Mitshubishi RV-2AJ

    Does the controller have a teach pendant and/or expansion option box with any of these cards installed: Ethernet interface; Extended serial interface; CC-Link interface; Additional axis interface; PROFIBUS interface. These would be very useful in hooking up any PLC. If you don't have either it's OK. You could try COSIROP or COSIMIR Educational 4.1 to connect via serial. Dot net Training in Chennai | Cloud Computing Training in Chennai | Salesforce Training in Chennai | Linux Training in Chennai :dance2:

    You have to teach the Origins most likely because the battery died.

    These robots have absolute encoders which means their position is remembered and they will not need to home at the beginning of each initialization. Remembering positions requires power, they have some batteries that keep a small amount of voltage on the chip to remember the locations.

    If you roboat has been off for awhile and it it lost power, you are going to need to reteach the origin positions.

    The origin positions will be Joint values that let the controller know "HEY, I CANT GO ANY FURTHER IN THAT DIRECTION OR ILL HIT THE END STOP"

    Here are my old notes for teaching the positions. Note, in this one, I had to (for some reason) teach twice and also the J3 axis had to go positive for the origin instead of negative:

    You will need the teach pendant

    Here are the instructions on how to teach the Mitsubish RV-2AJ

    1. Turn the key to Teach on the controller
    2. Turn the key to Enable on the pendant
    3. Turn on the Controller, when the alarm sounds
    4. Hit Reset
    5. Turn off the Controller
    6. Turn on the Controller, when the alarm sounds
    7. Hit Rest (the alarm should go off and not come back on)
    8. On the teach pendant hit the Menu button
    9. Than 5 Maintenance
    10. Than 4 ORIGIN
    11. Than 4 ABS
    12. When it says Servo Off hit Exec
    13. Select all 1's to say we want to "Turn off all of the breaks"
    14. Hold the dead-man, the move button and the x button all at the same time… the breaks will ALL TURN OFF
    15. Move J1, J2, J5 to full negative…move J3 to full POSITIVE
    16. Once finished, make all of the values under Axis 1 and hit Exec
    17. When it asks you to execute, change the value to 1 and press Exec
    18. REPEATE!
    19. Axis List
    a. 0 0 0 0 0 0 0 0
    b. 1 0 0 0 0 0 0 0 -- TWIST (J1)
    c. 0 1 0 0 0 0 0 0 -- Up/Down (J2)
    d. 0 0 1 0 0 0 0 0 -- Second up/down (J3) ***NOTE THIS ONE HOMES IN POSITIVE!
    e. 0 0 0 0 1 0 0 0 -- 3rd up/down(J5)
    f. 0 0 0 0 0 1 0 0 -- Spinning tool
    g. 0 0 0 X 0 0 X X -- NOT USED

    So is this teaching the robot a range of motion? I am trying to get one of these to work after it has been off for years and after putting the program into slot 1 and ry to go to auto run mode it barely moves and then faults out as if the robot just hit a stop and faulted the servos out. Any thoughts on that? Does it need taught a range of motion?

    I'm not having any luck just running through the manuals and the guy that originally set this up years ago is not able to be gotten ahold of.

    This is what I'm talking about

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