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RV-2F Series ROBOT ARM SETUP & MAINTENANCE

1. mle z ae 5 B O l oo Ao O a 3 J3 axis lubrication port Cy n 2 J2 axis lubrication T port J a om _ jt lt H i mi pF _ a TE O du b pg gt o l LU h N O x He t 1 l H 5 o L cas nl Er LE T q a 1 J1 axis lubrication port Fig 5 14 Lubrication positions Table 5 4 Lubrication specifications Lubrication oil Default charge Lubrication Lubrication Cover to remove maker amount interval amount Parts to be lubricated Oiling method ipple H i K 1A A EN Seca 27g 6 000Hr 65s BbowcoverB Japan Harmonic sea o ots ee Maintenance and inspection procedures 5 64 3 Maintenance and Inspection Caution The brand name of the grease shown in the Table 5 4 is the grease put in at shipping The lubrication time is a cumulative value of the operation at the maximum speed If the operation has been sus pended or if the designated speed is slow the lubrication time can be lengthened in proportion The Lubrica tion interval in Table 5 4 is usually based on the three year inspection Depending on the robot operation state the lubrication time will fluctuate so determine the time according to the state so that the gr
2. 3 135 tions 7 8 The installation surface must have sufficient P A g strength to withstand the arm reaction during PE ER po moving the robot at high speed Installation free I vA j am oa N 7 a J K a o 0O J Ye ao aE _ oat A E C Fig 2 3 Installation dimensions CAUTION Please secure the maintenance space required for connection of the machine cable and exchange the backup battery in the rear side and also space for J1 axis belt in the right side And don t install the robot arm in the position where direct rays or the heat of lighting hits The skin temperature of the robot arm may rise and the error may occur 2 9 Installation 2Unpacking to 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 Controller Controller Controller when possible Refer to the separate Controller Ma iii a APREA sea Setup Basic Operation and Maintenance for A 6 poner a A details on the controller grounding 2 Use Class D grounding grounding resistance 100 or less Dedicated grounding separated from the other _ devices should be used E 7 E 3 Use a AWG 11 4 2mm or more stranded wire for D optimum 5 sak g ENa ng the grounding wire The groun
3. Connection latch Motor signal cable For fixing Right and left vA Motor power cable Fig 2 6 Connecting the machine cables CR750 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 Refer to Fig 2 6 and connect the machine cable to its corresponding connector on the robot arm side and controller Connect the CN2 first at connection Conversely remove the CN1 first at removal After CN1 unites the key slot with each other s connector insert the connector And rotates the connec tion ring section to fix it securely Pick the latch of both sides on CN2 connector and inserts CN2 CN2 is fixed when the latch is released AN CAUTIO N Please connect the connector securely If it inserts by force the pin will break And it becomes the cause of failure AN CAUTION 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 AN CAUTION 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 AN
4. above 2 Make sure that the pulleys do not move while replacing the belt If the pulley lt 4 gt and lt 5 gt position relation deviates the position could deviate 3 Make marks on the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt with a felt tip pen as shown in Fig 5 11 so that the engagement of the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt does not deviate 4 Lightly loosen the three pc motor plate fixing screws lt 1 gt Do not loosen too much 5 Loosen the nut fixing tension adjustment screw lt 3 gt Loosen the tension adjustment screw lt 3 gt and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys lt 4 gt and lt 5 gt and install 8 Refer to W Adjusting the J6 axis timing belt and 8 Timing belt tension to adjust the tension Maintenance and inspection procedures 5 60 3 Maintenance and Inspection 9 The position could deviate after the belt is replaced Confirm that the position has not deviated If deviated refer to Page 70 5 6 Resetting the origin and reset the origin position B Inspection maintenance and replacement of J6 axis brake timing belt The reference figure at inspection adjustment and replacement of the brake timing belt is shown in Fig 5 12 After adjustment of J6 axis brake timing belt the a
5. 1 FILE EDIT 2 RUN play the Origin Brake selection screen 3 PARAM 4 ORI GIN BRK 5 SET INIT 6 ENHANCED lt ORI GIN BRAKE gt 1 ORIGIN 9 BRAKE 2 Press the 2 key and display the Brake release selection screen 3 Release the brake of the J3 axis Input 1 into the J3 axis Set 0 to other axes 4 Confirm the axis for which the brakes are to be released 5 One worker must securely support the upper arm with both hands 6 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 7 Move the J3 axis slowly toward the front using both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig 6 into the pinholes and fasten Pinhole J3 m i AN CAUTION 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 AN CAUTION If F1 key or enable switch of T B is released the brakes will be work immediately 5 87 Resetting the origin 3 Maintenance and Inspection 8 Detach the F1 key and work the brake Press the F4 key and return to the origin brake
6. 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 4 43 Maintenance 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 0 H 500 H 3 month inspection 3 month inspection 6 month inspection Monthly inspection 3 month inspection 1 000 H Cc 2 O oO Q on S D O QO 1 500 H Monthly inspection Monthly inspection Monthly inspection 3 month inspection 6 month inspection Yearly inspection Operating time lt Guideline for inspection period gt For one shift 8 Hr day X 20 days month X 3 months approx 500 Hr 10 Hr day X 20 days month X 3 months approx 600 Hr For two shifts 15 Hr day X 20 days month
7. CLOSE function Press the function key corresponding to CLOSE Returns to the lt MENU gt screen lt WORK COORD gt WORK NUMBER 2 TEACHING POINT WO X 214 12 Y 61 23 Z 553 30 gt 2 WORK COORD Oe LRD 123 2 31 Confirming the operation 2 Unpacking to Installation Although setting of work coordinates is finishing above confirmation of work coordinates can be done by press ing the function key corresponding to W GRID F2 lt WORK COORD gt WORK NUMBER 2 lt WORK GOORD gt WORK NUMBER 2 TEACHING POINT WO WORK COORDINATES DATA 3 53 220 00 5 14 0 00 0 00 0 00 X 214 12 Y 61 23 Z 553 30 UC LRD 123 Return to the previous screen by pressing the CLOSE F4 key Then the operation method of the work jog is shown Change to the work jog after nearing the work Select WORK jog mode aqy JOG Press the key and display the jog JOG screen JOG is displayed on the screen lt CURRENT gt WORK 100 M1 TO WI bottom ay a ae He tae Check that the WORK in jog mode is J3 90 00 displayed on the screen wae N00 7 oe If other jog modes are displayed please press TOOL JOG the function key corresponding to the WORK WORK jog mode If the jog mode which he wishes under the screen is not displayed it is displayed that the FUNCTION key is pressed If it finishes jog operation press the JOG key again or function key which correspond
8. Make sure to fix it securely by fastening the hand locks in 2 places as shown in Fig 2 9 Controller T B connector Teaching pendant Details of the A section T B connector Hand lock Two places Fig 2 9 Installing and removing the T B CR751 The installation of T B is finished OS If error C0150 occurs O OD At the time of the first power supply injection error C0150 the serial number of the robot arm has not been set up occur the robot after purchase Parameter Please input the serial number of the robot body into RBSERIAL Refer to instructions manual controller setup and basic operation amp maintenance for the operation method Setting the origin 2 14 2Unpacking to Installation 2 3 2 Setting the origin with the origin data input method 1 Confirming the origin data Origin data history table Origin Data History Serial No ES804008 one ome o pa y o fow o S oe fex ss fes fea fes CdS os faz f se fwa CdS E a a oo fe SP O O Alphabet 0 Zero Note Meanings of symbols in method column E Jig method N Not used SP Not used Fig 2 10 Origin data label an example 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 J1 motor cover Refer to Fig 2 10 Referring to Page 49 5 3 2 Installing removing the cover remove the J1
9. Replacing the battery robot arm wicccsessissssnissssiveinsaarisesssasssvarsssiocsotsancasssssassratensarsecheapisenstsersescanpenshessiaenscatiats 5 67 Ta PA Caeser hick faceted os a e d steeds aaa a ia bet ai a aa eee ences 9 68 So NaM enana PIET soriana T AAEE A 5 69 ao We EON I aa Ninian ieiadnlianmainateaimaaeanatetin 5 70 5 6 1 Me hanical stopp r method sciincisicncannniwscavindianosannimdnnaiisiarnaannianmannnannnanniads 5 71 1 J1 axis origin setting mechanical stopper c cececcsccscscsssseseccesecseseceesesesesecseseserseseceesesersesereeseseveesesseseseteeeeeeee 5 71 2 J2 axis origin setting mechanical stopper oe cceeccsssecsesssessesessesssessesscsescsesstsesetsessesevseesesavensavensatsatenseseneeeees 5 73 3 J3 axis origin setting MeChanical stopper e cececscccsscssscesecseseeseseceesesersesecseseserseseceesesersesereeseseveesessesevareeseeeee 5 75 4 J4 axis origin setting mMechanical stopper e cececcsccssscescscececseseesesececsesscsesessesesecseseseeseserseseceesevareeseseesevarsereeeen 5 77 5 J5 J6 axis origin settinglmechanical stopper o e ccecssecsssecsssesecsesececsesecseseccseseesesecersesecsesessesesersesesecsesereeeeees 5 79 Op Eae a EA OA AEA OAA A AA 5 82 1 di axis rigin setting srsccscrcicnonnsiemani enaA EA a ia AA aa 5 83 2 J2 axis ea ccdsnccecteszzcactsssassctsconazsectsssarsccitpucsescatbaa nest aAa aA Aana hi AAAS ANAE NEE A AAA Aaa SEARE a NiE 5 85 3 J3 axis origin setting ain csssvesssissve
10. WORK NUMBER 2 TEACHING POINT WO TEACHING POINT WO X 214 12 RECORD CURRENT POSITION mi Y 61 23 OK Z 553 30 Teach the three points WO WX and WY by the same operation The position data taught here is each registered into the following parameters n dinates numbers 1 8 WO parameter WKnWO WX parameter WKnWX WY parameter WKnWY means the work coor 5 Setting of work coordinates definition If the function key corresponding to DEFINE F1 is pressed the work coordinates system will be calculated using the three points and the result will be displayed lt WORK GOORD gt WORK NUMBER 2 TEACHING POINT WO lt WORK COORD gt WORK NUMBER 2 WORK COORDINATES DATA X 214 12 3 53 220 00 5 14 0 00 0 Y 61 23 00 0 00 Z 553 30 DEF INE The alarm occurs if the work coordinates system is incalculable There are the three points on the straight line or the two points have overlapped In this case reset alarm and re teach the three points This work coordinate data is registered into parameter WKnCORD n means the work coordinates numbers 1 8 If the function key corresponding to CLOSE is pressed it will return to the previous screen lt WORK COORD gt WORK NUMBER 2 WORK COORDINATES DATA 3 53 220 00 5 14 0 00 0 00 0 00 WORK NUMBER 2 TEACHING POINT WO 6 Finishing of setting the work coordinates Press the FUNCTION keys and display
11. is loosened turn tension adjustment screw lt 3 gt and adjust the tension of timing belt lt 2 gt When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Confirm that the belt tension is adjusted to slacken approx 1 4mm when the center of the belt is lightly pressed with a finger approx 2 0N If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys lt 4 gt and lt 5 gt or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw lt 3 gt and certainly fixes tension adjustment screw lt 3 gt Moreover also fasten idler fixing screw lt 1 gt certainly two pc Improper tightening can cause the belt to loosen with vibration WE Replacing the J2 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J2 axis timing belt above 2 Make sure that the pulleys do not move while replacing the belt If the timing pulley lt 4 gt and lt 5 gt position relation deviates the position could deviate 3 Make marks on the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt with a felt tip pen as shown in Fig 5 6 so that the engagement of the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt does not deviate 4 Lightly loosen the two idler installation bolts lt 1 gt Do not loosen to
12. lt 2 gt and timing pulleys lt 4 gt and lt 5 gt with a felt tip pen as shown in Fig 5 5 so that the engagement of the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt does not deviate 8 Lightly loosen the motor plate fixing screw lt 1 gt two pc Do not loosen too much 9 Loosen the nut fixing tension adjustment screw lt 3 gt Loosen the tension adjustment screw lt 3 gt and remove the old belt 10 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 11 Align the new timing belt with the marks on the timing pulleys lt 4 gt and lt 5 gt and install 12 The nut which is fixing tension adjustment screw lt 3 gt is loosened turn tension adjustment screw lt 3 gt and adjust the tension of timing belt lt 2 gt When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Confirm that the belt tension is adjusted to slacken approx 1 0mm when the center of the belt is lightly pressed with a finger approx 2 0N 13 After adjustment fastens the fixing nut of tension adjustment screw lt 3 gt and certainly fixes tension adjustment screw lt 3 gt Moreover also fasten motor plate fixing screws lt 1 gt certainly two pc Improper tightening can cause the belt to loosen with vibration 14 Reinstall the robot arm just as before 15 The position could deviate after the belt is replaced Confirm that the position
13. BI The flange position does not change tf This is the same as the A B and C axis XYZ jog X Y operation z When the A J4 keys are pressed The X axis will rotate in the plus direction When the A J4 keys are pressed Rotate in the minus direction When the B J5 keys are pressed The Y axis will rotate in the plus direction When the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed The Z axis will rotate in the plus direction When the C J6 keys are pressed Rotates in the minus direction Confirming the operation 2 34 2 Unpacking to Installation 6 Work jog operation Setting of the work coordinates system is necessary By this jog operation robot can be move along with the direction of work or working table etc so teaching operations get easier When jog operation select by which work coordinates the robot moves The setting method of the work coordinates system using T B R32TB is shown in the following Parameter Setting the coordinate value to WKnCORD n is meaning the number 1 8 of work coordinates can also set up the work coordinates system Refer to the separate manual Detailed Explanation of Functions and Operations for details of parameter The work coordinates system teaches and sets up the three points WO WX WY Z F Notes The figure is the example of RV 6SD of our company but work coordinates other types are th
14. Brianza MB Phone 39 039 60 53 1 Fax 39 039 60 53 312 MITSUBISHI ELECTRIC EUROPE B V Poland Branch Krakowska 50 PL 32 083 Balice Phone 48 0 12 630 47 00 Fax 48 0 12 630 47 01 MITSUBISHI ELECTRIC EUROPE B V 52 bld 3 Kosmodamianskaya nab 8 floor RU 115054 Moscow Phone 7 495 721 2070 Fax 7 495 721 2071 MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rubi 76 80 E 08190 Sant Cugat del Vall s Barcelona Phone 902 131121 34 935653131 Fax 34 935891579 MITSUBISHI ELECTRIC EUROPE B V UK UK Branch Travellers Lane UK Hatfield Herts AL10 8XB Phone 44 0 1707 27 61 00 Fax 44 0 1707 27 86 95 MITSUBISHI ELECTRIC CORPORATION Office Tower Z 14 F 8 12 1 chome Harumi Chuo Ku Tokyo 104 6212 Phone 81 3 622 160 60 Fax 81 3 622 16075 MITSUBISHI ELECTRIC AUTOMATION Inc 500 Corporate Woods Parkway Vernon Hills IL 60061 Phone 1 847 478 21 00 Fax 1 847 478 22 53 EUROPE CZECH REP FRANCE IRELAND ITALY POLAND RUSSIA SPAIN JAPAN USA MITSUBISHI ELECTRIC GEVA Wiener Stra e 89 AT 2500 Baden Phone 43 0 2252 85 55 20 Fax 43 0 2252 488 60 Koning amp Hartman b v Woluwelaan 31 BE 1800 Vilvoorde Phone 32 0 2 257 02 40 Fax 32 0 2 257 02 49 INEA RBT d 0 0 BOSNIA AND HERZEGOVINA Aleja Lipa 56 BA 71000 Sarajevo Phone 387 0 33 921 164 Fax 387 0 33 524 539 AKHNATON 4 Andrei Ljapchev
15. CAUTION Please be careful not to catch the hand at installation and removal 2 11 Installation 2Unpacking to Installation 2 CR751 controller Robot Motor power Motor signal CN2 obot arm a aa a AMP1 AMP2 BRK ig AMPI AMPZ BRK BRAA f TAEI lace lt tee EE cei ACIN 5 Pow one Opposite side of figur LEF Controller TAO EJEEEJE J re OoooHo0 CN2 a Two fixing screws co Lg Connection ring fixing Connection latch Motor signal cable For fixing Right and left A y Motor power cable Fig 2 7 Connecting the machine cables CR751 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 Refer to Fig 2 7 and connect the machine cable to its corresponding connector on the robot arm
16. Ji J2 J3 gt axes J7 J8 1 0 O SPACE 11 Press the EXE key and display Confirmation EKE screen SORIGIN gt MECH 12 Press the F1 key and the origin position is set up CHANGE TO ORIGIN z 13 Setting of the origin is completed lt ORIGIN gt MECH COMPLETED 7 14 Refer to Page 98 5 6 5 Recording the origin J1 J2 J3 data in this manual and record the origin data J4 J J6 on the origin data seal J7 J8 lt Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 16 3 Maintenance and Inspection 4 J4 axis origin setti lt MENU gt 1 FILE EDIT 3 PARAM 5 SET INIT lt ORI GIN BRAKE gt 1 ORIGIN 5 77 Resetting the origin ng mechanical stopper 1 Press the 4 key on the menu screen and dis 2 RUN play the Or
17. OR1GIN BRAKE gt 1 ORIGIN 2 BRAKE 9 Press the 1 key and display the Origin setting selection screen 10 Press the 3 key and display the Tool selec tion screen Z 3 11 Input 1 into the J2 axis Set 0 to other axes 12 Press the EXE key and display Confirmation screen lb FE EXE 13 Press the F1 key and the origin position is lt ORIGIN gt TOOL set up CHANGE TO ORIGIN OK a COMPLETED 14 Setting of the origin is completed 15 Refer to Page 98 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OSD Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 86 3 Maintenance and Inspection 3 J3 axis origin setting lt MENU gt 1 Press the 4 key on the menu screen and dis
18. Origin BRK selection screen 3 Press the 2 key and display the Brake release selection screen 4 Brake release of the J5 axis Press the Arrow key move the cursor to the J5 axis and press the 1 key Set 0 to other axes 5 Confirm the axis for which the brakes are to be released 6 The one person needs to support the list part securely with both hands 7 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 8 Slowly rotate the J5 axis in the direction of plus 90 degree with both hands Align the pinholes of the No 2 arm and wrist housing feed through the origin jig 6 into the pinholes and fasten To ensure safety the brake release procedure described below should always be Be careful that the robot arm will fall by the self weight depending on the posture if the brake is released N CAUTION immediately Resetting the origin If the F1 key or the enabling switch of T B is detached the brake will work 3 Maintenance and Inspection 9 Detach the F1 key and work the brake 10 Install the bolt M5 2 customer preparation in the diagonal position at the J6 axis Hold the bolts with hands rotate them slowly and align the ABS mark of the J6 axis with the ABS mark of the wrist area The type which has the brake in the J6 axis releases the brake The type which does not have the brake should go to 15 Press
19. basic operation from creating the program to auto matic operation and the maintenance and inspection procedures Explains details on the functions and operations such as each function and operation com mands used in the program connection with the external input output device and parame ters etc Explains the causes and remedies to be taken when an error occurs Explanations are given for each error No Explains the specifications functions and operations of the additional axis control Explains the control function and specifications of conveyor tracking Explains the detailed description of data configuration of shared memory monitoring and operating procedures about the PLC CR750 Q CR751 Q controller and the GOT CR750 D CR751 D controller Using the instruction manuals 1Before starting use 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 iQ Platform Indicates the controller which controls the robot arm Controller It consists of the robot CPU system and the drive unit Indicates the CPU unit for the robots which installed to the sequencer The robot CPU unit or robot CPU base unit Q3 O DB of MELSEC Q series It is connected with the drive unit by the dedicated cable Multi CPU system The robot CPU syste
20. key is pressed If it finishes jog operation press the JOG key again or function key which correspond to close Whenever it presses the key of LOVRD 7 the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work When the X J1 keys are pressed the J1 axis will rotate in the plus direction When the X J1 keys are pressed Rotate in the minus direction Confirming the operation 2 24 2 Unpacking to Installation J2 axis jog operation eee AL j a F L mik m a When the Y J2 keys are pressed the J2 axis will rotate in the plus direction When the Y J2 keys are pressed Rotate in the minus direction OM When the robot is in the transportation posture O The axes may be outside the movement area Move these axes toward the inner side of the movement area J3 axis jog operation n When the Z J3 keys are pressed the J3 axis will rotate in the plus direction When the Z J3 keys are pressed Rotate in the minus direction 2 25 Confirming the operation 2 Unpacking to Installation J4 J5 and J axis jog operation Ee J5 axis 9 wxyz When the A J4 keys are pressed the J4 axis will rotate in the plus direction When the A J4 k
21. move O O If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction Changing the flange surface posture The control point does not change When the A J4 keys are pressed The X axis will rotate in the plus direction When the A J4 keys are pressed Rotate in the minus direction When the B J5 keys are pressed The Y axis will rotate in the plus direction When the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed The Z axis will rotate in the plus direction When the C J6 keys are pressed Rotate in the minus direction OS When alarm No 5150 occurs O O If alarm No 5150 ORIGIN NOT SET occurs the origin has not been set correctly Reconfirm the value input for the origin data OS Tool length Q O 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 Confirming the operation 2 28 2 Unpacking to Installation 3 TOOL jog operation 3 Select TOOL jog mode OO JOG lt CURRENT gt JOINT 100 Mi TO J1 0 00 J5 0 00 J2 0 00 J6 0 00 JOG ERATA FOURS gt J3 90 00 TOOL jog mode Set jog speed lt CURRENT gt JOINT 100 M
22. of the robot arm is a very important step for ensuring the optimum functions of the robot Observe the following points when designing 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 JA fj A Z A WV ff ff Wf fe 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 4 M8 x 35 Four positions Spring washer 6 Remove the fixing plates after installing the robot The fixing plate is needed in re transportation Please keep it carefully 7 When the robot is installed by hanging from the ceiling or on the wall the MEGDIR parameter must be changed For more information about parameters and how to change the parameters refer to the separate Instruction Manual Detailed Explanation of Functions and Opera Plain washer
23. or skipped point This specifications is original Company names and production names in this document are the trademarks or registered trademarks of their respective owners Copyright C 2012 MITSUBISHI ELECTRIC CORPORATION CONTENTS Page Bee IAs USE sane eck pana cncteseassaaa AE ER 1 1 LUSO A TE Manun aeaaaee aiiai 1 1 1 1 1 The details of each instruction manuals c cece ccc eece eee eeeeeeeceeceeeeeeeeaeceeeueeneeeneceeseeseeneenes 1 1 1 12 Symbol used in ISIC assscacyceiasncinnssatennerescsvesnsssaeniepeiaststanienietusaiasiasarisient 1 2 LeS r aO aii E E E 1 3 1 2 1 Precautions given in the separate Safety Manual cccccccceccceeeeeeeeeeeeeeeeeeeeaeeeseeseeees 1 4 UR o Metla NO caa eens ssntiaenemnenanee 2 6 2I Re e EG sos 2 6 EB UCL 18 5 en ae eee ae ee ae mene nS eRe ene niet ome rte amram are e enh eer mes E Tarek earners Menem nT Nar 2 1 PRAE are a a IE a oe See ve er a BUNCE Ne Ten EA See ORION Lee ere ev rere ay 2 2 2 Transportation procedures Transportation by people c eccscssessssecssseseccesecesseseesesecrseseesesesecsesersesarrsesaveesesees 2 8 2 2 3 Installation procedures gccrcc coccncecscietastsiancnacsesceseveasicicesarsurdceaacisasncuvislsebeasisdonsespeaiomasstarswaateeadsucacitasenssteniedeantcieaiane 2 9 LLA ee Wael al gle gi elo gt ae a nee ae eee r idee SOM ean REO Tne ees emNe renee 2 10 1 Grounding Methods eccccessscscessccececsesecsesececsesecsesessesece
24. origin position is set up 21 Setting of the origin is completed 22 Refer to Page 98 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 9 93 Resetting the origin 3 Maintenance and Inspection 5 6 3 ABS origin method When the origin setting of the robot is performed for the first time this product records the angular position of the origin within one rotation of the encoder as the offset value If the origin setting is performed according to the ABS origin method this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately This operation is carried out with the teaching pendant Set the controller mode to MANUAL and set the ENABLE switch on the teaching penda
25. 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 Safety Precautions 1 4 1Before starting use NCAUTION NCAUTION NDANGER NDANGER NCAUTION 1 5 Safety Precautions 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 When the SSCNETIII cable is removed install the cap in the connector If the cap is not installed there is a possibility of malfunct
26. press the EXE key The D V S29 J1 O6DTYY J2 22HL9X J3 1CP55V origin setting confirmation screen will appear J4 T6 MSY J5 Z21J Z J6 A12 Z0 J7 J8 7 Press F1 Yes to end the origin setting lt ORIGIN gt DATA CHANGE TO ORIGIN OK Moving the cursor Q Press the T lt and gt keys Inputting characters O O Press the CHARACTER key and set to the character input mode Condition that ABC was displayed under the screen The displayed character is scrolled each time at pressing the key How to input symbols O O The symbol is allocated to and key Please repress each key until the symbol to wish is displayed a LO key cccccccccecccsesceseeseee O Yy b L S key aee lt gt c blikey eee H OS Correcting an input O O After returning one character by pressing the CLEAR key input the character again 6 Installing the J1 motor cover Return the J1 motor cover removed in section Page 15 1 Confirming the origin data to its original position This completes the setting of the origin with the origin data input method AN WARNING Removing and installing the cover by always turning off the controller power Failure to do so could lead to the robot moving because of incorrect operations or to physical damage or personal injury Q If the origin input data is incorrect O O If the origin input data is incorrect the alar
27. screen lt OR GIN BRAKE gt 1 ORIGIN 2 BRAKE 9 Press the 1 key and display the Origin setting selection screen lt ORIGIN gt 1 DATA 10 Press the 3 key and display the Tool selec 2 TOOL tion screen 5 USER Z 3 11 Input 1 into the J3 axis Set 0 to other axes 12 Press the EXE key and display Confirmation J6 eel RE EXE lt ORIGIN gt TOOL 13 Press the F1 key and the origin position is set up CHANGE TO ORIGIN 0K COMPLETED 14 Setting of the origin is completed 15 Refer to Page 98 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 88 3 Maintenance and Inspection 4 J4 axis origin setting 1 Press the 4 key on the
28. the Arrow key move the cursor to the J6 axis and press the 1 key Set 0 to other axes NCAUTION The J6 axis dose not have a mechanical stopper When setting the origin position do not rotate the axis more than the motion range 200 deg 11 Confirm the axis for which the brakes are to be released 12 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 13 Hold the bolts with hands rotate them slowly and align the ABS mark of the J6 axis with the ABS mark of the wrist area 14 If the ABS mark is aligned detach the F1 key and work the brake 15 Press the F4 key and return to the origin brake screen lt OR IG IN BRAKE gt 1 ORIGIN Resetting the origin 5 92 3 Maintenance and Inspection lt ORIGIN BRAKE gt 1 ORIGIN 2 BRAKE Z 33 Cus O SPACE cle E v EXE lt ORIGIN gt TOOL CHANGE TO ORIGIN OK B COMPLETED This complete the Origin setting by the Jig method O Release the brake O O 16 Press the 1 key and display the Origin setting selection screen 17 Press the 3 key and display the Tool selection screen 18 Press the Arrow key move the cursor and set 1 to the J5 axis and J6 axis Set 0 to other axes 19 Press the EXE key and display Confirmation screen 20 Press the F1 key and the
29. this case the position data must be reviewed Maintenance and inspection procedures 3 Maintenance and Inspection 2 Inspection maintenance and replacement of J1 axis timing belt The reference figure at inspection adjustment and replacement of the timing belt is shown in Fig 5 4 lt 3 gt Tension adjustment screw With the fixing nut or plate fixing screw DF lt 6 gt Motor plate hook Pulls and fixing oo lt 2 gt Timing belt lt 4 gt Timing cies aon side lt 5 gt Timing pulley back Inside of JI motor cover Fig 0 4 Inspection maintenance and replacement of J1 axis timing belt E Inspecting the J1 axis timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the J1 motor cover 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the timing belt 4 Adjust the belt with reference to following W Adjusting the J1 axis timing belt WE Adjusting the J1 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J1 axis timing belt
30. to be set press the 0 key and display a 0 Resetting the origin 5 14 3 Maintenance and Inspection 3 J3 axis origin setting mechanical stopper lt MENU gt 1 FILE EDIT 3 PARAM 5 SET INIT lt OR GIN BRAKE gt 1 ORIGIN 1 Press the 4 key on the menu screen and dis 2 RUN play the Origin BRK selection screen 4 ORIGIN BRK 6 ENHANCED 2 Press the 2 key and display the Break release selection screen 2 BRAKE 3 Release the brake of the J3 axis Input 1 into the J3 axis Set 0 to other o J6 1 4 Confirm the axis for which the brakes are to be released 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J3 axis in plus direction and contact the axis against the mechanical stopper 7 Detach the F1 key and work the brake Press the F4 key and return to the Origin BRK screen 5 75 Resetting the origin 3 Maintenance and Inspection lt ORIGIN BRAKE gt n 8 Press the 1 key and display the Origin setting 1 0RIGIN 2 BRAKE selection screen lt ORIGIN gt 1 DATA 3 TOOL 9 Press the 2 key and display the Mechanical stopper selection screen 5 USER Z 33 2 ABC lt ORIGIN gt MECH 10 Input 1 into the J3 axis Set 0 to other
31. und Unterstutzunc quf den K rper beim lease AA a O sy boll Flange of base A Base Fig 2 2 Transportation of robot arm Transportation by people 1 The robot be transported by one worker Place the robot on a dolly etc and move it to the vicinity of the installation site 2 Raises the robot as supports the robot s left side by your body with having the flange of base A and the lower section of elbow B Please be sure to avoid holding the robot from the front back side or by the cover because the robot may tilt over and the cover may be damaged or dropped which may lead to accidents 3 When transporting the robot do not apply force on the cover or apply a strong impact on the robot 4 Remove the fixing plate after installing the robot CAUTION To prevent accidents do not hold the robot from the front back sides or hold covers that have no grips Installation 2 8 2Unpacking to Installation 2 2 3 Installation procedures The installation procedure of the robot arm is shown below 1 The robot installation surface has been machine finished Use the installation holes 4 9 holes opened at the four corners of the base and securely fix the robot with the enclosed installation bolts M8 x 35 hexagon socket bolts 2 Installation
32. 21 BFP A8904 C The connection place of machine cable connector CN2 of the CR751 controller was corrected Error in writing The notes about installation of the controller and the robot arm were added neither direct rays nor the heat of lighting The lithium battery type was added to Table 5 6 Consumable part list The statement about trademark registration was added Introduction Thank you for purchasing the Mitsubishi industrial robot This instruction manual explains the method of unpacking installation and maintenance and inspection of the robot arm Always read through this manual before starting use to ensure correct usage of the robot 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 This document explains for the following robot type Robot type RV 2F series The specification in which all axes have the brake is included 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 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
33. AUTION Always unpack the robot at a flat place The robot could tilt over if unpacked at an unstable place Notes The packing material is required at re transportation Please keep it with care Fig 2 1 Unpacking the robot arm The robot is shipped from the factory in cardboard and plywood packing Always refer to Fig 2 1 and unpack the robot Handle the robot arm according to 2 2 2Transportation procedures Transportation by people CAUTION Always unpack the robot at a flat place The robot could tilt over if unpacked at an unstable place The unpacking process is shown below 1 The cardboard box is toppled over horizontally slowly Take care so that a shock may not be given Fig 2 1 a 2 Using a knife etc slit the tape fixing the upper lid of the cardboard box 3 Pull out inner box horizontally with the handle Fig 2 1 b 4 Raise the inner box and the robot simultaneously Fig 2 1 c 5 Remove the robot from the inner box Fig 2 1 d 2 1 Installation 2Unpacking to Installation 2 2 2 Transportation procedures Transportation by people Mass Approx 21kg No 2 arm Fixing plate Elbow S CAUTION si VORSICHT Lower section of l elbow B E Ay hog DOUBe mE Lee ACLA CHI TJX grip the position of figure 1 hands and support on the y when you transport the robot Bitte Griff die Position der Figur mit peiden H nden
34. BI Ltd SOUTH AFRICA Private Bag 2016 ZA 1600 Isando Phone 27 0 11 9770770 Fax 27 0 11 977 0761 EGYPT ISRAEL Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Ratingen Germany FACTORY AUTOMATION _ Tel 49 0 2102 4860 Fax 49 0 2102 4861 120 info mitsubishi automation com www mitsubishi automation com
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36. F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 12 3 Maintenance and Inspection 2 J2 axis origin setting mechanical stopper lt MENU gt 1 Press the 4 key on the menu screen and dis 1 FILE EDIT 2 RUN play the Origin BRK selection screen 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED 2 Press the 2 key and display the Break lt ORIGIN BRAKE gt release selection screen 1 ORIGIN 2 BRAKE 2 ABC 3 Release the brake of the J2 axis Input 1 into the J2 axis Set 0 to other Cus 1 4 Confirm the axis for which the brakes are to be released 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J2 axis in minus direction and contact the axis against the mechanical stopper 7 Detach the F1 key and work the brake Press the F4 key and return to the Origin BRK screen 5 73 Resetting the origin 3 Maintena
37. Inspection lt ORI GIN BRAKE gt 1 ORIGIN 2 BRAKE 8 Press the 1 key and display the Origin setting selection screen lt ORIGIN gt 9 Press the 3 key and display the Tool selection screen Z 3 Select TOOL 10 Input 1 into the J1 axis Set 0 to other axes J6 11 Press the EXE key and display Confirmation screen cle k SORIGIN gt TOOL 12 Press the F1 key and the origin position is set up CHANGE TO ORIGIN OK g COMPLETED a 13 Setting of the origin is completed 14 Refer to Page 98 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 84 3 Maintenance and Inspection 2 J2 axis origin setting 1 Press the 4 key
38. J6 axis 3 Mitsubishi Electri 3 Reduction gears J1 J2 J3 J6 axis 4 aia ain 4 J4 J5 axis 2 9 69 Maintenance parts 3 Maintenance and Inspection 5 6 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 8 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 jig method or mechanical stopper method or ABS origin method Table 5 8 Origin setting method No Method Explanation Remarks 1 Origin data input The origin data set as the default is input from The setting method is explained in Page 13 2 3 Setting method the T B the origin 2 Mechanical stopper This origin posture is set by contacting each axis The setting method is explained in Page 71 5 6 1 method against the mechanical stopper Mechanical stopper method 3 Jig method The origin posture is set with the calibration jig The setting method is explained in Page 82 5 6 2 Jig installed method 4 ABS origin method This method is used when the encoder backup Before using this method the origin must be set with the data lost in the caus
39. MITSUBISHI Mitsubishi Industrial Robot RV 2F Series INSTRUCTION MANUAL ROBOT ARM SETUP amp MAINTENANCE MELIA EFP A890 4 C N 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 N CAUTION N CAUTION Z N WARNING N CAUTION WARNING N CAUTION N CAUTION N CAUTION 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 fen
40. SERVICES SRL Aleea Lacul Morii Nr 3 RO 060841 Bucuresti Sector 6 Phone 40 0 21 430 40 06 Fax 40 0 21 430 40 02 INEA RBT d o 0 Izletnicka 10 SER 113000 Smederevo Phone 381 0 26 615 401 Fax 381 0 26 615 401 SIMAP s r o Jana Derku 1671 SK 911 01 Trencin Phone 421 0 32 743 04 72 Fax 421 0 32 743 75 20 PROCONT spol s r o Pre ov K peln 1 A SK 080 01 Pre ov Phone 421 0 51 7580 611 Fax 421 0 51 7580 650 INEA RBT d 0 0 Stegne 11 SI 1000 Ljubljana Phone 386 0 1 513 8116 Fax 386 0 1 513 8170 Beijer Electronics Automation AB Box 426 SE 20124 Malmo Phone 46 0 40 35 86 00 Fax 46 0 40 93 23 01 Robotronic AG Schlachthofstrasse 8 CH 8406 Winterthur Phone 41 0 52 267 02 00 Fax 41 0 52 267 02 01 GTS TURKEY Bayraktar Bulvari Nutuk Sok No 5 TR 34775 Yukar Dudullu Umraniye ISTANBUL Phone 90 0 216 526 39 90 Fax 90 0 216 526 3995 CSC Automation Ltd 4 B M Raskovoyi St UA 02660 Kiev Phone 380 0 44 494 33 55 Fax 380 0 44 494 33 66 NORWAY PORTUGAL ROMANIA SERBIA SLOVAKIA SLOVAKIA SLOVENIA SWEDEN SWITZERLAND UKRAINE 1 C SYSTEMS LTD 23 Al Saad Al Alee St EG Sarayat Maadi Cairo Phone 20 0 2 235 98 548 Fax 20 0 2 235 96 625 ILAN amp GAVISH Ltd 24 Shenkar St Kiryat Arie IL 49001 Petah Tiqva Phone 972 0 3 922 18 24 Fax 972 0 3 924 0761 AFRICAN REPRESENTATIVE C
41. X 3 months approx 1000 Hr 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 Fig 5 1 Inspection schedule Maintenance and inspection interval 5 44 Maintenance and Inspection 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 Inspection item details Remedies Before turning power ON Check the following items before turning the power ON Are any of the robot installation bolts loose Securely tighten the bolts Visual Are any of the cover tightening screws loose Securely tighten the screws Visual Are any of the hand installation bolts loose Securely tighten the bolts Visual 4 Is the power supply cable securely connected Securely connect Visual Is the machine cable between the robot and controller securely Securely connect connected Visual Are there any cracks foreign contamination or obstacles on the robot Replace with a new part or take remedial measures and controller cover Is there any abnormality in the pneumatic system Are there any air Drain the drainage and
42. above 2 Lightly loosen the motor plate fixing screw lt 1 gt two pc Do not loosen too much 3 Loosen the nut fixing tension adjustment screw lt 3 gt And lightly loosen tension adjustment screw lt 3 gt 4 In the condition that hook lt 6 gt of the motor plate is pulled by 31 39N fix the motor plate fixing screws lt 1 gt tight two pc The tension of J1 axis timing belt is adjusted with this method Certainly fix two motor plate fixing screws lt 1 gt Improper tightening can cause the belt to loosen with vibration If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys lt 4 gt and lt 5 gt or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 5 After adjustment fixes the fixing nut and certainly fix tension adjustment screw lt 3 gt ME Replacing the J1 axis timing belt Timing belt replacement of the J1 axis removes the bottom plate in the robot arm bottom and replace the belt from the robot s bottom For this reason it is necessary to remove the robot arm from the installation surface and to place it sideways Remove the machine cable or piping etc corresponding to the usage condition and put the robot on the floor sideways AN CAUTION When removing and placing the robot arm place JI motor cover upward Moreover also to turn the No 1 arm cover upward turn the J1 axis to the front by jog operation beforehand joint angle
43. all J5 axis timing belt with reference to above W Replacing the J5 axis timing belt and adjust tension 5 59 Maintenance and inspection procedures 3 Maintenance and Inspection 7 Inspection maintenance and replacement of J6 axis timing belt and brake timing belt The reference figure at inspection adjustment and replacement of the timing belt is shown in Fig 5 11 In the RV 2SDB the J6 axis has the timing belt rotating the J axis and the brake timing belt conveying the brake Also inspection maintenance and replace the brake timing belt simultaneously A Inspection maintenance and replacement of J6 axis timing belt lt 3 gt Tension adjustment screw lt 4 gt Timing pulley lt 1 gt Motor plate fixing screw With the fixing nut motor side lt 5 gt Timing pulley joint side _ lo Note The figure shows SS RV 2SDB all axes a have the brake lt 2 gt Timing belt Mark Fig 5 11 Inspection maintenance and replacement of J axis timing belt E Inspecting the J axis timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the No 2 arm cover L 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with th
44. and axis The method for inputting the origin data is explained below The value shown in Fig 2 10 will be input as an example lt ORIGIN gt DATA J2 CHARACTER B us 8 Tuv lt ORIGIN gt DATA D V1 S20 CHARACTER J2 J3 Z 33 a J6 2 ABC lt ORIGIN gt DATA D V S29 J2 J3 J6 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 CHARACTER key and set to the character input mode Condition that ABC was displayed under the screen Press the TUV key three times V will be set Inputting 1 Press the key five times will be set Press the key once and advance the cursor Press the key twice input and press the PQRS key four times input S Press the CHARACTER key and set to the numeral input mode Condition that 123 was displayed under the screen Press the 2 key input 2 and press the 9 key input gry 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 Setting the origin 2 18 2Unpacking to Installation lt ORIGIN gt DATA 6 After inputting all of the values
45. ar 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
46. at 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 Page 70 5 6 Resetting the origin 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 Page 70 5 6 Resetting the origin and reset the origin using the jig method mechanical stop per method or ABS method 2 3 1 Installing the teaching pendant T B When installing and removing the T B turn off the controller power supply If T B is installed or removed in the state of power supply ON emergency stop alarm will occur If you use the robot wherein T B is removed please install the attached dummy connector With the connector put the dummy connector or draw it out AN CAUTION Please do not pull the cable of T B strongly or do not bend it too much It becomes the breaking of a wire of the cable and the cause of breakage of the connector Please installing and removing so that stress does not start the cable with the connector itself 1 Installing the T B CR750 controller Explain the installation method of T B below 1 Check that the POWER
47. ce Establish a set signaling method to the related operators for starting work and follow this method Signaling of operation start As a principle turn the power OFF during maintenance work Place a sign indicating 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 The points of the precautions given in the separate Safety Manual are given below Refer to the actual Safety Manual for details N CAUTION Z N CAUTION Z N CAUTION Z N CAUTION N CAUTION N CAUTION N WARNING WARNING N CAUTION WARNING CAUTION A CAUTION N CAUTION N CAUTION WARNING 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
48. changed newly If the old battery is contained generating heat and damaging may occur 9 Install battery cover lt 1 gt 10 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 Page 70 5 6 Resetting the origin and reset the origin using the jig method or mechanical stopper method or ABS origin method 5 67 Maintenance and inspection procedures 3 Maintenance and Inspection 5 4 About Overhaul Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration In regard to such robots we define overhaul as an operation to replace parts running out of speci fied service life or other parts which have been damaged so that the robots may be put back in shape for contin ued use Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of the equipment s wear and loss of performance As a rule of thumb however it is recommended that overhaul be carried out before the total amount of servo on time reaches the predetermined levels 24 000 hours for the robot body and 36 000 hours for the controller Se
49. cover L Low head safety socket M3 Nickel plating Four lt 5 gt Elbow cover B Bind screw M3 Two lt 6 gt Elbow cover R Bind screw M3 Five lt 7 gt No 2 arm cover L Bind screw M3 Four lt 8 gt No 2 arm cover R Bind screw M3 Four a Low head safety socket MS Nickel plating Four 1 Each cover s names and installation screw are shown in Fig 5 3 Refer to Fig 5 3 and remove the cover 2 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 3 When attaching the cover after maintenance and inspection use the detaching procedure in reverse The part No and symbols in Table 5 3 correspond to Fig 5 3 Maintenance and inspection procedures 5 50 3 Maintenance and Inspection 5 3 3 Inspection maintenance and replacement of timing belt This robot uses a timing belt for the drive conveyance system of the J 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 confi
50. csesscsesececsesarsesececseseceesesecseserseseveesesereeseseesesaveeseseesessesevarserecees 2 10 2 Grounding procedures cecccsscesscsececesecsesecsesesecsesecsesecacsesscsessecsesarsesecscseseceesesacsevarsesevetsesersesessesesereesesetseversesaveeraeees 2 10 2 2 0 Connecting with the controller wove cece cccseecescssceesesssceeseesessesesseesesesseeseseesessevseceuseesevsessesavseseesessavseseesensanenees 2 11 1 OR750 ae saa geen eee enema ee eee ene cee eset ee Meee ee ier Rem ese rn en eee rete ae ee ere eee 2 11 2 CR751 controller o ecccecscesecsececcscessecececsesecsesessesesecseseseesecscsesecsesecacsesavscsecavsesacecsevecssarsesevarsecaveeeeseesesaveesavenseeeesevareeracee 2 12 Co oet Sh ee ee eer eke ee en eee mee ae eee eee Ree ee ey eae eee nee en ee eee oe te eT eee 2 13 2 3 1 Installing the teaching pendant T B ccecccsssscecsscesecessesssesecsesecececsesececsesescsscacsescsesaesesesatsvecsesesevetseserevstseseveeseees 2 13 1 Installing the T B CR750 controller oo csesssssssscessscecsssecessecesessssessesestesesnssesesesesnsassssssesteassesuesesteansesaesen 2 13 2 Installing the T B CR751 controller c ceecsessssesscsecesseseesesececsesecsesececseserseseserseserseseseesesersevecsesevavenseveneesareeeerees 2 14 2 3 2 Setting the origin with the origin data input method accpscceccecsscccccccsscscecazsccesscesasccsecesccorcevspsendcecesosnscespsiecseness 2 15 1 Confirming the origin data o ceeccceccscsssccesecsscese
51. d 5 Pressing the F1 key is kept with the enabling ea switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J1 axis in plus direction and contact the axis against the mechanical stopper 5 71 Resetting the origin 3 Maintenance and Inspection 7 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen ae cape 8 Press the 1 key and display the Origin setting selection screen 9 Press the 2 key and display the Mechanical stopper selection screen Z 33 2 ABC lt ORIGIN gt MECH 10 Input 1 into the J1 axis Set 0 to other Ji J2 axes J4 Jd J7 J8 Jie ily 11 Press the EXE key and display Confirmation screen EXE lt ORIGIN gt MECH o 12 Press the F1 key and the origin position is CHANGE TO ORIGIN set up z 13 Setting of the origin is completed lt ORIGIN gt MECH COMPLETED 14 Refer to Page 98 5 6 5 Recording the origin Jl J2 J3 data in this manual and record the origin data JA J5 J6 on the origin data seal J 7 J8 Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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
52. d display Confirmation screen Note Always perform origin setting of the J5 axis and the J6 axis simultaneously 5 Press the F1 key and the origin position is set lt ORIGIN gt ABS up CHANGE TO ORIGIN OK This complete the Origin setting by the ABS method 5 95 Resetting the origin 3 Maintenance and Inspection 5 6 4 User origin method AN CAUTION Before using this method the origin must be set with the other method The setting method is explained in Page 70 Table 5 8 Origin setting 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 controller mode to MANUAL and set the ENABLE 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 Page 20 2 4 Confirming the operation for details on the jog operation AN CAUTION Choose the user origin position as the position where it doesn t move by the gravity This position is l
53. ding point should be as close to the robot arm and controller as possi ble and the length of the grounding wire should be short computer computer Fig 2 4 Grounding methods 2 Grounding procedures 1 Prepare the grounding cable AWG 11 4 2mm or more and robot side installation screw and washer M4x10 SW PW 2 If there is rust or paint on the grounding screw sec tion A remove it with a file etc 3 Connect the grounding cable to the grounding screw section S Robot grounding cable AWG 11 4 2mm or more Prepared by customer Fig 2 5 Connecting the grounding cable Installation 2 10 2Unpacking to Installation 2 2 9 Connecting with the controller 1 CR750 controller Motor power Motor signal CN2 Robot arm CN1 Opposite side of figure Controller Rear side o ai Connection ring fixing Connection latch For fixing Right and left a Connection ring fixing
54. djust tension Maintenance and inspection procedures 5 62 3 Maintenance and Inspection 8 Timing belt tension f Pressing force s Span d Slack T Tension Preset value Tension Used belt N Tension New belt N Force of pulling the note 1 Axis wat width span Minimum Maximum Minimum Maximum motor plate elea a e v e ww Note 1 The force when pulling the motor plate for belt adjustment of the J1 axis is shown The sound wave type belt tension gauge of the standard Maker Gates Unitta Asia Company Type U 505 E Belt specification E Inspection Axis Tension T Tension T N Slack d Slack d mm Pressing force f N force f N Belt type a osere n Co eere wee wre eto P wr mo we wr a te soz wf wescrs ae a p en f o p o Cs p wa er is om re ae ee te Jetbrake 174 8674 a W Adjustment W Exchange New article installation z ee B pe E o o om a s e f e x lt Note gt The tension of brake timing belt of the J5 and the J axis is automatically adjusted by the work of spring installed in the motor plate Fig 5 13 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 loose Instead it should be adjusted to a degree that elasticity is felt when the belt is pressed with the thu
55. djustment of the timing belt which rotates the J6 axis is also needed Moreover it is necessary to remove J6 axis timing belt for the replacement of brake timing belt Timing belt LO 0 Y _ yy sat a A Ws lt 4 gt Timing pulley Timing pulley i lt 3 gt Brake timing belt motor side brake side lt 2 gt Spring Inside of No 2 arm cover R lt 1 gt J6 axis motor fixing screw two pc Inside of No 2 arm cover L Fig 5 12 Inspection maintenance and replacement of J6 axis brake timing belt E Inspecting the J6 axis brake timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the No 2 arm cover R and L 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the timing belt 4 Adjust the tension of the belt with referring to W Adjusting the J6 axis brake timing belt W Adjusting the J6 axis brake timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J6 axis brake timing belt above 2 Loosen J6 axis mo
56. e 13 2 3 Setting the origin for details on setting the origin J4 axis J5 axis 3 T t Kara J axis J2 axis J1 axis Each axis moves independently Fig 2 12 JOINT jog operation Confirming the operation 2 20 2 Unpacking to Installation 4 E ae t s Nee L epy 4 Control point d d m izn E i X N Fig 2 13 XYZ jog operation Fig 2 14 TOOL jog operation 2 21 Confirming the operation FY While maintaining the flange surface posture the axis moves straight along the base coordinate system Also while maintaining the flange surface position the flange surface posture changes 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 J4 axis J5 axis i Se J6 axis Radius Control point Fig 2 16 CYLINDER jog operation 2 Unpacking to Installation 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 does not change at this time It is effective to change the posture of the wrist with the position maintained 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 rad
57. e Fig 5 16 For specific information about parts to be replaced and timing of overhaul contact your local service representative If overhaul is not performed l Predetermined time period Periodic inspection If overhaul is performed Failure rate A Servo on time Fig 5 16 Periodic inspection overhaul periods About Overhaul 5 68 3 Maintenance and Inspection 5 5 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 No Part name Type Usage place Q ty Supplier Timing belt Jl axis J2 axis J3 axis J4axis Jdaxis Mitsubishi Electric System amp Service Co Ltd For J5 axis brakes J6 axis Note1 pe ee er Ce ee ee ee l ee For J6 axis brakes OO oin I GD oo BR OIN Grease Reduction gears of each axis An needed Lithium battery ER6 Inside the battery cover 4 Note1 Only for RV 2FB O Table 5 7 Spare parts list No Names Usage place Q ty Supplier 1 AC servo motor J1 J2 J3 axis 3 2 J4 J5
58. e forecast function is enable please reset the accumulated data about grease Carries out the resetting operation by RT ToolBox or parameter MFGRST Refer to separate RT ToolBox2 RT ToolBox2 mini User s Manual for the operation method of RT ToolBox and refer to separate Instruction Manual Detailed Explanation of Functions and Operations for details of parameter MFGRST AN CAUTION 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 5 65 Maintenance and inspection procedures 3 Maintenance and Inspection 5 3 5 Replacing the backup battery An absolute encoder is used for the position detector so while power of controller is turned off the position must be saved by the backup battery The controller also uses a backup battery to save the program etc The battery is the lithium battery 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 There exists the kinds of the errors about the battery shown in Table 5 5 If error 7500 occurs please exchange the battery of the robot arm and the controller simultaneously Table 5 5 The error about the battery 7520 The battery consumption tim
59. e pressed Rotate in the minus direction When the C J6 keys are pressed The Z axis will rotate in the plus direction of the tool coordinate system When the C J6 keys are pressed Rotate in the minus direction OOS When alarm No 5150 occurs O O If alarm No 5150 ORIGIN NOT SET occurs the origin has not been set correctly Reconfirm the value input for the origin data OOS Tool length Q O 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 Confirming the operation 2 30 2 Unpacking to Installation 4 3 axis XYZ jog operation Select XYZ456 jog mode aqy JOG Press the key and display the jog screen JOG JOG is displayed on the screen bottom lt CURRENT gt J1 J2 J3 J4 JOINT 100 0 00 0 00 M1 TO 0 00 0 00 90 00 0 00 Jo J FUNCTION Joo EEEN XYZ456 jog mode Set jog speed lt CURRENT gt JOINT J1 0 00 J2 0 00 J3 90 00 J4 0 00 100 0 00 0 00 M1 TO Jo J JOG EAFA Ode gt Setting the speed prt f a Check that the XYZ456 displayed on the screen If other jog modes are displayed please press the function key corresponding to the XYZ456 If the jog mode which he wishes under the screen is not disp
60. e same X a a ee Robot coordinates Work The jogging movement based on this workis lt Teaching point gt possible WO Work coordinates system origin WX Position on the X axis of work coordinates system WY Position at the side of Y axis on the X Y plane of work coordinates system Supplement The coordinate values which use all three teaching points for setting of the work coordinates system are each only X Y and the Z axis Although the coor dinate value of A B and C axis Is not used positioning will get easy if the XYZ jog or TOOL jog movement is effected with the same value The direction of the hand is the same Fig 2 18 Setting of the work coordinates system teaching point The setting definition method of the work coordinates system is shown in the following 1 Select 6 ENHANCED screen on the lt MENU gt screen lt MENU gt 1 FILE EDIT 3 PARAM lt EMHANCED gt 1 SQ DIRECT 2 WORK COORD 9 RUN 4 ORIGIN BRK ie 5 SET INIT 6 ENHANCED 2 35 Confirming the operation 2 Unpacking to Installation 2 Press the 2 keys in the menu screen and select 2 WORK COORD lt EMHANCED gt WORK NUMBER 1 TEACHING POINT WO 1 SQ DIRECT 2 WORK COORD The screen shows the coordinate value of the origin WO of the work coordinates number 1 3 Selection of the work coordinates number Press the FUNCTION keys and display W JUMP function Press the function key corr
61. e such as battery cutting other method with same encoder The setting method is explained in Page 94 5 6 3 ABS origin method 5 User origin method A randomly designated position is set as the The setting method is explained in Page 96 5 6 4 User origin posture origin method Resetting the origin 5 70 3 Maintenance and Inspection 5 6 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 controller mode to MANUAL and set the T B ENABLE switch to ENABLE to validate the T B AN CAUTION Here if an axis is equipped with a brake release the brake and move the arm with both hands At this point release the brakes and move the arm with both hands To ensure safety the brake release procedure described below should always be done by two persons 1 J1 axis origin setting mechanical stopper 1 Press the 4 key on the menu screen and dis 2 RUN 4 ORIGIN BRK play the Origin BRK selection screen 6 ENHANCED lt ORIGIN BRAKE gt 1 ORIGIN 2 The type which does not have the brake in the J1 axis should go to 6 gt 8 Press the 2 key and display the Break release selection screen 3 Release the brake of the J1 axis Input 1 into the J1 axis Set 0 to other Cus axes 1 0 LO se 4 Confirm the axis for which the brakes are to be release
62. e timing belt 4 Confirm that the belt tension is adjusted to slacken approx 2 0mm when the center of the belt is lightly pressed with a finger approx 1 3N as shown in Fig 5 13 Belt tension WE Adjusting the J6 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J6 axis timing belt above 2 Lightly loosen the three motor plate fixing screws lt 1 gt Do not loosen too much 3 The nut which is fixing tension adjustment screw lt 3 gt is loosened turn tension adjustment screw lt 3 gt and adjust the tension of timing belt lt 2 gt When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Confirm that the belt tension is adjusted to slacken approx 2 0mm when the center of the belt is lightly pressed with a finger approx 1 3N If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys lt 4 gt and lt 5 gt or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw lt 3 gt and certainly fixes tension adjustment screw lt 3 gt Moreover also fasten motor plate fixing screw lt 1 gt certainly three pc Improper tighten ing can cause the belt to loosen with vibration ME Replacing the J axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J6 axis timing belt
63. e was exceeded Replace the battery 7510 Battery voltage low The backup data cannot Controller No battery voltage be guaranteed if this error occurs 7520 The battery consumption time was exceeded Replace the battery Encoder battery voltage low The backup data cannot 112n Encoder ABS position data lost be guaranteed if this error occurs Note1 n indicates the axis number The method of replacing the battery of robot arm is shown below refer to the separate Instruction manual Controller setup basic operation and maintenance about controller s Robot arm battery About the purchase of the battery refers to Page 69 5 5 Maintenance parts AN CAUTION If error 7500 or 112n occurs the program data and other data in the controller is lost and it becomes necessary to load the data such as program and origin data again Maintenance and inspection procedures 5 66 3 Maintenance and Inspection 1 Replacing the battery robot arm AN CAUTION The power supply for the encoder is supplied by cable connected with battery board The cable must be connected while replacing the battery or operating usually Thus if the cable connection is incomplete the encoder position data will be lost and reset ting the origin is necessary AN CAUTION Replace the battery one by one If all batterys are removed the encoder data will be lost and resetting the origin is necessary The battery installation positio
64. ease does not run out With the maintenance forecast function of the personal computer support software option the guidance of lubrication time is calculated according to the operating environment of the customer By the maintenance forecast function of RT ToolBox2 option computes the guide of the lubrication hours put together with the customer s operation status The numbers in theTable 5 4 correspond to the supply positions in Fig 5 14 2 Lubrication method 1 Set the robot to the posture shown in Fig 5 14 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the covers 3 Please protect the timing belt with the cloth etc so that the grease does not take for the timing belt at the time of oil supply 4 J5 axis lubrication port lt 5 gt the J6 axis lubrication port lt 6 gt reduction gears and the J6 axis lubrication port lt 7 gt gear should remove the bolt and should install the attached grease nipple Securely tighten the grease nipple by 4 7 Nm to 6 3 Nm 5 Insert the grease shown in Table 5 4 using a grease gun from the lubrication grease nipple 6 J5 axis lubrication port lt 5 gt the J6 axis lubrication port lt 6 gt reduction gears and the J6 axis lubrication port lt 7 gt gear should remove the grease nipple and should install the original bolt Securely tighten the bolt by 4 7 Nm to 6 3 Nm 7 Replace the covers with the removal procedure in reverse 8 If the maintenanc
65. eft 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 lt MENU gt 4 Next set the origin 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK Display the menu screen 5 SET INIT 6 ENHANCED 5 Press the 4 key on the menu screen and dis play the Origin Brake selection screen lt ORI G IN BRAKE gt 1 ORIGIN 2 BRAKE 6 Press the 1 key and display the Origin setting selection screen 7 Press the 5 key and display the User selection screen Resetting the origin 5 96 3 Maintenance and Inspection 8 Input 1 into the axis to origin setting Press lt ORIGIN gt USER 9 Press the F1 key and the origin position is set up CHANGE TO ORIGIN OK This complete the Origin setting by the User origin method 5 97 Resetting the origin 3 Maintenance and Inspection 5 6 5 Recording the origin data When the origin has been set with the jig method record that origin data on the origin data lab
66. el 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 JI motor cover The teaching pendant operation method and J1 motor 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 Page 15 2 3 2 Setting the origin with the origin data input method and write the origin data displayed on the teaching pendant onto the ori gin label 1 Confirming the origin data label Remove the JI motor cover Refer to Page 49 5 3 2 Installing removing the cover and remove the J1 motor cover 2 Confirming the origin data Confirm the value displayed on the teaching pendant s Origin Data Input screen Refer to Page 15 2 3 2 Setting 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 J1 motor cover Refer to Page 15 Fig 2 10 Origin data label an example and Page 18 Fig 2 11 Correspondence of origin data label and axis for details on the origin data label 4 Installing the cover Install the J1
67. en is not displayed it is displayed that the FUNCTION key is pressed If it finishes jog operation press the JOG key again or function key which correspond to close Whenever it presses the key of LOVRD T the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work The direction of the flange will not change When the X J1 keys are pressed the robot will move along the X axis plus direction When the X J1 keys are pressed Move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction When the Z J3 keys are pressed Move along the minus direction O lt When the robot is in the transportation posture O There are directions from which linear movement is not possible from the transportation posture In this case the robot will not move Refer to section Page 24 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog 2 21 Confirming the operation 2 Unpacking to Installation OO Olf the buzzer of T B sounds and the robot does not
68. enes 5 51 1 Timing belt replacement period ou cecessssssscsscessscessssssecsscecsssssessesesessssessesessesssnsassesuesesteassnsnesesteassestesesteassesaesen 5 51 2 Inspection maintenance and replacement of J1 axis timing Delt c ccecssecessecesesesceseseeseseeseseeseseeeeeee 5 52 3 Inspection maintenance and replacement of J2 axis timing belt c ccecssecsssecsscssesesesessesesseseeseseeeeeen 5 54 4 Inspection maintenance and replacement of J3 axis timing belt c cccccccscccececesseseceseesesesersesesereeees 5 55 CONTENTS Page 5 Inspection maintenance and replacement of J4 axis timing belt c ccceccsecsesesessseseseseseseeeseeseseeeeeen 5 56 6 Inspection maintenance and replacement of J5 axis timing belt and brake timing belt Fa 7 Inspection maintenance and replacement of J6 axis timing belt and brake timing belt 5 60 8 Timing belt tension cccscssssccssssssecsscececsecsceseseeceseesesessecessesecessesesessesnssssesteassnsassnsasstsusaesestesestsassesuesestesesteassesansens 5 63 SB EL ET e gis O A we TeNe CEST HE ran nO Er Ena TTOm 5 64 1 Lubrication position and specifications o u eeesesssssesssssssssessesssessecessessscessecsesesecarsassssesneceseceesesesatsesarseseesesecees 5 64 2 Lubrication method iexieteiartateiceaneiientunionianemndiennakadieninensaneaeennnenietet 5 65 Dac Roplacine the Dakun BAGGY kccwmcmienaseneneenesianeeammennemeanie een 5 66 1
69. esponding to W JUMP WORK NUMBER 1 TEACHING POINT WO lt WORK JUMP gt tas ONE OF THE WORK NUMBER Press numeral key 1 8 and specify the work coordinates number The coordinate value of the specified work coordinates system is displayed lt WORK JUMP gt ONE OF THE WORK NUMBER WORK NUMBER 2 TEACHING POINT WO The screen is the example which specified Operation will be canceled if the the work coordinates number 2 2 at the CLOSE key is pressed upper right of the screen 4 The teaching of the work coordinates system Teach the three points shown in Fig 2 18 Confirm the name currently displayed on the TEACHING POINT at the upper right of the screen If it differs press the function key corresponding to each point WO WX WY to teach Move the robot s arm by jog operation other jogging movement and press the function key corresponding to TEACH F1 The confirmation screen is displayed WORK NUMBER 2 lt WORK COORD gt WORK NUMBER 2 TEACHING POINT WO TEACHING POINT WO i CURRENT POSITION Specify the teaching point WO WX WY teaching the position TEACH Confirming the operation 2 36 2 Unpacking to Installation Presses the function key corresponding to Yes the robot s current position is registered and the registered coordinates value is displaye Operation will be canceled if the CLOSE key is pressed lt WORK COORD gt WORK NUMBER 2 lt WORK COORD gt
70. essed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction of the tool coordinate system When the Z J3 keys are pressed Move along the minus direction O lt When the robot is in the transportation posture O O There are directions from which linear movement is not possible from the transportation posture In this case the robot will not move Refer to section Page 24 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog 2 29 Confirming the operation 2 Unpacking to Installation OO Olf the buzzer of T B sounds and the robot does not move O O If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction Changing the flange surface posture Z Z f oR a A MiTsuBis 6 MNO Y iL B u5 iin a wxyz Jii A us ial oa 3 JKL 8 tuv d A Duma 40 4 G AA Z se z r saae r m x y The control point does not change Z When the A J4 keys are pressed The X axis will rotate in the plus direction of the tool coordinate system When thel A J4 keys are pressed Rotate in the minus direction When thel B J5 keys are pressed The Y axis will rotate in the plus direction of the tool coordinate system When the B J5 keys ar
71. eys are pressed Rotate in the minus direction When the B J5 keys are pressed the J5 axis will rotate in the plus direction When the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed the J6 axis will rotate in the plus direction When the C J6 keys are pressed Rotate in the minus direction OO Olf the buzzer of T B sounds and the robot does not move O O If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction Contirming the operation 2 26 2 Unpacking to Installation 2 XYZ jog operation Select XYZ jog mode lt CURRENT gt JOINT 100 Mi TO J1 0 00 Jb 0 00 J2 0 00 J6 0 00 J3 90 00 JOG AFA Odie gt JOG XYZ jog mode Set jog speed lt CURRENT gt JOINT 100 Mi TO J1 0 00 Jb 0 00 J2 0 00 J6 0 00 J3 90 00 J4 0 00 OVRD f OVRD y JOG ATA LAng gt Setting the speed Moving along the base coordinate system N i P ti i ff F mr if j a ii 2 ABC i k 1 i A T p r m X Y JOG Press the key and display the jog screen JOG is displayed on the screen bottom Check that the XYZ in jog mode is displayed on the screen If other jog modes are displayed please press the function key corresponding to the XYZ If the jog mode which he wishes under the scre
72. g operation Refer to Page 49 5 3 2 Installing removing the cover for removing installing the cover lt 1 gt P round head screw O M3 x 25 y4 J T lt 8 gt B port lt 4 gt A port IS ff lt 5 gt B port lt 7 gt A port a R port lt 6 gt No 2 solenoid valve lt 2 gt P port Detail of section A Solenoid value set optional 1 The back of the robot installation section a arm base portion Expansion view 1 2 AIR IN 1 to 4 connect to lt a gt 3 4 OG ee Secondary piping PAN a IGR IGR2 pneumatic coupling Q 4 A ae Th GR1 GR4 connect to lt b gt GR1 GR4 connect to lt b gt wo we Hand output connector Ole e e Hand output connector Note1 Note1 Secondary piping pneumatic hose o4 Primary piping pneumatic hose 6x1 Note1 Please prepare by the customer the pneumatic hose to connect the solenoid valve set 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 rob
73. g to Installation Changing the flange surface posture 6 uno The wrist pose can be changed maintaining the flange s position When the A J4 keys are pressed the J4 axis will rotate in the plus direction At this time to maintain the flange s position other axes move simultaneously except J5 and J When thel A J4 keys are pressed Rotate in the minus direction When the B J5 keys are pressed the J5 axis will rotate in the plus direction At this time to maintain the flange s position other axes move simultaneously except J4 and J When the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed the J6 axis will rotate in the plus direction When thel C J6 keys are pressed Rotate in the minus direction Confirming the operation 2 32 2 Unpacking to Installation 5 CYLNDER jog operation 5 JOG Select cylindrical jog mode lt CURRENT gt JOINT 100 Mi TO J1 0 00 J5 0 00 J2 0 00 J6 0 00 J3 90 00 JOG RAFA TOUR gt CYLNDER jog mode Set jog speed lt CURRENT gt JOINT 100 Mi TO J1 0 00 Jb 0 00 J2 0 00 J6 0 00 J3 90 00 J4 0 00 OVRD f OVRD y JOG ATA LAng gt Setting the speed Moving along an arc centering on the Z axis JOG Press the key and display the jog screen JOG is displayed on the screen bottom Check that the CYLNDER in jog mode is dis
74. gin 2 16 2Unpacking to Installation 4 Selecting the origin setting method 1 Press the 4 key on the menu screen and display the ORIGIN BRAKE screen EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED lt ORIGIN BRAKE gt 2 Press the 1 key on the ORIGIN BRAKE screen and 2 BRAKE 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 lt ORIGIN gt DATA 4 Display the origin data input screen J2 OO Selecting a menu O OD 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 T keys etc move the cursor to the item to be selected and then press the INP key The input method of numeral Q The number can be inputted if the key displayed on the lower left of each key is pressed Press the CHARACTER key and in the condition that 123 is displayed on the screen lower side press the number key 2 1 7 Setting the origin 2Unpacking to Installation 5 Inputting the origin data T B screen Origin data label D J1 J2 J3 J4 J5 J6 J7 J8 lt ORIGIN gt DATA J2 Input the value confirmed in section Page 15 1 Confirming the origin data The correspondence of the origin data label value and axis to be input is shown in Fig 2 11 Fig 2 11 Correspondence of origin data label
75. h is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 9 81 Resetting the origin 3 Maintenance and Inspection 5 6 2 Jig method This method is using the origin setting tool If the origin setting tool is required please ask nearby dealer The reference figure of the origin setting tool is shown in Fig 5 17 Fig 5 17 Reference dimension of origin setting tool The procedure of setting the origin with the origin setting tool is shown below Carry out this method for each axis First set each axis by the origin position There are the method of releasing the brake and adjusting with the origin position manually and the method of adjusting with the origin position by jog feed Here explain operation by brake release Then do origin setting operation and set up the origin AN CAUTION To ensure safety the brake release procedure described below should always be done by two persons This operation is carried out with the teaching pendant Set the controller mode to MANUAL and set the ENABLE switch on the teaching pendant to ENABLE to enable the teaching pendant Do the following operations pressing down the enabling switch of T B lig
76. has not deviated If deviated refer to Page 70 5 6 Resetting the origin and reset the origin position 9 93 Maintenance and inspection procedures 3 Maintenance and Inspection 3 Inspection maintenance and replacement of J2 axis timing belt The reference figure at inspection adjustment and replacement of the timing belt is shown in Fig 5 6 lt 3 gt Tension adjustment screw With the fixing nut lt 1 gt Idler inatallation screw J2 axis lt 4 gt Timing pulley motor side Mark lt 2 gt Timing belt lt 5 gt Timing pulley Mark joint side Fig 5 6 Inspection maintenance and replacement of J2 axis timing belt W Inspecting the J2 axis timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover 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 lt 2 gt 4 Confirm that the belt tension is adjusted to slacken approx 1 4mm when the center of the belt is lightly pressed with a finger approx 2N as shown in Fig 5 13 Belt tension Mi Adjusting the J2 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J2 axis timing belt above 2 Lightly loosen the two idler installation bolts lt 1 gt Do not loosen too much 3 The nut which is fixing tension adjustment screw lt 3 gt
77. htly Resetting the origin 5 82 3 Maintenance and Inspection 1 J1 axis origin setting 2 RUN 4 ORIGIN BRK 6 ENHANCED Select ORIGIN BRK lt OR GIN BRAKE gt 1 ORIGIN 2 BRAKE Select BRAKE 2 ABC Brake release S Pinhole J1 Complete brake release 5 83 Resetting the origin 1 Press the 4 key on the menu screen and dis play the Origin Brake selection screen 2 The type which does not have the brake in the J1 axis should go to 6 gt 8 Press the 2 key and display the Brake release selection screen 3 Release the brake of the J1 axis Input 1 into the J1 axis Set 0 to other axes 4 Confirm the axis for which the brakes are to be released 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 Move the J1 axis slowly toward the front using both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig 6 into the pinholes and fasten 7 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen 3 Maintenance and
78. i TO J1 0 00 Jb 0 00 J2 0 00 J6 0 00 J3 90 00 J4 0 00 OVRD f OVRD y JOG ATA LAng gt Setting the speed Moving along the tool coordinate system Y he ES lt X N an he d 7 i r fii P fha N JOG Press the key and display the jog screen JOG is displayed on the screen bottom Check that the TOOL in jog mode is displayed on the screen If other jog modes are displayed please press the function key corresponding to the TOOL If the jog mode which he wishes under the screen is not displayed it is displayed that the FUNC TION key is pressed If it finishes jog operation press the JOG key again or function key which correspond to close Whenever it presses the key of LOVRD T the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work The direction of the flange will not Y change When the X J1 keys are pressed the robot will move along the X axis plus direction of the tool coordinate system When the X J1 keys are pressed Move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction of the tool coordinate system When the Y J2 keys are pr
79. igin BRK selection screen _ 2 The type which does not have the brake in the 6 ENHANCED J4 axis should go to 6 gt 8 Press the 2 key and display the Brake release selection screen 2 ABC 3 Press the Arrow key move the cursor to the J4 axis and press the 1 key Set 0 to other QO space 4 Confirm the axis for which the brakes are to be released 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J4 axis in plus direction and contact the axis against the mechanical stopper 7 Detach the F1 key and work the brake Press the F4 key and return to the Origin BRK screen 8 Press the 1 key and display the Origin setting 2 BRAKE selection screen 3 Maintenance and Inspection 9 Press the 2 key and display the Mechanical stopper selection screen Z 53 2 ABC lt ORIGINS MECH 10 Press the Arrow key move the cursor to the gt J4 axis and press the 1 key Set 0 to other Jl J2 axes ACID J5 Cun J7 J8 O SPACE 11 Press the EXE key and display Confirmation screen lt ORIGIN gt MECH 12 Press the F1 key and the origin position is set up CHANGE TO ORIGIN 13 Setting of the origin is completed lt ORIGIN gt MECH COMPLETED 14 Refer to Page 98 5 6 5 Recording the origin J1 J2 J3 data in this manual and
80. ill loosen Confirm that the belt tension is adjusted to slacken approx 0 8mm when the center of the belt is lightly pressed with a finger approx 1 3N If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys lt 4 gt and lt 5 gt or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw lt 3 gt and certainly fixes tension adjustment screw lt 3 gt Moreover also fasten motor plate fixing screw lt 1 gt certainly two pc Improper tightening can cause the belt to loosen with vibration ME Replacing the J4 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J4 axis timing belt above 2 Make sure that the pulleys do not move while replacing the belt If the timing pulley lt 4 gt and lt 5 gt position relation deviates the position could deviate 3 Make marks on the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt with a felt tip pen as shown in Fig 5 8 so that the engagement of the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt does not deviate 4 Lightly loosen the two motor plate fixing screws lt 1 gt Do not loosen too much 5 Loosen the nut fixing tension adjustment screw lt 3 gt Loosen the tension adjustment screw lt 3 gt and remove the old belt 6 Copy the marks onto the new timing belt Make
81. indicated in W Inspecting the J3 axis timing belt above 2 Make sure that the pulleys do not move while replacing the belt If the timing pulley lt 4 gt and lt 5 gt position relation deviates the position could deviate 3 Make marks on the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt with a felt tip pen as shown in Fig 5 7 so that the engagement of the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt does not deviate 4 Lightly loosen the two idler installation screws lt 1 gt Do not loosen too much 5 Loosen the nut fixing tension adjustment screw lt 3 gt Loosen the tension adjustment screw lt 3 gt and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys lt 4 gt and lt 5 gt and install 8 Refer to W Adjusting the J3 axis timing belt and 8 Timing belt tension to adjust the tension 9 The position could deviate after the belt is replaced Confirm that the position has not deviated If deviated refer to Page 70 5 6 Resetting the origin and reset the origin position 5 55 Maintenance and inspection procedures 3 Maintenance and Inspection 5 Inspection maintenance and replacement of J4 axis timing belt The reference figure at inspection adjustment and replacement of the timing belt is shown in Fig 5 8 Mark lt 1 g
82. ioning by adhesion of the dust etc Don t remove the SSCNETIII cable when the power supply of the robot controller is turned on Don t face squarely the light emitted from the tip of the SSCNETIII con nector or the cable If light strikes the eyes there is a possibility of feeling the sense of incongruity for the eyes The light source of SSCNETIII is equivalent to the class 1 specified to JIS C 6802 and IEC 60825 1 Make sure there are no mistakes in the wiring Connecting differently to the way specified in the manual can result in failures such as the emergency stop not being released In order to prevent from occurring please be sure to check that all functions such as the teaching box emergency stop customer emergency stop and door switch are working properly after the wiring setup is completed 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 a a a or Fe T T KECA tm This is installed in th bot t Safety socket for fixing plates M5x12 g ans z E eens the time of shipment Confirming the product 2 6 2Unpacking to Installation 2 2 Installation 2 2 1 Unpacking a Topples over S b Pull out slowly C
83. is near 0 degree This is the necessity to not damaging the resin cover Topple slowly so that a shock may not be given If you have the resin cover there is a possibility that the cover may be broken Maintenance and inspection procedures 5 52 3 Maintenance and Inspection lt 3 gt Tension adjustment screw lt 4 gt Timing pulley With the fixing nut ee ee O rA lt 1 gt Motor plate fixing screw lt 1 gt Motor plate fixing screw lt 6 gt Motor plate lt 2 gt Timing belt lt 5 gt Timing pulley Inside of the bottom plate of robot arm bottom Fig 5 5 Replacing the J1 axis timing belt 1 Turn the J1 axis to the front by jog operation beforehand joint angle is near 0 degree 2 Turn off the robot controller 3 Remove the machine cable or piping etc corresponding to the usage condition and place the robot on the floor sideways Turn J1 motor cover upward and place sideways slowly so that a shock may not be given to the robot arm 4 Please remove J1 motor cover and the bottom plate with reference to Page 49 5 3 2 Installing removing the cover 5 The image figure inside the bottom plate of the robot arm is shown in Fig 5 5 6 Make sure that the pulleys do not move while replacing the belt If the timing pulley lt 4 gt and lt 5 gt position relation deviates the position could deviate 7 Make marks on the timing belt
84. ius direction and moves vertically At this time the flange surface posture is maintained Also while maintaining the flange surface position the flange surface posture changes Confirming the operation 2 22 2 Unpacking to Installation Zw Xw WORK coordinate system X Fig 2 17 WORK jog operation 2 23 Confirming the operation Tool EN length J Control point Te i Po ee ze fii Y While maintaining the flange surface posture the axis moves straight along the work coordinate system Also while maintaining the flange surface position the flange surface posture changes 2 Unpacking to Installation 1 JOINT jog operation Select joint jog mode lt CURRENT gt JOINT 100 M1 TO J1 0 00 Jo 0 00 J2 0 00 J6 0 00 J3 90 00 JOG RAFA Oi gt JOG Joint jog mode Set jog speed lt CURRENT gt JOINT 100 MI TO J1 0 00 Jb 0 00 J2 0 00 J6 0 00 J3 90 00 J4 0 00 OVRD A OVRD Y Ci JOG Beran ORME gt Setting the speed J1 axis jog operation JOG Press the key and display the jog screen JOG is displayed on the screen bottom Check that the joint in jog mode is displayed on the screen If other jog modes are displayed please press the function key corresponding to the joint If the jog mode which he wishes under the screen is not displayed it is displayed that the FUNCTION
85. layed it is displayed that the FUNC TION key is pressed If it finishes jog operation press the JOG key again or function key which correspond to close Whenever it presses the key of LOVRD T the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the in jog mode is controller Set the override to 10 here for confirmation work Moving along the base coordinate system Z d dj if ff ae a AA g i Ti AH I iis x The direction of the flange will change TY Z When the X J1 keys are pressed the robot will move along the X axis plus direction When the X J1 keys are pressed Move along the minus direction When thel Y J2 keys are pressed the robot will move along the Y axis plus direction When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction When the Z J3 keys are pressed Move along the minus direction O lt The flange surface end axis posture cannot be maintained with 3 axis XYZ jog O O 2 31 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 Confirming the operation 2 Unpackin
86. leased 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J5 axis in plus direction and contact the axis against the mechanical stopper SS 5 The direction of the J5 axis shows the case where the J4 axis is in the mechanical stopper position 7 Detach the F1 key and work the brake 5 79 Resetting the origin 3 Maintenance and Inspection Then set the J6 axis posture 8 Install the bolt M5 2 customer preparation in the diagonal position at the J6 axis Hold the bolts with hands rotate them slowly and align the ABS mark of the J6 axis with the ABS mark of the wrist area The type which has the brake in the J6 axis releases the brake The type which does not have the brake should go to 13 Press the Arrow key move the cursor to the J6 axis and press the 1 key Set 0 to other axes Bolt M5 x 2 customer preparation 9 Confirm the axis for which the brakes are to be released CAUTION 10 Pressing the F1 key is kept with the enabling AN The J6 axis dose not have a switch of T B pressed down The brake is mechanical stopper When setting the origin position do not rotate the axis more than themotion range 200 deg 11 Hold the bolts with hands rotate them slowly and align the ABS mark of the J6 axis with the ABS
87. m It consists of MELSEC units such as the sequencer base unit the sequencer CPU unit and the robot CPU unit etc Indicates the box which mounts the servo amplifier for robot and the Drive unit Ha safety circuit etc Stand alone type Indicates the box which arranged control parts such as robot CPU Controller a ae servo amplifier and the safety circuit Precaution indicating cases where there is a risk of operator fatality or AN DAN G R serious injury if handling is mistaken Always observe these precau tions to safely use the robot Precaution indicating cases where the operator could be subject to WARN N G fatalities or serious injuries if handling is mistaken Always observe these precautions to safely use the robot Precaution indicating cases where operator could be subject to injury AN CAUTI O N or physical damage could occur if handling is mistaken Always observe these precautions to safely use the robot If a word is enclosed in brackets or a box in the text this refers to a JOG i key on the teaching pendant RESET EXE This indicates to press the B key while holding down the A key A B In this example the RESET key is pressed while holding down the EXE key This indicates the teaching pendant Indicates the operating panel on the front of controller or drive unit for the controller which installed the operating panel Using the instruction manuals 1 2 1Before sta
88. m No 1760 origin setting data illegal will occur when origin data input In this case reconfirm the value input for the origin data 2 19 Setting the origin 2 Unpacking to Installation 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 AN CAUTION 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 AN CAUTION 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 AN WARNING Confirm that the origin has been set If the origin has not been set x 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 Pag
89. mark of the wrist area released while pressing the key 12 If the ABS mark is aligned detach the F1 key and work the brake 13 Press the F4 key and return to the origin brake screen 14 Press the 1 key and display the Origin setting selection screen 15 Press the 2 key and display the Mechanical stopper selection screen Z 33 2 ABC Resetting the origin 5 80 3 Maintenance and Inspection lt ORIGIN gt MECH gt 16 Press the Arrow key move the cursor and J1 J2 J3 J4 JC OP Jp set 1 to the J5 axis and J6 axis Set 0 to J7 J8 other axes 17 Press the EXE key and display Confirmation screen lt ORIGIN gt MECH CHANGE TO ORIGIN OK Oo 18 Press the F1 key and the origin position is set up 19 Setting of the origin is completed 20 Refer to Page 98 5 6 5 Recording the origin lt ORIGIN gt MECH COMPLETED data in this manual and record the origin data on the origin data seal Jl J2 J3 J4 J F J i J7 J8 This complete the Origin setting by the Mechanical stopper method O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switc
90. mb 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 13 Check and adjust with the belt pressing force f and the slack amount d between span s 09 63 Maintenance and inspection procedures 3 Maintenance and Inspection 5 3 4 Lubrication 1 Lubrication position and specifications The grease nipple position is shown in Fig 5 14 The lubrication specifications for each place are shown in Table 5 4 Refer to the Page 49 5 3 2 Installing removing the cover for the method of removing and installing the cover 7 J6 axis lubrication port Gear 6 J6 axis lubrication port Reduction gears View A 4 J4 axis lubrication port 5 J5 axis lubrication port
91. menu screen and dis 2 RUN play the Origin Brake selection screen 4 ORIGIN BRK 6 ENHANCED lt ORI GIN BRAKE gt 1 ORIGIN 2 BRAKE 2 The type which does not have the brake in the J4 axis should go to D gt 9Y Press the 2 key and display the Brake release selection screen 3 Release the brake of the J4 axis Input 1 into the J4 axis Set 0 to other axes Emre O SPACE 4 Confirm the axis for which the brakes are to be released 5 One worker must securely support the upper arm with both hands 6 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 7 Slowly rotate the J4 axis in the direction of minus with both hands Align the pinholes of the No 2 arm and elbow feed through the origin jig 6 into the pinholes and fasten Pinhole J4 axis 8 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen 5 89 Resetting the origin 3 Maintenance and Inspection lt OR GIN BRAKE gt 1 ORIGIN 9 BRAKE 9 Press the 1 key and display the Origin setting selection screen lt ORIGIN gt 10 Press the 3 key and display the Tool selec tion screen 11 Input 1 into the J4 axis Set 0 to other axes C us 12 Press the EXE key and display Confirmation screen bl amp EXE lt ORIGIN gt TOOL 13 Press the F1 key and the origin p
92. motor cover and confirm the value The value given in the default setting column is the origin settings set with the calibration jig before shipment The origin data to input is found on also the robot examination report sheet AN WARNING 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 AN CAUTION Confirm that there are no operators near the robot before turning the power ON 1 Turn the controller POWER switch ON The CR7 50 controller turns ON the front power switch The CR7 51 controller turns ON the switch of the earth leakage breaker of installation outside 2 15 Setting the origin 2Unpacking to Installation 3 Preparing the T B Next prepare to use the T B 1 Set the mode of the controller to MANUAL The figure is example for CR750 controller 2 Set the T B ENABLE switch to ENABLE The menu selection screen will appear The following operations are carried out with the T B Up Disable Down Enable Lighting Operating from the T B O O Always set the mode of the controller to MAMNUAL and then set the T B ENABLE 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 Setting the ori
93. motor cover removed in step 1 Confirming the origin data label above Refer to Page 49 5 3 2 Installing removing the cover and replace the J1 motor cover This completes the recording of the origin data Resetting the origin 5 98 6Appenalx 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 Q is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground RIGHT LEFT FL1 Flag 1 amp B0000 0000 l 1 0 RIGHT LEFT Note amp B is shows the binary J1 axis Rotation center 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 FL1 Flag 1 amp B0000 0000 l 1 0 ABOVE BELOW Note amp B is shows the binary Rotation center J2 axis Fig 6 2 Configuration flag ABOVE BELOW Appendix 99 Configuration flag 6Appendix 3 NONFLIP FLIP This means in which side the J axis is in co
94. mparison with the plane through both the J4 and the J5 axis J4 axis FL1 Flag 1 amp BO0000 0000 T 1 0 NONFLIP FLIP Note amp B is shows the binary NON FILIP J6 axis flange surface Fig 6 3 Configuration flag NONFLIP FLIP Configuration flag Appendix 100 6Appenalx Appendix 101 Configuration flag a MITSUBISHI ELECTRIC CORPORATION 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 Dec 2012 MEE Printed in Japan on recycled paper Specifications are subject to change without notice MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Stra e 8 D 40880 Ratingen Phone 49 0 2102 486 0 Fax 49 0 2102 486 1120 MITSUBISHI ELECTRIC EUROPE B V org sl Czech Branch Avenir Business Park Radlick 714 113a CZ 158 00 Praha 5 Phone 420 251551470 Fax 420 0 251 551 471 MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex Phone 33 0 1 55 68 55 68 Fax 33 0 1 55 68 5757 MITSUBISHI ELECTRIC EUROPE B V lrish Branch Westgate Business Park Ballymount IRL Dublin 24 Phone 353 0 1 4198800 Fax 353 0 1 4198890 MITSUBISHI ELECTRIC EUROPE B V Italian Branch Viale Colleoni 7 I 20041 Agrate
95. n is shown in Fig 5 15 Refers to the figure and replaces the batteries in the following procedures Battery Lead connector 7 a F oo PN bx S Inside the battery cover The back of the robot arm base portion Fig 5 15 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 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 4 Remove battery cover lt 1 gt referring to Page 49 5 3 2 Installing removing the cover 5 The battery holder is located in the battery cover lt 1 gt Remove the old battery from the holder and discon nect the lead connector 6 Insert the new battery into the holder and connect the lead connector The pole is left hand side Replace all batteries with new ones at the same time 7 Replaces the backup battery one by one in the above mentioned procedure 8 All the batteries should check that it has been ex
96. n the B J5 keys are pressed The Y axis will rotate in the plus direction of the work coordinate system When the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed The Z axis will rotate in the plus direction of the work coordinate system When thel C J6 keys are pressed Rotate in the minus direction O When the robot is in the transportation posture O O There are directions from which linear movement is not possible from the transportation posture In this case the robot will not move Refer to section Page 24 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog O Olf the buzzer of T B sounds and the robot does not move O O If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction OS Tool length Q The default tool length is Omm 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 Confirming the operation 2 40 Installing the option devices e E l 3 Installing the option devices 3 1 Installing the solenoid valve set The installation summary of the solenoid valve is shown in Fig 3 1 Turn the controller s power OFF before this installin
97. nce and Inspection lt OR GIN BRAKE gt 8 Press the 1 key and display the Origin setting 1 ORIGIN selection screen lt ORIGIN gt 1 DATA 9 Press the 2 key and display the Mechanical stopper selection screen 3 TOOL 5 USER Z J3 2 ABC lt ORIGIN gt MECH _ o 10 Input 1 into the J2 axis Set 0 to other axes J1 J2 9 e v JAC BCC J7 J8 O sPAcE 11 Press the EXE key and display Confirmation EKE screen SORIGIN gt MECH 12 Press the F1 key and the origin position is set up CHANGE TO ORIGIN 0K z 13 Setting of the origin is completed lt ORIGIN gt MECH COMPLETED m 14 Refer to Page 98 5 6 5 Recording the origin J1 J2 J3 data in this manual and record the origin data J4 Jb J6 on the origin data seal J7 J8 O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow key The origin is set only for the axis for which a 1 is displayed on the screen If the origin is not
98. nieianssvarccsvsntninscoasvanasostseuduvnasuvavacndeuntocensdcnnnniben aninsdalvsesenas canssadshdasenanieantalakatanonssaevale 5 87 4 J4 axis origin setting pcceevsscectesercsieaccacosnesscvesontavencexvanecasxvadsacacocesincaievneesiseuinseatertniashtoemaeatevmatnsasaminniacndinaaccenisea 5 89 5 Origin setting of J5 axis and J6 axis jig ccececcccscsssscesecseseceesesecsesececsesecsesececseseesesesecsesersesevaesesevseeeseesesereeeeses 5 91 IDo Ue oE O anA 5 94 1 Select the T B i casaicicxcchiccsancivesosnscidinnssesisssiinbnstonetseaen bastante aaasanos wcitaahsalausniullenesleeshasasdaseawite 5 95 SEA Uoer orain NO sea TA ET AEO 5 96 2 0 9 Recording the arein data ssssssn EERE 5 98 1 Confirming the origin data label o c c ccccecsccssssecessssessesecesseseesssesecsesecsesececsesersesecarsesersesereesevaceeseseesesavetsessesesareereveee 5 98 2 Confirming the origin data eee er eae mena ene evra tre nr aiaiai ETE EOIN TE CET EnINE TCT eOn COT riaiisiai iicbd 5 98 3 Recording a ae ee cg eae 5 98 4 Installing the cover gare nee eee eam eevee Cee nee S mmE gS TET TERS vee SERIE CRY TT guEEyETS nRrC En nC avEn Ce Tre pant 5 98 v2 Ue G Lo 4 0 2 Sie aan oe ae meen es eae OnOe ace eee ee ete MES oer Me eT eT ORE eT ew mee nee we Oe ey ee eer Appendix 99 Appendix 1 lt Conhegeuration acacia cese ta accccockstacatentseesd nce ipanaa a aa aai hiai aaien Appendix 99 1Before starting use 1 1 1 Before starting use This chapter e
99. nt X 51 3 The direction of the flange will not change Move the control point a __ with a straight line in accordance with the work coordinates system I l 1 Work coordinates system X Y When the X J1 keys are pressed the robot will move along the X axis plus direction on the work coordinates system When thel X J1 keys are pressed Move along the minus direction When thel Y J2 keys are pressed the robot will move along the Y axis plus direction on the work coordinates system When thel Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction on the work coordinates system When thel Z J3 keys are pressed Move along the minus direction 2 39 Confirming the operation 2 Unpacking to Installation Changing the flange surface posture 7 z ae peo j MTsusisa a im lz ee e Ai N EN fioo length AN i A i re Cus dj A point a Ta 7 a T 5 JKL om ake J 8 Ttuv n BA Yw Y Ep x a A of the N va h oes not change Change the Work toordinates system E a direction of the flange in X Y accordance with the work Z coordinates system When the A J4 keys are pressed The X axis will rotate in the plus direction of the work coordinate system When thel A J4 keys are pressed Rotate in the minus direction Whe
100. nt period have not occurred with the timing belt lt 2 gt 4 Confirm that the belt tension is adjusted to slacken approx 1 6mm when the center of the belt is lightly pressed with a finger approx 2N as shown in Fig 5 13 Belt tension WE Adjusting the J3 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J3 axis timing belt above 2 Lightly loosen the two idler installation screws lt 1 gt Do not loosen too much 3 The nut which is fixing tension adjustment screw lt 3 gt is loosened turn tension adjustment screw lt 3 gt and adjust the tension of timing belt lt 2 gt When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Confirm that the belt tension is adjusted to slacken approx 1 6mm when the center of the belt is lightly pressed with a finger approx 2 0N If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys lt 4 gt and lt 5 gt or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw lt 3 gt and certainly fixes tension adjustment screw lt 3 gt Moreover also fasten idler installation screws lt 1 gt certainly two pc Improper tight ening can cause the belt to loosen with vibration ME Replacing the J3 axis timing belt 1 Carry out steps 1 and 2
101. nt to ENABLE to enable the teaching pendant First set to the ABS mark arrow of the axis for which the origin is to be set with jog operation This can be set for all axes simultaneously or each axis independently When setting the ABS mark always view the operations from the mark and set at the end of the triangular mark The positions where the ABS mark is attached are shown in below Refer to Page 20 2 4 Confirming the operation for details on the jog operation J4 axis Elbow part upper surface J5 axis J6 axis J2 axis ABS mark Note The figure is reference to show the sticking position of the ABS mark The angles of each axis which sets up the ABS origin are 0 0 90 50 75 0 Fig 5 18 ABS mark attachment positions Resetting the origin 5 94 3 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below 1 Select the T B Do the following operations with pressing the enabling switch of T B lightly lt MENU gt i FILE EDIT gt RUN 1 Press the 4 key on the menu screen and dis l 4 ORIGIN BRK play the Origin Brake selection screen 5 SET INIT 6 ENHANCED lt ORIGIN BRAKE gt 2 Press the 1 key and display the Origin setting 1 ORIGIN 2 BRAKE selection screen bd 3 Press the 4 key and display the ABS selection screen 4 Input 1 into the axis to origin setting Press the EXE key an
102. o much 5 Loosen the nut fixing tension adjustment screw lt 3 gt Loosen the tension adjustment screw lt 3 gt and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys lt 4 gt and lt 5 gt and install 8 Refer to W Adjusting the J2 axis timing belt and 8 Timing belt tension to adjust the tension 9 The position could deviate after the belt is replaced Confirm that the position has not deviated If deviated refer to Page 70 5 6 Resetting the origin and reset the origin position Maintenance and inspection procedures 5 54 3 Maintenance and Inspection 4 Inspection maintenance and replacement of J3 axis timing belt The reference figure at inspection adjustment and replacement of the timing belt is shown in Fig 5 7 lt 3 gt Tension adjustment screw With the fixing nut lt 1 gt Idler installation screw Mark J3 axis lt 5 gt Timing pulley lt 2 gt Timing belt lt 4 gt Timing Salle 3 Goint side motor side _ Fig 5 7 Inspection maintenance and replacement of J3 axis timing belt E Inspecting the J3 axis timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the No 1 arm cover L 3 Visually confirm that the symptoms indicated in 1 Timing belt replaceme
103. 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 o
104. 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 1Before starting use 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 DANGER CAUTION CAUTION N CAUTION N CAUTION N CAUTION N CAUTION WARNING WARNING CAUTION WARNING N CAUTION N CAUTION N CAUTION N WARNING If the automatic operation of the robot is operated by two or more control equip ment design the right management of operation of each equipment of the cus tomer 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 f
105. on the menu screen and dis 2 RUN play the Origin Brake selection screen 4 ORIGIN BRK 6 ENHANCED lt ORI G IN BRAKE gt 1 ORIGIN 2 BRAKE 2 Press the 2 key and display the Brake release selection screen 3 Release the brake of the J2 axis Input 1 into the J2 axis Set 0 to other axes 4 Confirm the axis for which the brakes are to be released 5 One worker must securely support the upper arm with both hands 6 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key ol 7 Move the J2 axis slowly toward the front using 4 both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig 6 into the pinholes and fasten Pinhole J2 AN CAUTION 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 AN CAUTION If F1 key or enable switch of T B is released the brakes will be work immediately 5 85 Resetting the origin 3 Maintenance and Inspection 8 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen lt
106. osition is set up CHANGE TO ORIGIN OK z COMPLETED 14 Setting of the origin is completed 15 Refer to Page 98 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal lt Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 90 3 Maintenance and Inspection 5 Origin setting of J5 axis and J6 axis jig Always perform origin setting of the J axis and the J axis simultaneously First set the J axis posture 5 91 lt MENU gt 1 FILE EDIT 2 RUN A ORIGIN BRK 6 ENHANCED lt OR GIN BRAKE gt 1 ORIGIN 2 BRAKE Z 33 2 ABC le E i g Pinhole J5 done by two persons v 1 Remove the No 2 arm cover B The pin hole is inside the cover 2 Press the 4 key on the menu screen and display the
107. ot arm install the solenoid valve with the enclosed screw lt 1 gt M3 x 25 2 screws 2 Connect the primary air supply air hose 6 prepared by customer to the quick joint P port lt 2 gt of the solenoid valve 3 41 Installing the solenoid valve set Installing the option devices 3 Connect the AIR IN 1 mark secondary piping coupler to the A port lt 4 gt of the No 1 solenoid valve lt 3 gt with an air hose 4 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 VDO02 connect the following Connect the AIR IN 3 mark secondary coupler to the A port lt 7 gt of the No 2 solenoid valve lt 6 gt Connect the AIR IN 4 mark secondary coupler to the B port lt 8 gt of the No 2 solenoid valve lt 6 gt 4 Connect the GR1 plug from the No 1 solenoid valve lt 3 gt to the GR1 connector on the back of the robot arm Connect the GR2 plug from the No 1 solenoid valve lt 3 gt to the GR2 connector on the back of the robot arm For a double valve 1E VDO02 connect the following Connect the GR3 plug from the No 2 solenoid valve lt 6 gt to the GR3 connector on the back of the robot arm Connect the GR4 plug from the No 2 solenoid valve lt 6 gt to the GR4 connector on the back of the robot arm Installing the solenoid valve set 3 42 4Basic operations 4 Basic operations
108. part is as shown below 1 The rotation of the J1 axis motor lt 1 gt arranged in the base is conveyed to the reduction gears lt 3 gt via the timing belt lt 2 gt to rotate the J1 axis RV 2F Brakes are not mounted in the J1 axis motor RV 2FB Non excitation magnetic brakes are mounted in the J1 axis motor 2 The rotation of the J2 axis motor lt 4 gt arranged in the No 1 arm is conveyed to the reduction gears lt 6 gt via the timing belt lt 5 gt to rotate the J2 axis Non excitation magnetic brakes are mounted in the J2 axis motor 3 The rotation of the J3 axis motor lt 7 gt arranged in the No 1 arm is conveyed to the reduction gears lt 9 gt via the timing belt lt 8 gt to rotate the J3 axis Non excitation magnetic brakes are mounted in the J3 axis motor 4 The rotation of the J4 axis motor lt 10 gt arranged in the elbow is conveyed to the reduction gears lt 12 gt via the timing belt lt 11 gt to rotate the J4 axis RV 2F Brakes are not mounted in the J4 axis motor RV 2FB Non excitation magnetic brakes are mounted in the J4 axis motor 5 The rotation of the J5 axis motor lt 13 gt arranged in the No 2 arm is conveyed to the reduction gears lt 16 gt via the timing belt lt 14 gt to rotate the J5 axis Non excitation magnetic brakes lt 17 gt are mounted via the timing belt lt 15 gt in the J5 axis motor 6 The rotation of the J6 axis motor lt 18 gt arranged in the No 2 arm is conveyed to the reduction gears l
109. pened during automatic operation 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 fingers catching depending on the posture AN CAUTION 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 Moreover it may interfere with the peripheral device by drop or move by inertia of the arm AN CAUTION 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 AN CAUTION Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB When using network equipment measure
110. played on the screen If other jog modes are displayed please press the function key corresponding to the CYLNDER If the jog mode which he wishes under the screen is not displayed it is displayed that the FUNCTION key is pressed If it finishes jog operation press the JOG key again or function key which correspond to close Whenever it presses the key of LOVRD T the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work The direction of the frange will not change Assuming that the current position is on an arc centering on the Z axis the robot moves along that arc When the X J1 keys are pressed the robot will expand in the radial direction When the X J1 keys are pressed Contract in the radial direction When the Y J2 keys are pressed the robot will move along the arc in the plus direction When the Y J2 keys are pressed Move in the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction When the Z J3 keys are pressed Move along the minus direction 2 33 Confirming the operation 2 Unpacking to Installation Changing the flange surface posture Cus z Cus i E i E Sao k T The fi ition does not ch
111. power supply switch of the robot controller is OFF 2 Connects T B connector to the robot controller Use as the upper surface the lock lever shown in Fig 2 8 and push in until there is sound Dummy connector Details of the A section A Controller g oa an z gt R y x R o 2 gt RS De a e T S mee Ke ue se se V Ga a Sa t iy m an A r mar oe Fi 2 F e a4 gt e When removing the connector for T B connection use lock release state which raised the lock lever to the up side make the case of the B section slide to the front and remove and pull up out the latch I ie RN btey N TTT Be ee Pe Fig 2 8 Installing and removing the T B CR750 controller The installation of T B is finished OS If error C0150 occurs O OD At the time of the first power supply injection error C0150 the serial number of the robot arm has not been set up occur the robot after purchase Parameter Please input the serial number of the robot body into RBSERIAL Refer to instructions manual controller setup and basic operation amp maintenance for the operation method 2 13 Setting the origin 2Unpacking to Installation 2 Installing the T B CR751 controller Explain the installation method of T B below 1 Check that the POWER power supply switch of the robot controller is OFF 2 Connect the T B connector to the controller s T B connector
112. record the origin data J4 J5 J6 on the origin data seal J7 J8 lt Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow 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 F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow 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 Resetting the origin 5 18 3 Maintenance and Inspection 5 J5 J6 axis origin setting mechanical stopper Always perform origin setting of the J axis and the J axis simultaneously First set the J axis posture lt MENU gt 1 Press the 4 key on the menu screen and 1 FILE EDIT 2 RUN display the Origin BRK selection screen 3 PARAN A ORIGIN BRK ae g 5 SET INIT 6 ENHANCED lt ORIGIN BRAKE gt 2 Press the 2 key and display the Brake 2 BRAKE release selection screen Z 3 3 Brake release of the J5 axis Press the Arrow key move the cursor to the J5 axis and press the 1 key Set 0 to other axes 4 Confirm the axis for which the brakes are to be re
113. remedy the air leaks replace leaks drain clogging or hose damage Is the air source normal the part Visual 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 Follow the troubleshooting section turned ON During operation try running with an original program 1 Check whether the movement points are deviated Follow the troubleshooting section 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 Is there any abnormal motion or abnormal noise Follow the troubleshooting section Visual 9 45 Jnspection items Maintenance and Inspection 5 2 2 Periodic inspection Carry out periodic inspection with the procedures given in Table 5 2 Table 5 2 Periodic inspection items details Monthly inspection items Are any of the bolts or screws on the robot arm loose Securely tighten the bolts Are any of the connector fixing screws or terminal block terminal Securely tighten the screws screws loose 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 Is the friction at the timing belt teeth se
114. rmed during the periodic inspection The replacement is necessary if the timing belt is in the condition which showed in 1 Timing belt replacement period The inspection and adjustment and replacement method of the timing belt of each axis is shown below Please check and adjust and replace if necessary In addition it is serviceable if there is the sound wave type belt tension gauge in inspection and adjustment of the timing belt The recommendation gauge is shown below Please prepare by customer Refer to the Page 63 8 Timing belt tension for the tension adjustment value of the timing belt Maker Gates Unitta Asia Company Type U 505 1 Timing belt replacement period 9 91 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 AN CAUTION 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 AN CAUTION When the belt is replaced the machine system origin may deviate In
115. rting use 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 A CAUTION All teaching work must be carried out by an operator who has received special NCAUTION WARNING NCAUTION NDANGER NCAUTION NCAUTION NCAUTION 1 3 Safety Precautions 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
116. s 1 and 2 indicated in W Inspecting the J5 axis brake timing belt above 2 Loosen J5 axis motor fixing screw 1 two pc Loosen so that it may not escape from nut By loosening the screw the tension of brake timing belt lt 3 gt is automatically adjusted by the work of spring lt 2 gt installed in the motor plate 3 After adjustment securely tighten the two motor installation screws lt 1 gt Improper tightening can cause the belt to loosen with vibration 4 Adjust J5 axis timing belt Adjust the tension of J5 axis timing belt with referring to W Adjusting the J5 axis timing belt Maintenance and inspection procedures 5 58 3 Maintenance and Inspection WE Replacing the J5 axis brake timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J5 axis brake timing belt above 2 Remove J5 axis timing belt with referring to above W Replacing the J5 axis timing belt 3 Loosen motor fixing screw 1 two pc Do not loosen too much 4 Move motor side timing belt pulley 4 in the direction of the arrow a of Fig 5 10 and remove the brake timing belt 5 Install the new brake timing belt The operations of matching the position for brake timing belt is unnecessary 6 After replacement securely tighten the two motor installation screws lt 1 gt Tension is automatically adjusted by the work of the spring Improper tightening can cause the belt to loosen with vibration 7 Inst
117. s XYZ jog operation e eceececcececcececsececssseseesececsesecscseseesesececsesecsesececsesececsececsesersesavsesesevecseseesesveesersteesaveesaveeserees 2 31 5 CYLNDER jog operation cecscssscssscsscessscessssessssececescessssssessecectesssessesestesssessesesuesssnsassnsassesusassestesesteassestesesteassesaesen 2 33 6 Work jog operation srstenss sccaciaiiansancienniaanonsapctsnannseaminavananatintndndieseiasndesinanasincintiaashninieaveseve 2 35 3 Installing the option devices scence est ccscinscnnssctescsnnccsasinauvsessessensceexssaiicsiadvsossbninsincssnndvscesnssiessessendblevasahedsenvesnedesnasunesbovesendeeness 3 41 lt nestalne the solenoid valve Set cecssestainanenmeics ian a Ea 3 41 he a E AARNA 4 43 Se yi I Lee TT aE 5 44 5 1 Maintenance and insp ction interval oiiciccesecinstisividscisareritiaisianseaesisminieenawiantianiwiamueninaniedeeneiaas 5 44 oa meo E a E 9 45 aLi Laly TI TENS annaa AE EE iaaa E a E edo ao E aaia Eada E aaa 5 45 SIM Fano qs on ve g ene ve ne ee een N EE 9 46 9 3 Maintenance and Inspection CR O CES ss css ccd ccsascaschdnsasssinicaasnardcsarasianssantaniscoanieineneiannseiaaauarienuamnianautacioanas 5 47 Pe ammi SUE aaa E a 5 47 5 3 2 Installing removing the cover ccecesscecssscsccccscecessceseccsceseseseseccscscsescscescacacacscsecacecatacaescsesecacsesceseeeetacaeeeeeseecatataceeeeees 5 49 5 3 3 Inspection maintenance and replacement of timing belt wo eee cscs eee eee seesessseeseeeeeeesensan
118. s against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by customer Guarantee and maintenance of the equipment on the market usual office automation equipment cannot be performed CR 51 D or CR 51 Q controller Notes of the basic component are shown AN CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751 D or CR751 Q because of leakage protection AC200V Earth leakage breaker NV CR751 D controller CR751 Q drive unit aaa ee ZS e Td Lac SH ACIN LAN Pov cna w mo ort jis TNUERZ 5 pEr bee ce mab S Note RV 2F series has operation panel i i Grounding Connector screw HSE Grounding terminal PE Revision history Date of Point Instruction Manual No Revision Details 2012 10 03 BFP A8904 A The movement direction of the joint jog and 3 axis XYZ jog of the J5 axis was corrected error in writing 2012 11 19 BFP A8904 B 2012 12
119. scesecessessscsecsesesarsesececsesecsesesacsececsesececseserseseceesesavstsavaeeeserseeasetseseeseseres 2 15 2 Turning ON the control power cscccecsscssssccsecccsecssccsescesecsecesnecesesnecesnesesesecesseassesuesesuecesteassestsassessesesteaesneseseseees 2 15 3 Preparing the T B cccsccccscsssssssecsscssssceseccesecsesesessesececsesacsesecscsesacsesecacseseveesecacsecacsevacecsesevseseseeeesavaesavaeeesavarsevarsesereeseses 2 16 4 Selecting the origin setting method ou cceccecesccssscssecessesssseseceesecscsesecscsesecsesecsesecerscseeseseeseeesavseseveveesavateesarsesereeseres 2 17 5 Inputting the origin data ccc cece ndeseadencscacesecedeccedvhenactacsactvaneseseesdecccqtanseicdadnacdsedsesasessbensoacdadecanstancacdeeets 2 18 6 Installing the J1 motor COVEN cscsscsssssececececsesesecseseseseceesesececscsescacsescsesaescsesesaescsesacstacscseseratsesesevevsesetevetsesetecees 2 19 2 4 Confirming the operation assis scse sccssanssenssnenvcvcconenevssssessesenssnacstenebindsxsesbwasstedssiadsbenasxessenssiadebeanpniastecnsindvauesemacetessesosseos 2 20 1 JOINT jog operation cccsccseccccessscsssccesessesecessesesseseceesesscsesecsesesacsesececsesecsesecacsececsesacecsesevsesessesesavstsaveesesvereesersesecaeeeses 2 24 2 XYZ jog operation cannes aces cst deeccscceec cela hcsxecbeeasdesceeebeesasbeedccacelectucebcendeuccesccdbeacoiesetesceietbenceedes 1 27 3 TOOL jog operation aga ih ccc aah eae eee ls 2 29 4 B axi
120. side and controller 3 Connect the machine cable to its corresponding connector CN1 and CN2 on the robot arm side The robot arm side connects CN2 first Conversely when removing remove the CN1 first Pick the latch of both sides on CN2 connector and insert CN2 CN2 is fixed when the latch is released CN1 connector robot arm side unites the key slot with each other s connector insert the connector And rotates the connection ring section to fix it securely 4 Connects the machine cable to the corresponding connectors AMP1 AMP2 BRK and CN2 of the controller Fixes each connector by tightening the screws This completes connecting the machine cables AN CAUTION Please connect the connector securely If it inserts by force the pin will break And it becomes the cause of failure AN CAUTION 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 AN CAUTION 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 AN CAUTION Please be careful not to catch the hand at installation and removal Installation 2 12 2Unpacking to Installation 2 3 Setting the origin The origin is set so th
121. sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys lt 4 gt and lt 5 gt and install 8 Refer to W Adjusting the J4 axis timing belt and 8 Timing belt tension to adjust the tension 9 The position could deviate after the belt is replaced Confirm that the position has not deviated If deviated refer to Page 70 5 6 Resetting the origin and reset the origin position Maintenance and inspection procedures 5 56 3 Maintenance and Inspection 6 Inspection maintenance and replacement of J5 axis timing belt and brake timing belt The J axis has the timing belt rotating the J axis and the brake timing belt conveying the brake The inspection maintenance and replacement method of each belt is shown below A Inspection maintenance and replacement of J5 axis timing belt The reference figure at inspection adjustment and replacement of the timing belt is shown in Fig 5 9 lt 4 gt Timing pulley motor side lt 2 gt Timing belt Mark Mark lt 1 gt Motor plate fixing screw J5 axis iS AJ on o omneo _ joint side lt 3 gt Tension adjustment screw lt 1 gt Motor plate fixing screw With the fixing nut Fig 5 9 Inspection maintenance and replacement of J5 axis
122. t 21 gt via the timing belt lt 19 gt and gear lt 20 gt to rotate the J6 axis Brakes are not mounted in the J6 axis motor 7 The J6 axes differ as follows depending on the type RV 2F The rotation of the J6 axis motor lt 18 gt arranged in the No 2 arm is conveyed to the reduction gears lt 21 gt via the timing belt lt 19 gt and gear lt 20 gt to rotate the J6 axis Brakes are not mounted in the J6 axis motor RV 2FB The rotation of the J6 axis motor lt 18 gt arranged in the No 2 arm is conveyed to the reduction gears lt 21 gt via the timing belt lt 19 gt and gear lt 20 gt to rotate the J6 axis Non excitation magnetic brakes lt 23 gt are mounted via the timing belt lt 22 gt in the J6 axis motor 5 47 Maintenance and inspection procedures Maintenance and Inspection lt 13 gt J5 axis motor lt 15 gt J5 axis timing belt for brake lt 10 gt J4 axis motor lt 14 gt Timing belt lt 11 gt Timing belt lt 16 gt Reduction gears LES lt 21 gt Reduction gears a lt 17 gt J5 axis S lt 20 gt Gear brake lt 12 gt Reduction gears lt 23 gt J6 axis lt 19 gt Timing belt brake 18 gt J6 axis motor lt 22 gt J6 axis timing belt for brake No 2 Arm Elbow 5 lt 9 gt Reduction gears gt i I J a y l No COE f lt 7 g
123. t J3 axis motor lt 8 gt Timing belt a ZZ be No 1 Arm wr iffy Yj J Yi j i lt 4 gt J2 axis vet we N lt 5 gt Timing belt gt lt 4 D t Pi mon A lt 6 gt Reduction gears l lt 1 gt J1 axis motor 3 Tt WN NS lt 2 gt Timing belt lt 3 gt Reduction gears Base Note lt 22 gt J6 axis brake timing belt and lt 23 gt J6 axis brake are only RV 2FB all axes have the brake Fig 5 2 Outline structure drawing of robot arm Maintenance and inspection procedures 5 48 Maintenance and Inspection 5 3 2 Installing removing the cover 6 Elbow cover R 5 Elbow cover B 8 No 2 arm cover R A 7 No 2 arm cover L al a PENO ES E xi if ff 4 No 1 arm cover L k f 3 No 1 arm cover R SS ij D T Yo 1 Battery cover ig 2 J1 motor cover p 9 Bottom plate Fig 5 3 Installing removing the cover 9 49 Maintenance and inspection procedures Maintenance and Inspection Table 5 3 Cover names lt 1 gt Battery cover Bind screw M3 Four lt 2 gt J1 motor cover Bind screw M3 Four lt 3 gt No 1 arm cover R Bind screw M3 Four lt 4 gt No 1 arm
124. t Motor plate fixing screw lt 3 gt Tension adjustment screw With the fixing nut Mark J3 axis iming pulley motor side lt 5 gt Timing pulle lt 2 gt Timing belt joint side lt 1 gt Motor plate fixing screw Fig 5 8 Inspection maintenance and replacement of J4 axis timing belt E Inspecting the J4 axis timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the elbow cover B and Relbow 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 0 8mm when the center of the belt is lightly pressed with a finger approx 1 3N as shown in Fig 5 13 Belt tension WE Adjusting the J4 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J4 axis timing belt above 2 Lightly loosen the two motor plate fixing screws lt 1 gt Do not loosen too much 3 The nut which is fixing tension adjustment screw lt 3 gt is loosened turn the tension adjustment screw lt 3 gt and adjust the tension of timing belt lt 2 gt When the screw is turned to the right the belt will be stretched and when turned to the left w
125. timing belt E Inspecting the J5 axis timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the No 2 arm cover R 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 2 0mm when the center of the belt is lightly pressed with a finger approx 1 3N as shown in Fig 5 13 Belt tension W Adjusting the J5 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J5 axis timing belt above 2 Lightly loosen the three motor plate fixing screws lt 1 gt Do not loosen too much 3 The nut which is fixing tension adjustment screw lt 3 gt is loosened turn tension adjustment screw lt 3 gt and adjust the tension of timing belt lt 2 gt When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Confirm that the belt tension is adjusted to slacken approx 2 0mm when the center of the belt is lightly pressed with a finger approx 1 3N If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys lt 4 gt and lt 5 gt or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw lt 3 gt and certainl
126. to Confirmation and selection of the close work coordinates system a E Ww lt CURRENT gt WORK 100 M1 TOW 7 g coordinates system Confirm the target work coordinates system Ji 0 00 J5 0 00 The current target number is displayed on the a og o o ee screen upper right W1 W8 J4 0 00 The number of work coordinates can be ONE JOG changed by the arrow key Upper arrow Lower arrow Push the key Upper arrow the number will Select the work coordinates system increase W1 W2 W8 Conversely push the key Lower arrow the number will decrease AN CAUTION Always confirm that the number of the target work coordinates system is displayed correctly Display of W1 W8 at the upper right of the screen If mistaken the robot will move in the direction which is not meant and will cause the damage and the personal injuries Set jog speed E Whenever it presses the key of OVRD Upper Sk aa pee lh lt 0 arrow the override goes up Conversely if J1 0 00 J5 0 00 Teer 1 40 00 tee a000 the OVRD Lower arrow key is pressed it will J3 90 00 go down J4 0 00 OVRD N OVRD The current setting speed is displayed on OMe JOG screen upper right and STATUS NUMBER of Serine the speed the controller Set the override to 10 here for confirmation work Confirming the operation 2 38 2 Unpacking to Installation The jog movement based on work coordinates system Controll poi
127. to Page 70 5 6 Resetting the origin and reset the origin position B Inspection maintenance and replacement of J5 axis brake timing belt The reference figure at inspection adjustment and replacement of the brake timing belt is shown in Fig 5 10 After adjustment of J5 axis brake timing belt the adjustment of the timing belt which rotates the J5 axis is also needed Moreover it is necessary to remove JO axis timing belt for the replacement of brake timing belt lt 4 gt Timing pulley o lt 2 gt Spring motor side lt 3 gt Brake timing belt Timing pulley brake side J5 axis Timing belt Inside of No 2 arm cover R lt 1 gt J5 axis motor fixing screw two pc Inside of No 2 arm cover L Fig 5 10 Inspection maintenance and replacement of J5 axis brake timing belt E Inspecting the J5 axis brake timing belt 1 Confirm that the robot controller power is OFF 2 Refer to Page 49 5 3 2 Installing removing the cover and remove the No 2 arm cover R and L 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the timing belt 4 Adjust the tension of the belt with referring to W Adjusting the J5 axis brake timing belt M Adjusting the J5 axis brake timing belt 1 Carry out step
128. tor fixing screw 1 two pc Loosen so that it may not escape from nut By loosening the screw the tension of brake timing belt lt 3 gt is automatically adjusted by the work of spring lt 2 gt installed in the motor plate 3 After adjustment securely tighten the two motor installation screws lt 1 gt Improper tightening can cause the belt to loosen with vibration 4 Adjust J6 axis timing belt Adjust the tension of J6 axis timing belt with referring to W Adjusting the J6 axis timing belt 5 61 Maintenance and inspection procedures 3 Maintenance and Inspection WE Replacing the J axis brake timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J6 axis brake timing belt above 2 Remove J6 axis timing belt with referring to above W Replacing the J6 axis timing belt 3 Loosen motor fixing screw 1 two pc Do not loosen too much 4 Move motor side timing belt pulley 4 in the direction of the arrow a of Fig 5 12 and remove the brake timing belt 5 Install the new brake timing belt The operations of matching the position for brake timing belt is unnecessary 6 After replacement securely tighten the two motor installation screws lt 1 gt Tension is automatically adjusted by the work of the spring Improper tightening can cause the belt to loosen with vibration 7 Install U6 axis timing belt with reference to above Ml Replacing the J6 axis timing belt and a
129. vere If the teeth are missing or severe friction is found replace the timing belt Yearly inspection items Replace the backup battery in the robot arm Exchange it referring to Page 66 5 3 5 Replacing the backup battery Is the friction at the timing belt teeth severe If the teeth are missing or severe friction is found replace the timing belt 3 Is the timing belt tension abnormal If the timing belt is loose or too tense adjust it 3 year inspection items Lubricate the grease at the reduction gears for each axis Lubricate it referring to Page 64 5 3 4 Lubrication Inspection items 5 46 Maintenance and Inspection 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 Page 69 5 5 Maintenance parts of this manual Always contact your dealer when parts are needed AN CAUTION 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 is shown in Fig 5 2 Each
130. xplains 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 Safety Manual Standard Specifications Robot Arm Setup amp Maintenance Controller Setup Basic Operation and Maintenance Detailed Explanation of Functions and Operations Troubleshooting Additional axis function Tracking Func tion Manual Extended Func tion Instruc tion Manual Explains the common precautions and safety measures to be taken for robot handling sys tem 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 technology when incorporating the robot are also explained Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation
131. y fixes tension adjustment screw lt 3 gt Moreover also fasten motor plate fixing screw lt 1 gt certainly three pc Improper tightening can cause the belt to loosen with vibration WE Replacing the J5 axis timing belt 1 Carry out steps 1 and 2 indicated in W Inspecting the J5 axis timing belt above 2 Make sure that the pulleys do not move while replacing the belt If the timing pulley lt 4 gt and lt 5 gt position relation deviates the position could deviate 3 Make marks on the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt with a felt tip pen as shown in Fig 5 9 so that the engagement of the timing belt lt 2 gt and timing pulleys lt 4 gt and lt 5 gt does not deviate 4 Lightly loosen the three motor plate fixing screws lt 1 gt Do not loosen too much 5 Loosen the nut fixing tension adjustment screw lt 3 gt Loosen the tension adjustment screw lt 3 gt and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys lt 4 gt and lt 5 gt and install 8 Refer to W Adjusting the J5 axis timing belt and 8 Timing belt tension to adjust the tension 5 57 Maintenance and inspection procedures 3 Maintenance and Inspection 9 The position could deviate after the belt is replaced Confirm that the position has not deviated If deviated refer

RV-2F Series ROBOT ARM SETUP & MAINTENANCE

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RV-2F Series ROBOT ARM SETUP &amp; MAINTENANCE

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RV-2F Series ROBOT ARM SETUP & MAINTENANCE