2 axis contacts the mechanical stopper. The J2
axis brakes must be released.
3) Make sure that the pulleys do not move while replacing the belt.
4) If the pulley <4> and <5> position relation deviates, the position could deviate.
5) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-6 so
that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate.
6) Loosen the two idler installation bolts <1>, and remove the belt.
7) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks.
8) Align the new timing belt with the marks on the timing pulleys <4> and <5>, and install.
9) Refer to steps "3)" to "6)" in " ■ Adjusting the J2 axis timing belt" and "(6)Timing belt tension" to adjust the
tension.
10) The position could deviate after the belt is replaced. Confirm that the position has not deviated. If deviated,
refer to "5.5Resetting the origin" on page 55, and reset the origin position.
a
b
<1>. Idler inatallation screw
　M3x8（hexagon socket bolt）
<2>. Timing belt（Ｊ２） <3>. Idler
<4>. Timing pulley
<5>. Timing pulley
Mark
Mark

2) Refer to Fig. 5-4 or Fig. 5-5, and remove the No. 1 arm cover.
timing belt.
with a finger (approx. 2N) as shown in "Fig.5-10 ： Belt tension".
1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J2 axis timing belt" above.
2) Lightly loosen the two idler installation bolts <1>. (Do not loosen too much.)
3) While confirming the tension of the timing belt <2>, move the idler <3> in the direction of the arrow shown in the
figure. Move until the belt slackens approx. 1.6mm when the center of the belt is lightly pressed with a finger
(approx. 2N).
4) The belt tension will increase when moved in the direction of arrow a, and will decrease when moved in the
direction of arrow b.
6) After adjusting, securely tighten the two idler installation bolts <1>. Improper tightening can cause the belt to
2) Move the robot posture with the teaching box so that the J3 axis contacts the mechanical stopper. The J3 axis
brakes must be released.
6) Loosen the two idler installation bolts <1>, and remove the belt.
9) Refer to steps 3) to 6) in " ■ Adjusting the J2 axis timing belt" and "(6)Timing belt tension" to adjust the
tension.
a
b
<2>. Timing belt (J3)
<3>. Idler
<4>. Timing pulley
<5>. Timing pulley
Mark
Mark
<1>. Idler installation screw
　M3×8（hexagon socket bolt）

2) Refer to Fig. 5-4 or Fig. 5-5, and remove the elbow covers L and R.
In the case of the clean specification, remove the belt cover.
timing belt.
with a finger (approx. 0.4N) as shown in "Fig.5-10 ： Belt tension".
2) Lightly loosen the two motor installation bolts <1>. (Do not loosen too much.)
3) While confirming the tension of the timing belt <2>, move the motor <3> in the direction of the arrow shown in
the figure. Move until the belt slackens approx. 1.4mm when the center of the belt is lightly pressed with a
finger (approx. 0.4N).
6) After adjusting, securely tighten the two motor installation bolts <1>. Improper tightening can cause the belt to
must be moved by hand after the servo is turned OFF.
6) Loosen the two motor installation bolts <1>, and remove the belt.
tension.
a
<2>. Timing belt
<3>. Motor
<5>. Timing pulley
Mark
<4>. Timing pulley
b <1>. Motor installation screw
　M3×14（hexagon socket bolt）
Mark

2) Refer to Fig. 5-4 or Fig. 5-5, and remove the No.2 arm cover.
timing belt.
with a finger (approx. 0.4N) as shown in "Fig.5-10 ： Belt tension".
2) Lightly loosen the two motor installation bolts <1>. (Do not loosen too much.)
3) While confirming the tension of the timing belt <2>, move the motor <3> in the direction of the arrow shown in
the figure. Move until the belt slackens approx. 1.4mm when the center of the belt is lightly pressed with a
finger (approx. 0.4N).
6) After adjusting, securely tighten the four motor installation bolts <1>. Improper tightening can cause the belt to
must be moved by hand after the servo is turned OFF.
6) Loosen the two motor installation bolts <1>, and remove the belt.
tension.
a b
<1>. Motor installation
screw
M3x14（socket bolt）
<2>. Timing belt
<3>. Motor
<4>. Timing pulley
<5>. Timing pulley
Mark
Mark

(6) Timing belt tension
Fig.5-10 ： Belt tension
The timing belt can satisfactorily convey the drive and keep a durable force only when it has an adequate tension.
The belt tension should not be too tight or too lose. Instead, it should be adjusted to a degree that elasticity is felt
when the belt is pressed with the thumb. If the belt tension is too weak, the belt loosening side will vibrate. On the
other hand, if the belt tension is too strong, a sharp sound will be heard and the belt tension side will vibrate.
The detailed adjustment (tension) is shown in Fig. 5-10.
Check and adjust with the belt pressing force f and the slack amount d between span s.
d
f
s
ｆ： Pressing force
ｓ： Span
ｄ： Slack
Axis Belt type Span ： s (mm) Slack ： d (mm) Pressing force ： f (N)
J2 291-3GT-6 100 1.5 2
J3 315-3GT-6 102.5 1.6 2
J4 210-2GT-3 75 1.2 0.4
J5 230-2GT-3 85 1.4 0.4

5.3.4 Lubrication
(1) Lubrication position and specifications
Fig.5-11 ： Lubrication positions
J5 axis air bleed bolt(M3)
5. J5 axis lubrication port
A
C
D
E
B
B
D
A
E
View B （J5 axis）
3. J3 axis
lubrication port
View Ｄ（J2, J3 axis）
J1axis air bleed cap
1. J1 axis
lubrication port
View Ｅ（J1 axis）
View Ｃ（J4 axis）
6 axis type 5 axis type
View A (J6 axis)

Table 5-5 ： Lubrication specifications
The grease nipple position is shown in Fig. 5-11. The lubrication specifications for each place are shown in Table
Fig. 5-6. Before lubricating, refer to "Fig. 5-4Installing/removing the cover (5-axis type)" on page 42 for the 5-
axis type, and "Fig. 5-5Installing/removing the cover (6-axis type)" on page 42 for the 6-axis type, and remove
the required covers.
［Caution］
The hours marked with a "*1 " are based on the yearly inspection.）
・ Depending on the robot operation state, the lubrication time will fluctuate, so determine the time according to
the state so that the grease does not run out.
・ The numbers in the Table Table correspond to the supply positions in Fig. 5-11.
(2) Lubrication method
1) Refer to the "5.3.2Installing/removing the cover" on page 42 and remove the covers.
2) Remove the drain bolt.
3) Insert the grease shown in Table using a grease gun from the lubrication grease nipple.
4) Install the drain bolt.
5) Replace the covers with the removal procedure in reverse.
Use manual grease gun, and inject grease with pressure 0.03Mpa or less. Do not use
the grease gun, which derived by the factory air presser to avoid injecting by too
high pressure.
No. Parts to be lubricated Oiling method
Lubrication oil
Default charge amount (maker)
Lubrication
intervalLubrication amount
guide*1
Cover to remove
1 J1 axis reduction gears
Grease nipple
WC-610
Grease
Harmonic grease SK-1A
10g
（Japan Harmonic Systems）
2000Hr
3g
Shoulder cover Ｆ
Grease nipple
WA-610
No.1arm cover
4
J4 axis reduction gears
(6-axis type only)
Grease
Harmonic grease SK-1A
４ g
（Japan Harmonic Systems）
2000Hr
1g
Elbow cover
5 J5 axis reduction gears No.2arm cover
6 J6 axis reduction gears －
CAUTION

5.3.5 Replacing the backup battery
An absolute encoder is used for the position detector, so the position must be saved with the backup battery
when the power is turned OFF. The controller also uses a backup battery to save the program, etc. These
batteries are installed when the robot is shipped from the factory, but as these are consumable parts, they must
be replaced periodically by the customer.
The guideline for replacing the battery is one year, but this will differ according to the robot's usage state.
Error No. 7520 :Battery consumption time is over
Error No. 133n :Encoder battery voltage low. (n indicates the axis number.)
(The encoder battery voltage of the robot arm is low.)
Error No. 7510 :Battery voltage low (R/C)
(The battery voltage of the controller is low.)
Error No. 7500 :No battery voltage
(The battery of the controller is depleted.)
If error No. 7500 occurs, the program data and other data in the controller is lost
and it becomes necessary to load the data again.
If any of the battery-related errors above occur and the robot continues to be used,
the data integrity of the memory cannot be guaranteed. If an error occurs, replace
the batteries of both the robot arm and controller promptly.
It is also recommended to save programs and position data on the personal
computer side via the personal computer support software and so forth in advance.
CAUTION

(1) Replacing the robot arm battery
Don't disconnect connector, etc. While replacing the battery, the encoder position
data is saved by the power supplied from the controller. Thus, if the cable
connection is incomplete, the encoder position data will be lost when the controller
power is turned OFF. Several batteries are used in the robot arm, but replace all old
batteries with new batteries at the same time.
Fig.5-12 ： Replacing the battery
1) Confirm that the robot arm and controller are connected with a cable.
2) Turn the controller control power ON.
The position data is retained by the power supplied from the controller while replacing the battery. Thus, if
the cable is not connected correctly, or if the controller power is OFF, the position data will be lost.
3) Move to J2 = -20°, J3 = 90° and J5 =90° with JOG operations so that the cover can be removed.
4) Press the emergency stop button to set the robot in the emergency stop state. This is a measure for safety,
and must always be carried out.
5) Remove the shoulder cover F from the robot. (Refer to "5.3.2Installing/removing the cover" on page 42.)
6) Remove the two installation screws <1>, and remove the battery cover <2>.
7) Remove the two installation screws <3>, and remove the battery bracket <2>.
8) The battery holder is located in the battery bracket <5>. Remove the old battery from the holder, and dis-
connect the lead connector.
9) Insert the new battery into the holder, and connect the lead connector. Replace all batteries with new ones
at the same time.
10) Carry out steps "5)" to "7)" in reverse to install the parts.
11) Initialize the battery consumption time.
Always carry out this step after replacing the battery, and initialize the battery usage time. Refer to the
separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on the opera-
tion methods.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again. Refer
to "5.5Resetting the origin" on page 55 and reset the origin using the mechanical stopper method .
CAUTION
<1>. Installation screw
（two positions）
<2>. Battery cover
<3>. Installation screw
（two screws）
<4>. Battery bracket

Maintenance parts 5-54
5.4 Maintenance parts
The consumable parts that must be replaced periodically are shown in Table 5-6, and spare parts that may be
required during repairs are shown in Table 5-7. Purchase these parts from the dealer when required. Some Mit-
subishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and con-
troller serial No. and purchase the parts from the dealer.
Table 5-6 ： Consumable part list
Table 5-7 ： Spare parts list
Table 5-8 ： Spare parts (option) list
No. Part name Type Note1) Usage place Q'ty Supplier
1 Timing belt J2 axis １
Mitsubishi Electric System &
Service;Co.,Ltd.
2 J3 axis １
3 6-axis type:J4 axis １
4 J5 axis １
5 Grease Reduction gears of each axis An needed
6 Lithium battery In shoulder cover F 5
No. Part name Type Note1)
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for
the type.
Usage place Q'ty Supplier
1 AC servo motor J1 axis 1
Mitsubishi Electric System &
Service;Co.,Ltd.
2 J2 axis 1
3 J3 axis １
5 J5 axis １
6 J6 axis １
7 Reduction gears J1, J2, J3 axis ３
9 J5, J6 axis ２
No. Part name Type Usage place Q'ty Supplier
1 Carl cable 1A-GHCD Pneumatic hand set, Motorized hand set
１
Mitsubishi Electric
System & Ser-
vice;Co.,Ltd.

5-55 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
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. The types of origin setting methods are shown in
Table 5-9.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.Reset
the origin using the mechanical stopper method .
.
Table 5-9 ： Origin setting method
No Method Explanation Remarks
1 Origin data input
method
The origin data set as the default is input from
the T/B.
The setting method is explained in "2.3Setting the
origin" on page 11 .
2 Mechanical stopper
method
This origin posture is set by contacting each axis
against the mechanical stopper.
The setting method is explained in "5.5.1Mechanical
stopper method" on page 56 .
3 User origin method A randomly designated position is set as the
origin posture.
Before using this method, the origin must be set with the
origin data input method or Mechanical stopper method.
The setting method is explained in "5.5.2User origin
method" on page 70.

Resetting the origin 5-56
5.5.1 Mechanical stopper method
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
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.
(1) Select the T/B
1) Press the [5] key on the menu screen, and dis-
play the maintenance screen.
2) Press the [4] key on the maintenance screen,
and display the origin setting method selection
screen.
3) Press the [2] key and select the jig method.
Then, press the [1] key and the [INP] key to
turn the servo OFF.
Securely fix the transportation jig A to the base
with the fixing bolts (M4 × 12, 2 bolts) in this
state.
When setting the origin, all axes can be set, or only random axes can be set.
The methods corresponding to the axes to be set are described below, so select the corresponding explanation
and set the origin.
<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET
<MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER
Display the maintenance screen
+C
(J6)
5 STU
<MECHA>
SERVO OFF
OK ? (1)
1:EXECUTE
Display the method selection 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
→
-B
(J5)
1 DEF
→
INP
EXE
-A
(J4)
2 GHI

(2) J1 axis origin setting
1) Press the [1] key. "1" will display at the 1 posi-
tion to set the brake release.
2) Confirm the axis for which the brakes are to be
released.
3) While holding down the deadman switch, hold
down the [MOVE] + [+X] keys. The brakes will be
released while the keys are held down.
4) With both hands, slowly move the J1 axis in -
(minus) direction , and contact the axis against the
mechanical stopper.
5) Press the [ ↓ ] key. The cursor will move to
"SET AXIS".
6) Designate the axis for which the origin is to be
set.
Set "1" for the 1 axis, and set "0" for the other
axes. Then, press [INP]. Next, a confirmation
screen will appear.
7) Press the [1] and [INP] keys.
The origin posture will be set.
8) Setting of the origin is completed.
9) Refer to "5.5.3Recording the origin data" on
page 71 in this manual, and record the origin data
on the origin data seal.
Front of
base
Front of
base
６-axis type５-axis type
Ｊ1（-）Ｊ1（-）
<MECHA> 12345678
BRAKE (10000000)
SET AXIS (11101000)
ORIGIN :NOT DEF
<MECHA> 12345678
BRAKE (10000000)
SET AXIS(10000000)
ORIGIN :NOT DEF
Designate the origin setting axis
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Set the origin
-B
(J5)
1 DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
<MECHA> 12345678
BRAKE (10000000)
SET AXIS(10000000)
ORIGIN :COMPLETED
-B
(J5)
1 DEF
Move the cursor
RPL
↓
◇◆◇ Releasing the brakes ◇◆◇
To release the brakes, move the cursor to the "BRAKE" axis No. with the [ ← ] or [ → ] key.
The brakes can be released only for the axis for which a "1" is displayed on the screen. If the brakes are not to
be released, press the [0] key and display a "0".
If the [+X] key on the teaching pendant or the deadman switch is pressed while the brakes are released, the
brakes will be applied immediately.
◇◆◇ Origin setting axis designation ◇◆◇
Move the cursor to the "SET AXIS" axis No. in the origin setting with the [ ← ] or [ → ] key.
The origin is set only for the axis for which a "1" is displayed on the screen. If the origin is not to be set, press
the [0] key and display a "0".

1) Press the [0] key and then press the [1] key.
"1" will display at the 2 position to set the brake
release.
released.
3) One worker must securely support the upper
arm with both hands.
4) While holding down the deadman switch, hold down the [MOVE] + [+X] keys. The brakes will be released
while the keys are held down.
5) With both hands, slowly move the J2 axis in - (minus) direction , and contact the axis against the mechanical
stopper.
For safety purposes, the step for releasing the brakes must be carried out by two
workers. One worker must operate the T/B, and the other must support the arm.
When the brakes are released, the robot arm could drop by its own weight depending
on the posture.
If the T/B [+X] key or the deadman switch is released, the brakes will be applied
immediately.
SET AXIS.
set.
screen will appear.
page 71 in this manual, and record the origin
data on the origin data seal.
-B
(J5)
1 DEF
<MECHA> 12345678
BRAKE (01000000)
SET AXIS (11111000)
ORIGIN :NOT DEF
CAUTION
CAUTION
Front of
base
Front of
base
Ｊ２
（－）
Ｊ２
（－）
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Set the origin
-B
(J5)
1 DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
Move the cursor
RPL
↓
<MECHA> 12345678
BRAKE (01000000)
SET AXIS (01000000)
ORIGIN :NOT DEF
<MECHA> 12345678
BRAKE (01000000)
SET AXIS(01000000)
ORIGIN :COMPLETED

The brakes can be released only for the axis for which a "1" is displayed on the screen. If the brakes are not to be
released, press the [0] key and display a "0".
The origin is set only for the axis for which a "1" is displayed on the screen. If the origin is not to be set, press the
[0] key and display a "0".

1) Press the [0] key twice and then press the [1]
key. "1" will display at the 3 position to set the
brake release.
released.
3) One worker must securely support the fore arm with both hands.
5) With both hands, slowly move the J3 axis in + (plus) direction, and contact the axis against the mechanical
stopper.
on the posture.
immediately.
AXIS.
set..
screen will appear.
page 71in this manual, and record the origin
-B
(J5)
1 DEF
<MECHA> 12345678
BRAKE (00100000)
SET AXIS (11101000)
ORIGIN :NOT DEF
CAUTION
CAUTION
Front of
base
Front of
base
Ｊ3（＋）Ｊ3（＋）
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Set the origin 　　
-B
(J5)
1 DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
Move the cursor
RPL
↓
<MECHA> 12345678
BRAKE (00100000)
SET AXIS (00100000)
ORIGIN :NOT DEF
<MECHA> 12345678
BRAKE (00100000)
SET AXIS(00100000)
ORIGIN :COMPLETED

(5) J4 axis origin setting (Only 6-axis type)
1) Before moving the twist axis, move the J3 axis
to prevent arm interference.
Press the [0] key twice and then press the [1]
key. "1" will display at the 3 position to set the
brake release.
released.
3) One worker must securely support the fore arm
with both hands.
4) While holding down the deadman switch, hold
down the [MOVE] + [+X] keys. The brakes will
be released while the keys are held down.
5) With both hands, slowly move the J3 axis in -
(minus) direction. Stop at a position where the
arm will not interfere even if the J4 axis is
rotated, and then apply the brakes.
Then, set the J4 axis origin.
on the posture.
immediately.
Front of
base
６-axis type
Ｊ3（-）
<MECHA> 12345678
BRAKE (00100000)
SET AXIS(11101000)
ORIGIN :NOT DEF
-B
(J5)
1 DEF
CAUTION
CAUTION

6) With both hands, slowly move the J4 axis in +
(plus) direction, and contact the axis against
the mechanical stopper.
AXIS .
set.
screen will appear.
Front of
base
６-axis type
J4(＋)
<MECHA> 12345678
BRAKE (00100000)
SET AXIS(11101000)
ORIGIN :NOT DEF
-B
(J5)
1 DEF
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Set the origin
-B
(J5)
1 DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
Move the cursor
RPL
↓
<MECHA> 12345678
BRAKE (00000000)
SET AXIS(00010000)
ORIGIN :NOT DEF
<MECHA> 12345678
BRAKE (00000000)
SET AXIS(00010000)
ORIGIN :COMPLETED

1) Press the [0] key four times and then press the
[1] key. "1" will display at the 5 position to set
the brake release.
released.
3) One worker must securely support the wrist arm with both hands.
5) With both hands, slowly move the J5 axis in - (minus) direction, and contact the axis against the mechanical
stopper.
on the posture.
immediately.
SET AXIS.
set.
screen will appear.
-B
(J5)
1 DEF
<MECHA> 12345678
BRAKE (00001000)
SET AXIS(11101000)
ORIGIN :NOT DEF
CAUTION
CAUTION
Front of
base
Front of
base
Ｊ5（-）
Ｊ5（-）
* The J5 axis direction for the 6-
axis type indicates the direction
when the J4 axis is at 0°.
Designate the origin setting axis 　
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Move the cursor
RPL
↓
Set the origin
-B
(J5)
1 DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
<MECHA> 12345678
BRAKE (00001000)
SET AXIS(00001000)
ORIGIN :NOT DEF
<MECHA> 12345678
BRAKE (00001000)
SET AXIS(00001000)
ORIGIN :COMPLETED

1) Install the hand (option) or bolt (two M5 bolts
prepared by customer) at opposing positions on
the mechanical interface.
2) Hold onto the hand or bolt installed in step 1, and
slowly rotate the mechanical interface to the
match marks.
SET AXIS.
set.
screen will appear.
page 71 in this manual, and record the origin data
on the origin data seal.
-B
(J5)
1 DEF
<MECHA> 12345678
BRAKE (00000100)
SET AXIS(00000100)
ORIGIN :NOT DEF
Bolt（M5：two bolts）
Prepared by customer
Match mark
J6 axis
The J6-axis dose not have a
mechanical stopper.
When setting the origin position ,
do not rotate the axis more than
themotion range( ± 200 deg.). 　
CAUTION
<MECHA> 12345678
BRAKE　 (00000100)
SET AXIS(00000100)
ORIGIN:NOT DEF
Designate the origin setting axis 　
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Move the cursor
RPL
↓
Set the origin 　　　　
-B
(J5)
1 DEF
<MECHA>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
<MECHA> 12345678
BRAKE (00000100)
SET AXIS(00000100)
ORIGIN:COMPLETED

(8) All axis origin setting
1) First, refer to step "(6)J5 axis origin setting" on page 64 and set the origin of the J5 axis.
2) To prevent impacts of the J5 axis on the robot arm, move the J5 axis to near 0 degrees with joint jog operation
refer to "(1)JOINT jog operation" on page 20 in this manual.
3) For the 6-axis robot, refer to "(5)J4 axis origin setting (Only 6-axis type)" on page 62 and set the J4 axis origin
position. The following steps are carried out simultaneously with the other axes, so they can be skipped here.
For the 5-axis robot, proceed to step 4.
4) Refer to "(2)J1 axis origin setting" on page 57 and "(3)J2 axis origin setting" on page 58, "(4)J3 axis origin
setting" on page 60, "(7)J6 axis origin setting" on page 66, and set the origin positions of the J1 axis, J2 axis,
J3 axis and J6 axis.
The following steps for setting each axis are carried out simultaneously with the other axes, so they can be
skipped here.
5) When completed with all work, the robot posture should be as bellow.
Flange direction(J5 axis)
Flange direction(J5 axis)
Front of
base
Front of
base

SET AXIS .
set.
The origin setting of the 5 axis has been
completed with the first operation, so set the 5
axis to 0, and set all of the other axes to "1".
Then, press [INP]. The 5-axis robot does not
have the 4 axis, so set 0.
Next, a confirmation screen will appear.
<JIG> 　 12345678
BRAKE (00000000)
SET AXIS(11110000)
ORIGIN:NOT DEF
Designate the origin setting axis 　　
-B
(J5)
1 DEF
-C
(J6)
0 ABC
・ →
INP
EXE
Move the cursor
RPL
↓
Set the origin 　　　
-B
(J5)
1 DEF
<JIG>
SET ORIGIN
OK?(1)
1:EXECUTE INP
EXE→
<JIG> 　 12345678
BRAKE (00000000)
SET AXIS(11110000)
ORIGIN:NOT DEF

5.5.2 User origin method
Before using this method, the origin must be set with the origin data input method or
Mechanical stopper method.
The procedure for setting the origin with the user origin method is explained 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 operation method is shown below.
When setting the origin for the first time using this method, carry out the operations in order from step 1). For the
second and following time, move the robot arm to the user origin position with jog operation, and accurately posi-
tion all axes. Then start the procedure from step 4).
1) Determine the user origin position
Move the robot to the position to be set as the origin with jog operation. Refer to "2.4Confirming the opera-
tion" on page 17 for details on the jog operation.
Choose the user origin position as the position where it doesn't move by the gravity.
This position is left as a guideline to position all axes with jog operation when setting
the origin again with this method.
2) Enter the JOINT jog mode, and display the joint coordinates on the teaching pendant screen. Record the
value of the axis for which the origin is to be set.
3) Input the value recorded in the "user designated origin parameter (USRORG)".
The parameter details and input methods are described in the separate "Instruction Manual/Detailed Explana-
tion of Functions and Operations". Refer to that manual and input the user designated origin position.
4) Next, set the origin.
Press the [MENU] key to display the Menu
screen.
5) Press the [5] key to display the Maintenance
screen.
6) Press the [4] key to select the Origin Setting
screen.
7) Press the [5] key to select the user origin
method.
Then, press [1] key and [INP] key to turn OFF
the servo.
CAUTION
CAUTION
<MENU>
1.TEACH 2.RUN
3.FILE 4.MONI
5.MAINT 6.SET
<MAINT>
1.PARAM 2.INIT
3.BRAKE 4.ORIGIN
5.POWER
Display the maintenance screen
+C
(J6)
5 STU
<USER>
SERVO OFF
OK ? ( )
1:EXECUTE
<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.DATA2.MECH
3.JIG4.ABS
5.USER
Display the origin setting method selection screen

8) Press the [ ↓ ] key, and input "1" for the axis
for which the origin is to be set. Press the [INP]
key to display the Confirmation screen.
9) Press the [1] key and then the [INP] key. The
origin will be set
This completes the setting of the origin with the user origin method.
5.5.3 Recording the origin data
When the origin has been set with the jig method, record that origin data on the origin data label. With this, the ori-
gin can be set with the origin data input method the next time.
Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is enclosed
with the arm or attached on the back of the connector box cover.
The teaching pendant operation method and connector box cover removal method for confirming the origin data is
the same as the methods for setting the origin with the origin data input method. Refer to "2.3.2Setting the origin
with the origin data input method" on page 12, and write the origin data displayed on the teaching pendant onto
the origin label.
(1) Confirming the origin data label
Remove the connector box cover.
Refer to "5.3.2Installing/removing the cover" on page 42, and remove the connector box cover.
(2) Confirming the origin data
Confirm the value displayed on the teaching pendant's Origin Data Input screen.
Refer to "2.3.2Setting the origin with the origin data input method""(5)Inputting the origin data" , and display the
Origin Data Input screen on the teaching pendant display screen.
(3) Recording the origin data
Write the origin data displayed on the teaching pendant to the origin data label attached to the back of the con-
nector box cover. Refer to "Fig. 2-8Origin data label (an example)" on page 12, and "Fig. 2-9Correspondence of
origin data label and axis" on page 15 for details on the origin data label.
(4) Installing the cover
Install the connector box cover removed in step "(1)Confirming the origin data label" above.
Refer to "5.3.2Installing/removing the cover" on page 42, and replace the connector box cover.
This completes the recording of the origin data.
<USER> 12345678
BRAKE (00000000)
SET AXIS (11111100)
ORIGIN:NOT DEF
<USER>
CHANGES TO ORIGIN
OK?( )
1:EXECUTE
-B
(J5)
1 DEF
→
RPL
↓ →
INP
EXE
Set the origin
<USER>
CHANGES TO ORIGIN
OK?(1)
1:EXECUTE
<USER>12345678
BRAKE (00000000)
SET AXIS(11111100)
ORIGIN :NOT DEF
-B
(J5)
1 DEF
→
INP
EXE

6Appendix
Configuration flag Appendix-72
6 Appendix
Appendix 1 ： Configuration flag
The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C.
However, even with the same position data, there are several postures that the robot can change to. The posture
is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C)
(FL1, FL2).
The types of configuration flags are shown below.
(1) RIGHT/LEFT
P is center of flange in comparison with the plane through the J1 axis vertical to the ground.
Q is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground. 　
Fig.6-1 ： Configuration flag (RIGHT/LEFT)
(2) ABOVE/BELOW
Q is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis.
Fig.6-2 ： Configuration flag (ABOVE/BELOW)
P
J1 axis rotation center
RIGHT LEFT
Q
RIGHT LEFT
J1 axis rotation center
ＦＬ１ (Flag １ )
＆Ｂ００００００００
↑
１／０＝ＲＩＧＨＴ／ＬＥＦＴ
Note) "&B" is shows the binary
Q
J2 axis
rotation center
ABOVE
BELOW
J3 axis
rotation center
J2 axis
rotation center
J3 axis
rotation center
ABOVE
BELOW
Q
＆Ｂ００００００００
↑
１／０＝ＡＢＯＶＥ／ＢＥＬＯＷ
　 Note) "&B" is shows the binary

Appendix-73 Configuration flag
6Appendix
(3) NONFLIP/FLIP (6-axis robot only.)
This means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis.
Fig.6-3 ： Configuration flag (NONFLIP/FLIP)
J6 axis
flange surface
NON FLIP
FLIP
＆Ｂ００００００００
↑
１／０＝ＮＯＮＦＬＩＰ／ＦＬＩＰ
Note) "&B" is shows the binary

Sep..2009 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN
Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany

Rv1 a2aj instruction manual.bfp-a8052e

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