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Robot Arm Setup & Maintenance

1. 3 J2 axis motor lt 11 gt Ball screw spline lt 4 gt Reduction gears 923 axis timing belt 5 J4 axis motor No 2 arm No 1 arm T T 7 7 No 2 arm cover D 3 up ECT lt 7 gt J4 axis timing belt2 lt 6 gt J4 axis timing belt1 Base 2 Reduction gears 1 J1 axis motor Fig 5 2 Outline structure drawing of robot arm RH 3FH 5 66 Maintenance and inspection procedures Maintenance and Inspection RH 6FH 12FH 20FH series No 2 arm cover U 8 J3 axis motor lt 10 gt Ball screw 3 J2 axis motor lt 11 gt Ball spline MS lt 4 gt Reduction gears lt 5 gt J4 axis motor lt 9 gt J3 axis timing belt No 1 arm No 2 arm A r 1 No 2 arm cover I n lt 7 gt J4 axis timing belt2 lt 6 gt J4 axis timing belt1 Base lt 2 gt Reduction gears
2. lt 1 gt 1 axis motor Fig 5 3 Outline structure drawing of robot arm RH 6FH 12FH 20FH Maintenance and inspection procedures 5 67 5Maintenance and Inspection 5 3 2 Installing removing the cover pp OTI g i lt 1 gt No 2 arm cover U ni MISgs i lt 3 gt No 2 arm cover U i Back of No 2 arm cover i i i n MTSB lt 2 gt No 2 arm cover D lt 6 gt Conbox cover upper side of back of base lt 5 gt Battery cover Note The cover ry os on the top face of the d 1 No 1 arm is M cH not removing pee xo aor pa 7 E E n a gt A 3 dg e ule 2 EN 7 lt 4 gt ADD cover NS lower side of back of base Sag cm The type in the diagram is the RH 3FH however the cover is the same on the RH 6FH 12FH 20FH Fig 5 4 Installing removing the cover Note This robot has packing Refer to Page 94 Table 5 9 Consumable part list for type name of packing AN CAUTION Check to see that the packing has not been torn or peeled off when the cover was mounted removed If it has been torn or peeled off please contact dealer If the cover is used with the packing torn or peeled off oil mist and other substances may enter inside the arm and cause a malfunction 5 68 Maintenance and inspection procedures Maintenance and Inspection Table 5 3 Cover fixing screw list No Cover n
3. e Sliding Fig 5 6 Example of sticking packing bad example Some of the packings to be used are cord like Stick such packings by bending in line with the form Location at which packing is bent Stick the packing i Cord like packing b gt 4d Fig 5 7 Sticking the cord like packing Maintenance and inspection procedures 5 71 5Maintenance and Inspection A 1mm overlap 1 Cut the packing so that there is a 1mm overlap at the end Join by liquid gasket 3 Stick the packing so that there is no gap between the adjacent pieces __ Unsuitable overlap of packing 2 Apply liquid gasket to the cut edges ee ee mmm 33 5 i gt Gasket is not applied Ends of packing are not in contact with each other Displacement at the ends of packing Ends of packing overlap each other Cut edge of packing is irregular End of packing is cut diagonally Fig 5 8 Examples of packing overlaps 5 72 Maintenance and inspection procedures 5Maintenance and Inspection Fig 5 9 Example of order which tighten bolts Maintenance and inspection procedures 5 13 5 Maintenance and Inspection 5 3 4 Inspection maintenance and replacement of timing belt This robot uses a timing belt for the drive conveyance system of the J5 axis Compared to gears and chains the timing be
4. 75 remove lt 5 gt Timing pulley A lt 4 Timing belt Remove from the timing pulley A lt 5 gt 5 76 Maintenance and inspection procedures 5 Maintenance and Inspection 5 Remove the timing belt lt 4 gt from the shaft to upward Remove the fixing screw lt 7 gt of shaft fixing plates and lift up the shaft fixing plate lt 8 gt When using the optional hand internal wiring and piping set remove the fixing screws fixed to the top Remove the timing belt lt 4 gt from the timing belt removal space lt 9 gt created under the shaft fixing plate lt 8 gt by lift up lt 10 gt Shaft Ball screw spline lt 7 gt Shaft fixing screw four screws remove Also at the back left of the diagram lt 8 gt Shaft fixing plate p lift up lt 9 gt Timing belt removal space mmmmmmmmm 4 Timing belt Remove from the timing belt removal space lt 9 gt to upward lt 4 gt Timing belt The belt was removed on the shaft fixed plate 8 Maintenance and inspection procedures 5 77 5 Maintenance and Inspection 6 Remove the timing belt lt 4 gt from the top of the shaft If using the optional hand internal wiring and piping set temporarily remove the hand input cable connector lt 11 gt and air hoses lt 12 gt of solenoid valve side And remove the timing belt to upward Remove to upward lt 4 Timing belt lt 11 gt Hand input cable ES nector E Remove temporarily a VA om Air
5. The default tool length is 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 2 38 Confirming the operation 2 Unpacking to Installation 4 3 axis XYZ jog operation Select XYZ456 jog mode Qr JOG Press the key and display the jog screen JoG JOG is displayed on the screen bottom 0 eae JOINT n iuba n Check that the XYZ456 in jog mode is 0 0 FUNCTION J2 000 Je 000 displayed on the screen J3 90 00 If other jog modes are displayed please press the J4 40 00 FA function key corresponding to the XYZ456 If HUNE JOG DIR F1 the jog mode which he wishes under the screen is XYZ456 jog mode not displayed it is displayed that the FUNC TION key is pressed Set jog speed If it finishes jog operation press the JOG key CURRENT JOINT 1005 M1 TO again or function key which correspond to 0 00 J5 40 00 close 0 00 J6 0 00 Whenever it presses the key of OVRD 1 the 90 00 override goes up Conversely if the OVRD 000 OVRD N OVRD NY key is pressed it will go down TOOL 06 Nun CYLNDR The current setting speed is displayed on screen Setting the speed upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work Mo
6. The direction of the end axis will not change Move the control point with a straight line in accordance with the work coordinates system Work co rdinates system When the X J1 keys are pressed the robot will move along the X axis plus direction on the work coordinates 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 on the work coordinates system 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 on the work coordinates system When the Z J3 keys are pressed Move along the minus direction Confirming the operation 2 47 2 Unpacking to Installation Changing the end axis posture Z 7 Tool length Control point Y Z The position of the control point does not change The end axis is Work coordinates system rotated When the C J6 keys are pressed The Z axis will rotate in the plus direction of the XYZ coordinate system When the C J6 keys are pressed Rotate in the minus direction When the robot is the transportation posture 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 33 1 JOINT jog operation and move the
7. 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 96 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 IN 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 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 14 and push in until there is sound Dummy connector Details of the A section 4 Controller E F Lock lever When removing the connector for T B connection use lock release state which raised the lock lever to the up side make the c
8. ZCURRENT gt JOINT T00 Mi TO JOG is displayed on screen bottom Check that the CYLNDER jog mode is J1 0 00 J5 0 00 FUNCTION J2 40 00 J6 0 00 displayed on the screen ra uo m If other jog modes are displayed please press the Mi FA 1 function key corresponding to the CYLNDER HUNE JOG gt If the jog mode which he wishes under the CYLNDER jog mode screen is not displayed it is displayed that the Satis FUNCTION key is pressed If it finishes jog operation press the JOG key lt CURRENT gt JOINT 100 Mi TO again or function key which correspond to 0 00 J5 40 00 close 0 00 J6 0 00 90 00 Whenever it presses the key of OVRD 1 the 0 00 OVRD 4 OVRD override goes up Conversely if the OVRD 1 1 JOG ERATA gt key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the Setting the speed controller Set the override to 10 here for confirmation work Moving along an arc centering on the Z axis 2 03 Vertical Jam 2 A Radius TX v Z 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
9. O Release the brake 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 O Select the axis of origin setting 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 5 103 5 Maintenance and Inspection 4 All axis origin setting 1 Refer to the paragraphs from Page 97 1 J1 axis origin setting mechanical stopper to Page 101 3 J3 and J4 axis origin setting mechanical stopper above for the description of how to adjust the origins of the J1 to J4 axes Line up the ABS marks for the J4 axis and move the other axes into contact with the mechanical stoppers At this point the robot will have the posture shown below MITSUBSHI XORIGIN BRAKE 1 ORIGIN 2 BRAKE CHANGE TO ORIGIN OK COMPLETED 2 Press the 1 key and display the Origin set ting selection screen 3 Press the 2 key and display the Mechanical stopper selection screen 4 Input 1 into the
10. QI iege 7 7 2 b Q7 lt gt c L5 key amp _ O Correcting an input O O After returning one character by pressing the CLEAR key input the character again 6 Installing the battery cover Return the battery cover removed in section Page 24 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 If the origin input data is incorrect lt If the origin input data is incorrect the alarm No 1760 origin setting data illegal will occur when origin data input In this case reconfirm the value input for the origin data 2 28 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
11. and in Fig 3 6 for the RH 6FH series and in Fig 3 6 for the RH 12FH 20FH series Remove the No 2 arm cover U and fix this option to the plate above the No 2 arm Turn the controller s power OFF before this operation Refer to Page 68 5 3 2 Installing removing the cover for removing installing the cover 1 RH 3FH 6FH series RH 3FH series No 2 arm cover U P n Connect inside the No 2 arm cover U Plate for fixation a Match up the peak of the air hose and cable with the top end of the fixing plate Applying silicon grease b Fix with silicon rubber and cable tie Secondary piping air hose 3 4 hoses Connector for hand input cable connection 3 HC1 HC2 The diagram shows an example of the secondary piping hose connected to the optional electromagnetic valve Fig 3 5 Installing the hand internal wiring and piping set RH 3FH Hand internal wiring and piping set 3 55 Installing the option devices lt RH 6FH series gt pd 2 arm cover U Connect inside the No 2 arm cover U Secondary piping air hose 4 8 hoses fixing plate LA 10888 Match up the peak of the air hose and cable with the top end of the pplying silicon grease contact surface Connector for hand ET Het Plate for fixation The diagram shows an example of the secondary piping hose connected to the optional electromagnetic valve Fig 3 6 Installing the hand inte
12. 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 battery About the purchase of the battery refers to Page 94 5 5 Maintenance parts IN 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 91 5 Maintenance and Inspection 1 Replacing the battery robot arm IN 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 IN 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 position is shown in Fig 5 18 Refers to the figure and replaces the batteries in the following procedures lt 2 gt Battery cover fa gt Fixing screw six screws Battery Fig 5 18 Replacing the battery 1 Turn the controller control power OFF 2 Remove the six fixing screws lt 1 gt and remove the battery cover lt 2 gt 3 Remove the old battery from the
13. 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 1 Before starting use TMI 1 1 Using the sister ibid nois Ou DI ML M I MEM 1 1 1 The details of each instruction manuals 1 1 2 Symbols used in instruction manual m 1 2 1 2 Safety Precautions esee i 1 2 1 Precautions given in the separate Safety rer TT 2 Unpacking to installa Goi ace ee I E nC oe steal MD 24 Confirming the product reinoirei 2 2 Installation 2 2 1 Unpacking P 2 2 2 Transportation procedures RH 3FH 6FH series 2 2 3 Transportation procedures RH 12FH 20FH series eene 279 2 2 4 Installation procedures 2 2 5 Grounding procedures 1 Grounding methods er 2 Grounding procedures i c rccte ecc 2 2 6 Connecting with the controller 1 RH 3FH series No CE specification 2 1 2 RH 6FH 12FH 20FH series and RH 3FH S15 CE specification 2 15 67 Eum ee osi unu a d E id 2 2 8 No 2 arm P 2 2 9 Base area 2 18 2 2 10 About oil mist specification 1 Piping for pressurization inside robot arm tt tnter 2 212 11 About clean speci Gato oos rari ntc be ed n Ra itaq tet Sand 2 20 1 Piping for suction inside robot arm 2 Duct install
14. Fig 5 13 Inspecting Adjusting the J4 axis timing belt 5 82 Maintenance and inspection procedures 5 Maintenance and Inspection Inspection and adjustment procedure of the timing belt of J4 axis are shown below 1 Confirm that the power supply of the controller is OFF 2 Refer to Page 68 Fig 5 4 Installing removing the cover and remove the No 2 arm cover U and No 2 cover D 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the timing belt 4 Lightly press the center of the belt and confirm that the value of belt slack is in following The tension of the belt is shown also in Page 85 Fig 5 14 Belt tension Belt tensioning lt 1 gt Timing belt A Force to press approx 2N Flexure 1 0mm 2 Timing belt B Force to press approx 4N Flexure 1 2mm 2 Timing belt B Force to press approx 4N Flexure 1 5mm When adjustment is necessary continue to follow the procedure shown below When adjustment is not necessary install the No 2 arm cover U and No 2 arm cover D as before and finish the inspection 5 Adjusts the tension of the timing belt B 25 Lightly loosen timing pulley lt B gt lt C gt fixing screws lt 3 gt Be careful not to overly loosen the screws 6 Loosen the nut of tension adjustment screw lt 4 gt for timing belt B Adjusts by turning the tension adjustment screw l
15. Input 1 into the J2 axis Set 0 to other axes 1 0 Lo seat 6 Press the EXE key and display Confirmation screen Resetting the origin 5 99 5 Maintenance and Inspection lt ORIGIN gt MECH 7 Press the F1 key and the origin position is set CHANGE TO ORIGIN OK me COMPLETED 8 Setting of the origin is completed 9 Refer to Page 114 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal Release the brake 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 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 5 100 Resetting the origin 5 Maintenance and Inspection 3 J3 and J4 axis origin setting mechanical stopper In the RH 3FH series if the wiring and piping is passed in the shaft remove the No 2 arm cover U and operate the origin setting Note If origin setting is carrie
16. Press the FUNCTION keys and display W JUMP function Press the function key corresponding to W JUMP WORK NUMBER 1 TEACHING POINT WO WORK JUMP PE ONE OF THE WORK NUMBER W JUMP f W GRID 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 P ONE OF THE WORK NUMBER WORK NUMBER 2 TEACHING POINT WO W JUMP f W GRID 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 24 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 RECORD CURRENT POSITION Specify the teaching point W0 WX WY teaching the position TEACH 2 44 Confirming the operation 2 Unpacking to Installation Presses the function key corresponding to Yes the robot s current position is registered and the registered coordinates valu
17. diagram If the air hose and cable are fixed with no space more friction will be applied at the top of the shaft or bent when operating the robot so it becomes the cause which the operation of tool hand is abnormal or breaks the wire 7 Do the wiring and piping of tool side 8 Apply the attached silicon grease to the top of shaft and the surface where the air hose and the hand input cable contact the fixing plate 9 If the hand input cable and the air hose have excess length please tie the excess section by cable tie and fix it to the plate 10 Install securely the No 2 arm cover U as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installation surface of the clean and the oil mist specification covers is using sealing material In the event that the sealing material has been removed or has been bent or broken to the extent that it cannot be return to the original form be sure to replace the sealing material Please inform the dealer if exchange is necessary This completes installing the Hand internal wiring and piping set RH 12FH 20FH series Hand internal wiring and piping set 3 59 Installing the option devices 3 5 External Wiring and Piping Box The air hose that is connected inside the robot the optional hand output cable the hand input cable etc can all be pulled out from the rear of the No 2 arm These can be used to connect a customer supplied solenoid valve to the hand outpu
18. so if the tool side is not connected it may be cause of the trouble such as broken the fuse by short circuit A Before connecting to the robot customer 4 should check whether the cable The type in the diagram is the RH 6FH however the location is the has been properly treated same on the RH 3FH 12FH 20FH Fig 3 3 Installing the hand input cable The installation procedure for the hand input cable is shown below 1 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 2 The hand input cable is stored in the location shown in Fig 3 3 Remove cable tie and check the connectors HC1 HC2 3 Connect the connector HC1 HC2 of optional cable with connector of robot arm side HC1 HC2 Connect with the same names 4 Pull the hand input cables out of the robot arm Referencing Page 60 3 5 External Wiring and Piping Box pull the cable out When installation of the optional external wiring and piping box finished Installing the hand input cable is complete Installing the hand input cable 3 53 Installing the option devices 3 3 Installing the hand output cable Fig 3 4 shows the hand output cable s storage location on the robot Please use the optional external wiring and piping box to pull the hand output cable out externally After connect ing the hand output cable connector reference Page 60 3 5 External Wiring and Piping Box and pul
19. 00 J5 0 00 J2 40 00 J6 0 00 Fa TOOL jog mode Set jog speed lt CURRENT gt JOINT 100 Mi TO 0 00 J5 0 00 0 00 J6 0 00 90 00 0 00 i OVRD OVRD Yy JOG AN gt Setting the speed Moving along the tool coordinate system The direction of the end axis will not change 2 3 ptr 2 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 OVRD 1 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 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 directi
20. 39 to 1 89 Nm Note The installation surface of the clean and the oil mist specification covers is using sealing material In the event that the sealing material has been removed or has been bent or broken to the extent that it cannot be return to the original form be sure to replace the sealing material Please inform the dealer if exchange is necessary This completes installing the Hand internal wiring and piping set RH 3FH 6FH series Hand internal wiring and piping set 3 51 Installing the option devices 2 RH 12FH 20FH series lt RH 12FH 20FH series gt 9 2 arm cover U Applying silicon grease contact surface Connect inside the No 2 arm cover U View from A a Match up the peak of the air hose and cable with the top end of the fixing plate Secondary piping air hose q6 4 hoses Applying silicon grease contact surface e Connector for hand View from B input cable connection HC1 HC2 The diagram shows an example of the secondary piping hose connected to the optional electromagnetic valve Fig 3 7 Installing the hand internal wiring and piping set RH 12FH 20FH The installation procedure is shown below 1 Move the J3 axis to the top end with a jog operation and shut off the controller s power supply This is necessary for space standard settings when feeding the air hose and hand input cable through the inside of the shaft 2 Remove the screws fixing the No 2 arm cover U an
21. A and port B Please refer to Table 3 1 and connect to the necessary ports Covers the unused solenoid valve joints with the plugs included Note When pulling the tip of the air hose out from the shaft please be sure to use the optional hand internal wiring and piping set A plate that can be fixed to an appropriate position and silicon grease to apply to friction points are both included with the product please refer to Page 55 3 4 Hand internal wiring and piping set Further when using the optional external wiring and piping box the air hose can be pulled out from the rear of the No 2 arm please refer to Page 60 3 5 External Wiring and Piping 6 If the hand output cable and the air hose have excess length please tie the excess section by cable tie and fix it to the plate The plate have some holes for fixing the cable hose with a cable tie 7 Install securely the No 2 arm cover U as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installation surface of the clean and the oil mist specification covers is using sealing material In the event that the sealing material has been removed or has been bent or broken to the extent that it cannot be return to the original form be sure to replace the sealing material Please inform the dealer if exchange is necessary This completes installing the solenoid valve set 3 Hand number and solenoid valve ports common to RH FH series The connec
22. Connect the connector GR1 GR2 of solenoid valve with connector of robot arm side GR1 GR2 Connect with the same names The hand output signal cables of the robot arm side are located close to where the solenoid valve is installed and are tied up with cable tie Cut the cable tie and connect them to the connectors 4 Connect the primary piping air hose 6 The air hoses are located close to where the solenoid valve is installed and are tied up with cable tie Cut the cable tie and connect them Of the two air hoses connect the one marked AIR IN to the solenoid valve s P port and the one marked RETURN to the R port Note When connecting the RETURN air hose be sure to remove the dust cap attached at the RETURN joint on the robot base section If the cap is not removed exhaust air pressure will increase and the solenoid valve may not operate properly By connecting the exhaust air hose 6 customer preparation to this RETURN air joint exhaust air from the solenoid valve is able to escape to the designated point Installing the solenoid valve set 3 51 Installing the option devices 5 Connect the secondary piping air hose 6 The optional hand curl tube the hand internal wiring and piping set or the air hose prepared by customer can all be used however when pulling the tip of the air hose out from the shaft please be sure to use the optional hand internal wiring and piping set Connect the air hoses to solenoid valve port
23. External Wiring and Piping Box 4 Basie op a HEC ne m ais engin cde diete iuda RSS 5 Maintenance and Inspection 5 1 Maintenance and inspection 5 2 Inspection items 5 2 1 Daily n 5 2 2 Periodic 532 nets ne terior an the cover 5 3 3 Packing Replacement Procedure 1 Packing Replacement Instructions 5 3 4 Inspection maintenance and replacement 1 Timing belt replacement period 2 RH series diete fige F RH GFH 12FH 20FH s series diate the a adi timing belt ees de RH series Ptr Uwe J3 axi t 5 3 5 alec th belles E 1 Clean specification 2 Oil specification 5 3 6 Lubrication 1 Lubrication 2 Lubrication method to the J1 J2 axis 3 Lubrication method to the shaft 5 3 7 Replacing the backup battery I RH 1 Replacing the battery robot aint TURNIER OD HI RECTE 5 92 54 About Overhaul CE PEU 5o Malena e DA cce o LIES n HM EE IL Bd Rd ETE 5 94 5 6 Resetting the origin 5 6 1 Mechanical omar ery 1 J1 axis origin setting mechanical stopper 2 J2 axis origin setting mechanical stopper 3 J3 and J4 axis origin setting mechanical stopper 4 All axis origin setting 5 6 2 Jig method 1 J1 axis orig
24. J1 to J4 axis Set 0 to other axes 5 Press the EXE key and display Confirmation screen 6 Press the F1 key and the origin position is set up 7 Setting of the origin is completed 8 Refer to Page 114 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal This complete the Origin setting by the Mechanical stopper method 5 104 Resetting the origin 5 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 20 Fig 5 20 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 IN 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 mode of the controller to MANUAL and set the ENABLE switch on the teaching pendant to ENABLE to enable the teaching pendant Do the f
25. Plain washer x 15 Fy N Fy Fi lt Base bottom gt T RH 3FH 6FH series 8 RH 12FH 20FH series 8 co oo 85 Lf gt oo 212 _ LE 280 2 66 holes fo 92 2 66 holes fio 122 for 8 positioning pins H 90 120 for 8 positioning pins 120 158 4 9 installation holes 150 4 16 installation holes 200 i Installation ref 60 icis Me 8 wo NAE 4J N a N N o T 1 N oo 2 Cie e S S C ak w 1 The robot installation surface has been machine finished Use the installation holes RH 6FH 4 9 holes RH 12FH 20FH 4 16 holes opened at the four corners of the base and securely fix the robot with the enclosed installation bolts hexagon socket bolts 2 Install the robot on a level surface 3 It is recommended that the surface roughness of the table onto which the robot is to be installed by Rz25 or more If the installation surface is rough the contact with the table will be poor and positional deviation could occur when the robot moves 4 When installing use a common table to prevent the position of the devices and jigs subject to robot work from deviating 5 The installation surface must have sufficient strength to withstand the arm reaction during operation and resistance against deformation and vibration caused by the static dynamic load of the robot arm and peripheral devices etc 6 After install
26. Reset the origin of J3 and J4 axis with referring to the Page 96 5 6 Resetting the origin 5 80 Maintenance and inspection procedures 5 Maintenance and Inspection 9 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox2 Refer to Instruction Manual RT ToolBox2 User s Manual for operation of RT2 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter This completes replacement of the J3 axis timing belt Maintenance and inspection procedures 5 81 5 Maintenance and Inspection 6 RH 3FH 6FH 12FH 20FH series Inspecting Adjusting the J4 axis timing belt As shown in Fig 5 13 the J4 axis timing belt consists of two timing belts timing belt A lt 1 gt and timing belt B 27 When adjusting the timing belts first adjust timing belt B 2 and then proceed to adjust timing belt A 15 lt The No 2 arm bottom view Inside of the No 2 arm cover D X15 Timing belt A lt 2 gt Timing belt B Adjust next Adjust first Shaft Timing pulley D Timing belt B adjustment screw The RH 3FH 12FH 20FH series is also equivalent although the figure is RH 6FH lt The No 2 arm upper view Inside of the No 2 arm cover U gt Timing pulley A 1 Timing belt adjustment screw The RH 3FH 12FH 20FH series is also equivalent although the figure is RH 6FH
27. bent or crushed and does not return to its original shape This completes of applying grease to shaft 5 90 Maintenance and inspection procedures 5 Maintenance and Inspection 5 3 7 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 8 If error 7500 occurs please exchange the battery of the robot arm and the controller simultaneously Table 5 8 The error about the battery Item Error number Description Measure 7520 The battery consumption time was exceeded Replace the battery 2 7510 Battery voltage low o The backup data cannot 7500 No battery voltage be guaranteed if this error occurs 7520 The battery consumption time was exceeded E Replace the battery S 133nNete Encoder battery voltage low 8 The backup data cannot a 112n Encoder ABS position data lost be guaranteed if this error occurs e 9 Note1
28. inspections with the procedures given in Table 5 1 Table 5 1 Daily inspection items details Procedure Inspection item details Remedies Before turning power ON Check the following items before turning the power ON 1 Are any of the robot installation bolts loose Securely tighten the bolts Visual 2 Are any of the cover tightening screws loose Securely tighten the screws Visual 3 Are any of the hand installation bolts loose Securely tighten the bolts Visual 4 Is the power supply cable securely connected Securely connect Visual 5 Is the machine cable between the robot and controller securely Securely connect connected Visual 6 Are there any cracks foreign contamination or obstacles on the robot Replace with a new part or take remedial measures and controller cover 7 Is there any abnormality in the pneumatic system Are there any air Drain the drainage and remedy the air leaks replace leaks drain clogging or hose damage Is the air source normal the part Visual 8 Are there any cracks foreign contamination or obstacles on the bel Replace with a new bellows lows 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
29. lt CURRENT gt WORK 100 M1 TOI 7 coordinates system Confirm the target work coordinates system 0 00 J5 40 00 The current target number is displayed on the Eua feos SOM screen upper right W1 W8 0 00 The number of work coordinates can be TOOL 3 XYZ CYLNDR gt 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 siiri 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 EUNT Whenever it presses the key of OVRD Upper SGURRENT 100 ME eTO arrow the override goes up Conversely if i o Me 2 the OVRD Lower arrow key is pressed it will 90 00 go down NEM OVRD 4 The current setting speed is displayed on JOG EAM IDIBUS gt screen upper right and STATUS NUMBER of Setting the speed the controller Set the override to 1096 here for confirmation work 2 46 Confirming the operation 2 Unpacking to Installation The jog movement based on work coordinates system m Z Tool length x Controll point z
30. 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 far away from noise sources as possible If placed near a noise source positional deviation or malfunction could occur Do not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults Securely install the hand and tool and securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot
31. of tension adjustment screw lt 1 gt and loosen the tension adjustment screw lt 1 gt The RH 12FH 20FH series is also equivalent although the figure is RH 6FH lt 2 gt J3 axis motor fixing screw remove lt 3 gt J3 axis motor remove lt 2 gt J3 axis motor 4 fixing screw remove lt 6 gt Timing pulley B Ball screw lower part gt Timing belt Ex Um jf 2 f 4 gt J y Lia 4 lt 1 gt Tension adjustment screw Loosen the nut and screw lt 5 gt Timing pulley A 3 Remove two fixing screws lt 2 gt and remove the J3 axis motor lt 3 gt lt 3 gt J3 axis motor remove 2 J3 axis motor fixing screw 2 J3 axis motor fixing screw a Remove from the timing pulley A motor lt 5 gt Timing pulley A side lt 5 gt shaft side lt 6 gt I 4 Remove the timing belt 45 from the timing pulley A motor side lt 5 gt and B shaft side lt 6 gt 5 Install surely the new belt to the timing pulley on the motor lt 5 gt and timing pulley B lt 6 gt and fix the J3 axis motor X3 with J3 axis motor fixing screw 22 Confirms having related the timing belt lt 4 gt to the timing pulley A 5 and the timing pulley B lt 6 gt securely 6 Adjust the tension of J3 axis timing belt with referring to Page 79 4 RH 6FH 12FH 20FH series Inspecting Adjusting the J3 axis timing belt 7 Install No 2 arm cover U securely as before 8
32. one of the methods for collision evasion Refer to the detailed description of the instructions manual function and operation of the separate volume for the details of the instruction command Revision history Date of Point Instruction Manual No Revision Details 2012 03 13 8865 First print 2012 04 25 8865 RH 3FH series robot arm mass was corrected The attention seal illustration of the 2 2 2 transportation point was corrected The RH 6FH series transportation position was corrected The Note was added to Fig 5 4 Installing removing the cover The CE marking specification was added 2012 05 28 BFP A8865 B RH 12FH 20FH series robot arm mass was added Installation bolt for machine cable was added to Standard configuration of RH 3FH The size of the ground cable was corrected error in writing formerly AWG 11 3 5mm2 or more The grease for application to the shaft of CE specification was corrected RH 3FH 6FH 2012 08 31 BFP A8865 C Removing the No 2 arm cover U was added in J3 and J4 axis origin setting mechanical stopper of RH 3FH series The installing procedure of Hand internal wiring and piping set of RH 6FH series was changed 2012 10 04 BFP A8865 D How to input symbols was added to 5 Inputting the origin data The notes about installation of the controller and the robot arm were added neither dire
33. or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuries or damage if the robot is started with external commands Keep the jog speed as low as possible and always watch the robot Failure to do so could lead to interference with the workpiece or peripheral devices After editing the program always confirm the operation with step operation before starting automatic operation Failure to do so could lead to interference with peripheral devices because of programming mistakes etc Make sure that if the safety fence entrance door is opened during automatic oper ation the door is locked or that the robot will automatically stop Failure to do so could lead to personal injuries Never carry out modifications based on personal judgments or use non desig nated maintenance parts Failure to observe this could lead to faults or failures When the robot arm has to be moved by hand from an external area do not place hands or fingers in the openings Failure to observe this could lead to hands or fin gers catching depending on the posture 1Before starting use Z 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 Z CAUT
34. removing the cover for the method of removing and installing the cover Inside of No 2 arm cover U lt 4 gt Ball screw section application RH 6FH 12FH 20FH lt 2 gt J2 axis lubri cation port lt 3 gt Shaft section application RH 3FH ball screw spline RH 6FH 12FH 20FH ball spline lt 1 gt J1 axis lubrication port Fig 5 17 Lubrication positions Table 5 7 Lubrication specifications 5 88 Maintenance and inspection procedures No Parts to be lubricated Lubrication method Soe ea Lubrication us i Gover to maker guide RH 3FH series lt 1 gt J1 axis reduction gears Grease nipple 4BNo2 24 000 Hr 12g Battery cover 2 J2 axis reduction gears WC 610 Only addition Harmonic Drive Systems Inc 24 000 Hr 8g No CE specification Multemp PS2 No 2 arm Shaft Wipe the old grease KYODO YUSHI CO LTD Every 2 000km lt 3 gt 1 isi 1g cover U ball screw spline and applies CE specification movement kl bersynth UH1 14 222 NOK Kluber Co Ltd RH 6FH series lt 1 gt J1 axis reduction gears Grease nipple 4BNo2 24 000 Hr 12g Battery cover 2 J2 axis reduction gears WC 610 Only addition Harmonic Drive Systems Inc 24 000 Hr 8g X3 Shaft ball spline No CE specification ig Multemp PS2 No 2 arm Wipe the old grease KYODO YUSHI CO LTD Every 2 000km cover U 4 Shaft ball screw and applies CE specification mov
35. robot to a position where linear movement is possible and then carry out XYZ jog Q the buzzer of T B sounds and the robot does not move 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 O Tool length O The default tool length is 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 2 48 Confirming the operation Jinstalling the option devices 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 and Fig 3 1 Remove the No 2 arm cover U and install the solenoid valve on the No 2 arm Turn the controller s power OFF before this installing operation Refer to Page 68 5 3 2 Installing removing the cover for removing installing the cover 1 RH 3FH 6FH series No 2 arm cover U Solenoid valve Items for customer to prepare Fix to plate A Philips screwdriver M4 screws Air hose for secondary piping 94 Install to inside the No 2 arm cover U primary piping air hose 6 P port Solenoid valve exhaust hose 6 R port Note When connecting this air hose be sure to remove the dust
36. shaft side 1 RH 6FH series 7 Timing belt J3 axis 1 8 J4 axis motor side 1 Mitsubishi Electric 9 J4 axis shaft side 1 RH 12FH series 10 Timing belt J3 axis 1 11 J4 axis motor side 1 Mitsubishi Electric 12 J4 axis shaft side 1 RH 20FH series 13 Timing belt J3 axis 1 14 J4 axis motor side 1 Mitsubishi Electric 15 J4 axis shaft side 1 Note1 The liquefied gasket is necessary for the place which uses two or more packings to connect Table 5 10 Spare parts list No Names Usage place Q ty Supplier RH 3FH series 1 AC servo motor J1 axis 1 2 J2 axis 1 3 J3 axis 1 4 J4 axis 1 5 Reduction gears J1 axis 1 6 J2 axis 1 7 Ball screw spline J3 axis 1 Mitsubishi Electric general environment specification 8 J3 axis clean and oil mist specification 1 9 Bellows J3 axis oil mist specification 1 10 J3 axis clean specification 1 11 Liquid gasket Bellows clean specification An needed RH 6FH series 1 AC servo motor J1 axis 1 2 J2 axis 1 3 J3 axis 1 4 J4 axis 1 5 Reduction gears J1 axis 1 6 J2 axis 1 7 Ball spline J3 axis 1 general environment specification Mitsubishi Electric 8 J3 axis clean and oil mist specification 1 9 Ball screw J3 axis 1 general environment clean and oil mist specification 10 Bellows J3 axis oil mist specification 1 11 J3 axis clean specification 1 12 Liquid gasket Bellows
37. transportation posture lt 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 33 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog the buzzer of T B sounds and the robot does not move 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 end axis posture The position of the end axis will not change 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 When alarm No 5150 occurs If alarm No 5150 ORIGIN NOT SET occurs the origin has not been set correctly Reconfirm the value input for the origin data O Tool length O O The default tool length is 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 2 36 Confirming the operation 2 Unpacking to Installation 3 TOOL jog operation cv 9 Select TOOL jog mode JOG J3 90 00 J4 0 00 JOG EAA AN lt CURRENT gt JOINT 100 M1 TO J1 0
38. values listed in the table below The robot should keep vertical not be horizontal It becomes the cause of the grease leakage or the trouble Table 2 2 Transportation posture Axis RH 3FH35 RH 3FH45 RH 3FH55 RH 6FH35 RH 6FH45 RH 6FH55 J1 49 5 deg 25 deg 17 deg 57 5 deg 28 deg 19 deg J2 139 5 deg 115 deg 107 deg 147 5 deg 118 deg 109 deg J3 290 4mm 290 4mm J4 Not fixed Not fixed 2 8 Installation 2 2 3 Transportation procedures RH 12FH 20FH series M Fixing plate wire 4 J wire hook Eye bolt Suspension fitting seif supporting plate Fig 2 3 Transportation of robot arm 2Unpacking to Installation Mass RH 12FH55 series RH 12FH70 series RH 12FH85 series RH 20FH85 series Approx 65kg Approx 67kg Approx 69kg Approx 75kg RH 20FH100 series Approx 77kg 1 Hook the wires to each of the four eyebolts attached to the suspension fitting Make sure the bolts are securely hooked 2 Lift with a crane to transport the robot to the designated location 3 At this time make sure that the wires etc do not interfere with the robot arm or the covers Always place the cloth etc at interfering places 4 Be careful not to subject the robot to physical shock during transport 5 After installing the robot refer to Page 10 2 2 4 Installation procedures r
39. wiring and piping set Jinstalling the option devices necessary 5 Silicone rubbers are installed in this option As shown in the Fig 3 5 RH 3FH or Fig 3 6 RH 6FH fixes this option to the metal plate of the robot arm in the three positions of silicone rubber by the attached cable tie the three places shown by b of the Fig 3 5 RH 3FH or Fig 3 6 RH 6FH 6 Feed through inside the shaft the tool hand side of the hand input cables and the secondary piping air hoses AN CAUTIO N In order to give the air hose and cable an appropriate space the highest point of the curved section of the air hose and cable should be matched up with the top of the fixing plate and fix at the tool side as is shown in section a of the diagram If the air hose and cable are fixed with no space more friction will be applied at the top of the shaft or bent when operating the robot so it becomes the cause which the operation of tool hand is abnormal or breaks the wire 7 Do the wiring and piping of tool side 8 Apply the attached silicon grease to the top of shaft and the surface where the air hose and the hand input cable contact the fixing plate 9 If the hand input cable and the air hose have excess length please tie the excess section by cable tie and fix it to the plate The plate have some holes for fixing the cable hose with a cable tie 10 Install securely the No 2 arm cover U as before with fixing screws tightening torque 1
40. 2 arm cover U Connect the air hoses with the joint inside this option box Remove the blind plug attached to this option box and fix the cable with the cable clamp To the inside of a robot arm External wiring J and piping box Lock nut this option box Cable clamp Attached to a hand output cable and a hand input cable Cable to pull out hand output cable etc Fig 3 9 Fixing the Cable 4 Fix the air hoses and cables to the hole inside of this box by using the attached cable tie section lt e gt of Fig 3 8 Note Be sure to fix the air hoses and cables to prevent the hoses falling out and breaking the cable Also fix carefully so that the air hose and cables may not be pulled too much 5 Install securely the external wiring and piping box to the screw holes that previously installed the No 2 arm cover B by attached screw tightening torque 1 39 to 1 89Nm When installing pull it little by little from the No 2 arm side making sure that the air hose and cables are not bent or trapped 6 Make sure that the wiring and piping lines on the No 2 arm avoid the side of the J2 reducer because gap is narrow it interfere with the No 2 arm cover U Fix the hoses and cables to the hole shown in section lt f gt of Fig 3 8 using cable tie There are 2 holes located left and right 7 If the cables and the air hoses have excess length please tie the excess section using cable tie 8 Install securely the No 2
41. 2 arm cover U 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the lt 4 gt timing belt 4 Lightly press the center of the belt and confirm that the value of belt slack is in following The tension of the belt is shown also in Page 85 Fig 5 14 Belt tension Belt tensioning Force to press approx 2N Flexure 1 5mm When adjustment is necessary continue to follow the procedure shown below When adjustment is not necessary install the No 2 arm cover U as before and finish the inspection 5 Lightly loosen J3 motor installation screws lt 2 gt Be careful not to overly loosen the screws 6 The nut which is fixing tension adjustment screw lt 1 gt is loosened turn tension adjustment screw lt 1 gt and adjust the tension of timing belt lt 4 gt When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust tension to the above mentioned value Note Be careful if the belt is removed from pulley 5 6 or the mesh of belt and pulley 5 65 is shifted by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 96 5 6 Resetting the origin 7 After adjustment fasten securely the two J3 axial motor fixing screws lt 2 gt and the nut of tension adjustment screw lt 1 gt 8 Improper tightening may cause the belt to loosen with vibration 9 Inst
42. 6 0 64 26 32 JA shaft side 363 3GT 12 25 12 0 95 53 65 RH 12FH series J3 288 3GT 12 M434N4 25 12 71 59 J4 motor side 417 3GT 9 M434N4 2 5 9 99 44 JA shaft side 456 3GT 20 M434N4 2 5 20 121 98 RH 20FH series J3 303 3GT 12 M434N4 25 12 71 59 J4 motor side 417 3GT 9 M434N4 2 5 9 99 44 JA shaft side 456 3GT 20 M434N4 2 5 20 121 98 Note The value given in the table is the value of proper tension Because the tension declines by the infancy expansion when exchanged to new belt please adjust proper tension again after the operation for the about 100 hours when exchanged to new belt 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 thumb If the belt tension is too weak the belt loosening side will vibrate On the other hand if the belt tension is too strong a sharp sound will be heard and the belt tension side will vibrate The detailed adjustment tension is shown in Fig 5 14 Check and adjust with the belt pressing force f and the slack amount d between span s Maintenance and inspection procedures 5 85 5 Maintenance and Inspection 5 3 5 Replacing the bellows With reference to Fig 5 15 exchanges the bellows Replace method of bellows is shown below AN CAUTION Replace the bellows in a place where there is
43. 6FH 6 8 hoses RH 12FH 20FH 8 eight 8 eight externally installed solenoid valve 3 Optional hand output cable For driving the externally installed lt gt 21 hole four 21 hole four solenoid valve 4 Optional hand input cable place place Taking in the input signals from tools such as the hand lt e gt Fix to the external wiring and piping box with cable tie has two holes for fixing Cable tie Cable Diagram shows an image of pulling out air hose and cables Fig 3 8 External Wiring and Piping Box 3 60 External Wiring and Piping Box installing the option devices Fig 3 8 shows the installation procedure for the external wiring and piping box The procedure is the same in RH 3FH 6FH 12FH 20FH Remove the No 2 arm cover B and install this option using the same screw holes The installation procedure is shown below Turn the controller s power OFF before this operation Refer to Page 68 5 3 2 Installing removing the cover for removing installing the cover 1 Remove the each fixing screws and remove the No 2 arm cover U and the No 2 arm cover B 2 Pull out the air hoses or cables from the opening which removed the No 2 arm cover B 3 Fix or connect the air hoses and cables to this option box Previously adjust the air hose and cables to an appropriate length Make sure that the wiring and piping lines avoid the side of the J2 reducer because gap is narrow it interfere with the No
44. B and the other must support the J3 axis shaft When the brake is released the J3 axis could drops with its own weight IN CAUTION If F1 key or enable switch of T B is released the brakes will be work immediately Resetting the origin 5 101 5 Maintenance and Inspection Clean Oil mist spesification d 8 Hold the J4 axis with your hand and rotate it ignment marl Alignment mark Marking off line slowly to match the alignment marks Move the J4 axis with maintaining the condi tion that the releasing brake of the J3 axis and the J3 axis contact to the mechanical stopper Alignment mark 9 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen 10 Press the 1 key and display the Origin set ting selection screen 1 ORIGIN 2 BRAKE 11 Press the 2 key and display the Mechanical stopper selection screen 12 Input 1 into the J3 and J4 axis Set 0 to other axes 13 Press the EXE key and display Confirmation screen 14 Press the F1 key and the origin position is set up CHANGE TO ORIGIN 15 When No 2 arm cover U was removed installs as before COMPLETED 16 Setting of the origin is completed 17 Refer to Page 114 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal 5 102 Resetting the origin 5 Maintenance and Inspection
45. ION 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 A DANGER When the SSCNETIII cable is removed install the cap in the connector If the cap is not installed there is a possibility of malfunctioning by adhesion of the dust etc A DANGER 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 NCAUTION 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 Safety Precautions 1 5 2Unpacking to Installation 2 Unpacking to Installation 2 1 Confirming the product The standard configurat
46. Install to inside the No 2arm For the elbow coupling addition cover U KJLO6 99 SUS street elbow SMC Corp primary piping air hose 6 P port Solenoid valve exhaust hose 6 R port Note When connecting this air hose be sure to remove the dust cap attached on the robot base section output signal connection Fixing screws M4 x 8 four screws cables GR1 GR2 left and right included in the solenoid valve set Hand output signal connection o connectors GR1 GR2 Connect to the GR1 and GR2 connectors of the robot side Secondary piping connection joint 6 A B ports A port From the left side in order 1 3 5 7 B port From the left side in order 2 4 6 8 dus W Base ad Primary piping connection joint 96 upper side AIR IN Solenoid valve exhaust joint Primary piping connection joint Solenbid valve exhaust joint lower side RETURN P port R port Fig 3 2 Solenoid valve installation procedures RH 12FH 20FH The installation procedure is detailed below 1 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 2 Fix the solenoid valve to the plate in the position indicated in Fig 3 1 Place it so that the solenoid valve s primary piping connection joints P R ports are located on the upper side and fix it securely using the M4 screws included tightening torque 1 39 to 1 89N m 3
47. MITSUBISHI Mitsubishi Industrial Robot RH 3FH 6FH 12FH 20FH Series INSTRUCTION MANUAL ROBOT ARM SETUP amp MAINTENANCE MIELI A NN 865 BS N 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 A N CAUTION N CAUTION N WARNING N CAUTION N 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 operato
48. 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 Confirming the operation 2 41 2 Unpacking to Installation Changing the flange surface posture L3 ver J Vertical Radius J 2 ABC 7 The position of the end axis will not change 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 2 42 Confirming the operation 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
49. X cover b Feed the connector of robot side to the opening on the back of the robot base Installation 2 13 2Unpacking to Installation c Insert the cable clamp fixing plate attached to the machine cable into the hollow just under the opening Fixing the plate by two screws securely under the condition that the plates inserted into the hollow d Connect the machine cable to its corresponding connector on the robot arm side Connect the connector AMP1 AMP2 CN2 securely e Install the CONBOX cover securely as before 3 Connects the machine cable to the corresponding connector of the controller Connects the connector AMP1 AMP2 BRK CN2 surely This completes connecting the machine cables N CAUTION N CAUTION N CAUTION N CAUTION 2 14 Installation The machine cable connectors are dedicated for the controller side and robot arm side so take special care when connecting If connected incorrectly the connector pins could bend or break Thus even if connected correctly the robot will not operate correctly creating a dangerous situation Take special care to the leading of the connection cable If the cable is pulled with force or bent excessively wires could break or the connector could be damaged Connect the machine cable at the place without the effect of the dust or oil mist Please keep the dust and oil mist from being applied to of the robot arm connector section in the condition that the machine cabl
50. YLNDR JOG jog mode which he wishes under the screen is not XYZ jog mode displayed it is displayed that the FUNCTION key is pressed If it finishes jog operation press the JOG key lt CURRENT gt JOINT 100 Mi TO again or function key which correspond to 0 00 J5 40 00 close 0 00 J6 0 00 90 00 Whenever it presses the key of OVRD 1 the 0 00 j override goes up Conversely if the OVRD OVRD OVRD JOG ERATA gt key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the Set jog speed Setting the speed controller Set the override to 10 here for confirmation work Moving along the base coordinate system mz 3 per Z m 2 X E z ag P Y x The direction of the end axis 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 Confirming the operation 2 35 2 Unpacking to Installation When the robot is in the
51. ached to the hand wiring and piping set and then connect Please reference Page 55 3 4 Hand internal wiring and piping set 6 After the optional hand wiring and piping set has been installed install the No 2 arm cover U to its original position When installing the cover please take care not to damage the spongy sealant material This completed connection of the Ethernet cables on the No 2 arm NCAUTION When installing the No 2 arm cover U to its original position please take care not to trap any cables or air hoses If the cables hoses are trapped when fixing the cover then cables may be disconnected or hoses punctured leading to the robot and air driving devices to not operate properly The sealing property of the packing may also become seriously impaired and there is a risk that the specified level of product protection may not be achievable NCAUTION When fixing the cable please keep too much load from being applied to the cables If too much load is applied the may break when the robot moves Installation 2 17 2Unpacking to Installation NCAUTION When operating the robot friction may result in dust being generated from the tip of the shaft On the clean specification please be sure to seal the shaft tip with a gasket If this is not done there is a risk that the level of cleanliness will be reduced 2 2 9 Base area AA MITSUBISHI Inside of ADD cover thernet cable Inside the robot arm Fix the Ethe
52. actory 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 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 1 1 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 th
53. all No 2 arm cover U securely as before and finish adjustment This completes adjustment of the J3 axis timing belt Maintenance and inspection procedures 5 75 5 Maintenance and Inspection 3 RH 3FH series Replacing the J3 axis timing belt The procedure for replacing the J3 axis timing belt on the RH 3FH series is shown below The diagram shows image of the removed No 2 arm cover U After replacing the J3 axis timing belt the resetting the origin of J3 and J4 axis is necessary 1 Move the J3 axis to the position lowered about 30mm from the upper limit by jog operation This position makes the space for removing the belt After moving the J3 axis turn the controller s power supply OFF 2 Refer to Page 68 Fig 5 4 Installing removing the cover and remove the No 2 arm cover U 3 Loosen the nut of tension adjustment screw lt 1 gt and loosen the tension adjustment screw lt 1 gt 3 J3 axis motor Move the J3 axis to the position lowered about 30mm from the upper limit previously 2 J3 axis motor fixin remove lt 1 gt adjustment screw Loosen the nut and screw Vin p i lt 5 gt Timing pulley E X6 Timing pulley B b 6 4 Remove two fixing screws lt 2 gt remove the J3 axis motor lt 3 gt remove the timing belt lt 4 gt from the timing pulley A lt 5 gt lt 3 gt J3 axis motor remove 2 J3 axis motor fixing screw
54. ame Installation screw name Qty Note Remarks Common to RH 3FH 6FH 12FH 20FH series 1 No 2 arm cover U Truss head screw M4 x 10 6 RH 3FH 6FH 12FH series RH 20FH85 series Truss head screw M4 x 10 10 RH 20FH100 series 2 No 2 arm cover D Truss head screw M4 x 10 6 3 No 2 arm cover B Hexagon socket bolts M4 x 12 4 4 ADD cover Hexagon socket bolts M4 x 12 2 5 Battery cover Truss head screw M4 x 10 6 6 CONBOX cover Hexagon socket bolts M4 x 12 4 Note1 The fixing torque for each screw are 1 39 1 89Nm 1 Referring to Fig 5 4 remove the covers 2 The names of the covers and installation screws are given in Table 5 3 3 When reattaching the covers after a maintenance inspection proceed in the reverse order of their removal Tightening the screw with the torque shown in Table 5 3 Note Sealant is applied to the installation surface of cover in the oil mist and clean specification models Be sure to replace the sealant if it has been dislocated and bent or crushed and does not return to its original shape Moreover in the case of oil mist and clean specification models it is necessary to remove the bel lows Refer to Page 124 5 3 5 Replacing the bellows for details on how to remove bellows Maintenance and inspection procedures 5 69 5Maintenance and Inspection 5 3 3 Packing Replacement Procedure The packing gets deteriorated with the passa
55. arm cover U as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installation surface of the clean and the oil mist specification covers is using sealing material In the event that the sealing material has been removed or has been bent or broken to the extent that it cannot be return to the original form be sure to replace the sealing material Please contact dealer when the sealing material needs to be replaced This completes installing the External Wiring and Piping Box External Wiring and Piping Box 3 61 4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section 4 Basic operations in the From Controller Setup to Maintenance manual Refer that manual as necessary 4 62 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
56. ase of the B section slide to the front and remove and pull up out the latch T B connector Fig 2 14 Installing and removing the T B CR750 controller The installation of T B is finished If error 0150 occurs 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 22 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 Make sure to fix it securely by fastening the hand locks in 2 places as shown in Fig 2 15 Controller T B connector Teaching pendant Details of the A section T B connector Hand lock Two places Fig 2 15 Installing and removing the T B CR751controller The installation of T B is finished O If error C0150 occurs 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
57. ation 2 3 Setting the origin 2 3 1 Installing the teaching pendant T B 1 Installing the T B CR750 canton lling the T B CR751 controller PEE 2 23 2 3 2 Setting the origin with the origin data input method eere 2724 1 Confirming the origin data 2 Turning ON the control power 3 Preparing the T B 4 Selecting the origin s g mE C Inpatting tue olii i sete ice dient ect pes ree ete nv bote ved ace 20 21 6 Installing the battery cover en Qu IM uM 2A Conrmin die opel loli oec eon Rr ene rm a Nae ieu eee 1 JOINT jog operation QUEE REA T C T ICT D O TOOL jog operat on ud up t IU a uL UM 4 3 axis XYZ jog operation 5 CYLNDER jog operation 6 Work jog operation 3 Installing the option devices 3 1 Installing the solenoid valve set sett ttt 9 49 Tet gib MR S T 2 RH 12FH 20FH series 3 Hand number and value ports common to RH FH series 3 2 Installing the hand input cable cde attenti rotto tapa tnra stabat Deere pub ern sia 3 3 Installing the hand output cable 3 4 Hand internal wiring and piping set 2 RHS FA NOE CONTENTS Page e 3 60 2 RH 12FH 20FH series 3 5
58. ay not be connected securely IN 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 IN 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 IN CAUTION Connect the machine cable at the place without the effect of the dust or oil mist Please keep the dust and oil mist from being applied to of the robot arm connector section in the condition that the machine cable is removed Since it becomes the cause of failure AN CAUTION Please be careful not to catch the hand at installation and removal 2 16 Installation 2Unpacking to Installation 2 2 7 Ethernet Cables Ethernet cables 4 pairs totaling 8 lines of AWG 24 0 2mm22 cabtyre cables are installed within the robot arm from the base unit up to the No 2 arm and can be used LAN connectors are mounted to both ends of the cables and can therefore be used to connect to LAN connection devices Users may also remove the LAN connectors replace them with their own connectors and use them as spare wiring by connecting them to user supplied cables Further when passing through the inside of the shaft and using please us
59. 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 O 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 5 107 5 Maintenance and Inspection 2 J2 axis origin setting 1 Press the 4 key on the menu screen and dis 2 RUN play the Origin Break selection screen A ORIGIN BRK 6 ENHANCED No 2 arm 2 Slowly rotate the J2 axis 90 clockwise with p d both hands for RH 6FH series Slowly rotate Align the pinholes of the No 1 and No 2 arms feed through the origin jig into the pinholes and fasten No 1 arm Hole bottom face Jig lt OR GIN BRAKE gt T ORIGIN 2 BRAKE 3 Press the 1 key and display the Origin setting selection screen 4 Press the 3 key and display the Tool selection screen Z 23 3 DEF N gt 5 Input 1 into the J2 axis Set 0 to other axes 6 Press the EXE key and display Confirmation 10 Lo space screen EXE 7 Press the F1 key and the origin position is set up lt ORIGIN gt TOOL CHANGE TO ORIGIN OK n 5 108 Resett
60. before Fixes the four bellows fixing screws M3x8 securely 9 Makes the J4 axis into the position of 0 degree by jog operation etc and match the ABS mark marking off line with ABS mark marking off line on the shaft In the condition that each other s ABS mark has matched fixes the bellows upper part 10 Fixes the fixing screw of the bellows stop ring as before and fixes the upper part of bellows securely AN CAUTIO N The fixing screw should fix the bellows stop ring in the position used as the inner side refer to figure If that is not right the fixing screw may interfere with the No 1 arm And you should confirm that the stop ring has covered the perimeter of bellows surely If the fixation is not enough the protection performance may drop This completes the replacing bellows ee No 2 arm Bellows stop ring a Frange Ai DA Bellows fixing screw T M3x8 four screws Y M 30mm 54 x A D cut surface Detail of D cut surface Two set screws M4 D cut surface ABS mark marking off line Liquid gasket application Frange View from B Fig 5 16 Replace the bellows oil mist specification Maintenance and inspection procedures 5 87 5 Maintenance and Inspection 5 3 6 Lubrication 1 Lubrication position and specifications The grease nipple position is shown in Fig 5 17 The lubrication specifications for each place are shown in Table 5 7 Refer to the Page 68 5 3 2 Installing
61. cable at the place without the effect of the dust or oil mist Please keep the dust and oil mist from being applied to of the robot arm connector section in the condition that the machine cable is removed Since it becomes the cause of failure AN CAUTION Please be careful not to catch the hand at installation and removal Installation 2 15 2Unpacking to Installation Robot arm The procedure of connecting the machine cable is shown below Although the figure of the robot arm is the example of RV 12SD of our company it is the same 1 Make sure that the power switch on the front of the controller is turned OFF Connector on the robot arm side Projection i 2 Connect the machine cable to its corresponding connector on the robot arm side Connector on the machine cable side 3 After connecting the connector insert the hook attached to the connector on the machine cable side to the rear of the projection of the robot arm connector to fix securely in place Z CAUTION Be careful not to get your hand Hook pinched To remove the cable insert a minus screwdriver into the hook while padding with a cloth and remove the cable by lifting the hook NCAUTION When installing or removing the connector to the connector of the other party in parallel install or remove If load strong against one side is applied the connector pin may be Minus screwdriver Padding damaged and it m
62. 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 lt gt 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 26 Setting the origin 5 Inputting the origin data T B screen Origin data label D J1 J2 J3 J4 J5 J6 J7 J8 2Unpacking to Installation Input the value confirmed in section Page 24 1 Confirming the origin data The correspondence of the origin data label value and axis to be input is shown in Fig 2 17 Fig 2 17 Correspondence of origin data label and axis The method for inputting the origin data is explained below The value shown in Fig 2 16 will be input as an example CHARACTER B 5 8 ruv 6 B 5 D 019529 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 Press th
63. cap attached on the robot base section and output signal connection cables GR1 GR2 Fixing screws M4 x 30 two screws left and right included in the solenoid valve set Note Although the type in the diagram is the RH 6FH installation location is the same also in RH 3FH ANARAN Hand output signal connection con nectors GR1 GR2 Connect to the GR1 and GR2 connec Md Solenoid valve exhaust tors of the robot side vg joint 96 R port Secondary piping connection joint 94 A B ports A port From the left side in order 1 3 5 7 B port From the left side in order 2 4 6 8 Base P d Primary piping connection joint 6 upper side AIR IN Primary piping connection Solenoid valve exhaust joint joint ae lower side RETURN Fig 3 1 Solenoid valve installation procedures RH 3FH 6FH The installation procedure is detailed below 1 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 2 Fix the solenoid valve to the plate in the position indicated in Fig 3 1 Place it so that the solenoid valve s primary piping connection joints P R ports are located on the right hand side and fix it securely using the M4 screws included tightening torque 1 39 to 1 89N m 3 Connect the connector GR1 GR2 of solenoid valve with connector of robot arm side GR1 GR2 Connect with the same names The hand output signal cables of the robot a
64. check the condition of the sealing If the sealing material has been removed or has been bent or broken and it is not suitable to be reused be sure to replace the sealing material 6 No 2 arm Fixing screws of bellows M3x8 four screws No 2 arm cover D Ring Apply liquid gasket No 2 arm Apply liquid gasket No 2 arm cover D A N Y 30 XL SD cut surface Detail of D cut surface ABS mark Liquid gasket application Set screw M4 two screws XN Shaft D cut surface C3 4 Apply liquid gasket B Fig 5 15 Replace the bellows clean specification 30mm View from B 5 86 Maintenance and inspection procedures 5 Maintenance and Inspection 2 Oil mist specification 1 Previously move the J3 axis to upper end position by jog operation This position is necessary to set the ABS mark marking off line of J4 axis after 2 Turn off the controller s power supply 3 Remove the four screws M3x8 which fix the lower part of bellows to the frange 4 Lift the bellows and loosen the two set screws of the frange and remove the frange 5 Loosens the fixing screw of the bellows stop ring which is fixing the upper part of bellows and remove bellows 6 Installs new bellows 7 Installs the frange in the position of 30 mm from the shaft lower end as before Align two set screws M4 to the D cut surface and fix them securely 8 Fixes the bellows lower part to the frange as
65. clean specification An needed 5 94 Maintenance parts 5 Maintenance and Inspection No Names Usage place Q ty Supplier RH 12FH series 1 AC servo motor J1 axis 1 2 J2 axis 1 3 J3 axis 1 4 J4 axis 1 5 Reduction gears J1 axis 1 6 J2 axis 1 7 Ball spline J3 axis 1 general environment specification Mitsubishi Electric 8 J3 axis clean and oil mist specification 1 9 Ball screw J3 axis 1 general environment clean and oil mist specification 10 Bellows J3 axis oil mist specification 1 11 J3 axis clean specification 1 12 Liquid gasket Bellows clean specification An needed RH 20FH series 1 AC servo motor J1 axis 1 2 J2 axis 1 3 J3 axis 1 4 J4 axis 1 5 Reduction gears J1 axis 1 6 J2 axis 1 7 Ball spline J3 axis 1 general environment specification Mitsubishi Electric 8 J3 axis clean and oil mist specification 1 9 Ball screw J3 axis 1 general environment clean and oil mist specification 10 Bellows J3 axis oil mist specification 1 11 J3 axis clean specification 1 12 Liquid gasket Bellows clean specification An needed Maintenance parts 5 95 5 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
66. cover The RH 12FH 20FH series is also equivalent although the figure is RH 6FH X3 J3 axis motor gt J3 axis motor fixing screw loosen lightly lt 2 lt 2 gt J3 axis motor fixing screw loosen lightly 6 J3 pulley Ball screw lower part Don t remove the timing belt Ab A lt 5 gt J3 timing pulley Don t remove the timing lt 1 gt adjustment screw belt Loosen the nut adjust by screw Fig 5 12 Inspecting Adjusting the J3 axis timing belt RH 6FH 12FH 20FH Inspection and adjustment procedure of the timing belt of J3 axis are shown below 1 Confirm that the power supply of the controller is OFF 2 Refer to Page 68 Fig 5 4 Installing removing the cover and remove the No 2 arm cover U 3 Visually confirm that the symptoms indicated in 1 belt replacement period have not occurred with the lt 4 gt timing belt 4 Lightly press the center of the belt and confirm that the value of belt slack is in following The tension of the belt is shown also in Page 85 Fig 5 14 Belt tension Belt tensioning Force to press approx 3N Flexure 1 3mm When adjustment is necessary continue to follow the procedure shown below When adjustment is not necessary install the No 2 arm cover U as before and finish the inspection 5 Lightly loosen J3 motor installation screws lt 2 gt Be careful n
67. ct rays nor the heat of lighting 2012 11 20 8865 The lithium battery type was corrected to Table 5 9 Consumable part list The statement about trademark registration was added The metal plate which fixes Hand internal wiring and piping set option was changed to attachment of the robot arm in standard ntroduction 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 RH 3FH series RH 6FH series RH 12FH series RH 20FH series 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 or skipped point This specifications is original
68. d out with the No 2 arm cover U installed the origin may not be set up correctly because the wiring and the piping interfere with the No 2 arm cover U MENU 1 In the RH 3FH series if the wiring and piping is E PILE EDIT passed in the shaft removes the No 2 arm cover 5 SET INIT 6 ENHANCED U referring the Page 68 5 32 Installing remov ing the cover It is not necessary to remove the cover if wiring and piping is not passed or if using the other robot 2 Press the 4 key on the menu screen and dis lt ORIGIN BRAKE gt play the Origin Break selection screen 1 ORIGIN 2 BRAKE 3 Press the 2 key and display the Break release selection screen 2 ABC 4 Release the brake of the J3 axis Input 1 into the J3 axis Set 0 to other 4 axes Cuo 1 0 0 SPACE 5 Confirm the axis for which the brakes are to be released 6 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key Note The brake of the axis shown below repeats release lock at the interval in each about 200ms for dropping the J3 axis slowly No 2 arm cover itg J3 7 With both hands slowly move the J3 axis in plus direction and contact the axis against the mechanical stopper J3 axis Shaft IN CAUTION For safety purposes the step for releasing the brakes must be carried out by two workers One worker must operate the T
69. d remove the No 2 arm cover U 3 When using the hand input cable connect the connectors HC1 HC2 of optional hand input cable to connectors HC1 HC2 of robot side Connect with the same names The connectors of robot side are tied up by cable tie Cut the cable tie and pull them out 4 Connect the secondary piping air hose Although the diagram shows an example which connected the optional solenoid valve the cables and hoses 3 58 Hand internal wiring and piping set 3Installing the option devices can be pulled out out of the robot from rear of the No 2 arm by using optional external wiring and piping box Refer to Page 60 3 5 External Wiring and Piping Box for how to pull it out When using the optional solenoid valve connect to the A port or B port of solenoid valve Refer to Page 51 Fig 3 2Solenoid valve installation procedures RH 12FH 20FH and Page 52 Table 3 1 Solenoid valve ports and hoses Correspondence of couplings and hand ports for connect to the port necessary 5 As shown in Fig 3 6 fix to the metal plate by the attached cable tie 6 Feed through inside the shaft the tool hand side of the hand input cables and the secondary piping air hoses AN CAUTIO N In order to give the air hose and cable an appropriate space the highest point of the curved section of the air hose and cable should be matched up with the top of the fixing plate and fix at the tool side as is shown in section a of the
70. e key five times will be set Press the key once and advance the cursor Press the 5 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 9 WV1S29 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 and J4 values in the same manner Setting the origin 2 21 2Unpacking to Installation lt ORIGIN gt DATA 6 After inputting all of the values press the EXE key The O6DTYY J2 22HL9X J3 1CP55V origin setting confirmation screen will appear T6 MSY J5 Z21J Z J6 A12 Z0 7 Press F1 Yes to end the origin setting lt ORIGIN gt DATA CHANGE TO ORIGIN OK Moving the cursor Press the T 1 lt and gt keys Inputting characters 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 The symbol is allocated to and key Please repress each key until the symbol to wish is displayed
71. e is displaye Operation will be canceled if the CLOSE key is pressed lt WORK COORD gt WORK NUMBER 2 WORK NUMBER 2 TEACHING POINT WO TEACHING POINT WO RECORD CURRENT POSITION umb Y 61 23 OK Z 553 30 W JUMP JW GRID 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 means the work coor dinates numbers 1 8 WO parameter WKnWO WX parameter WKnWX WY parameter WKnWY 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 WORK NUMBER 2 TEACHING POINT WO WORK COORD gt WORK NUMBER 2 WORK COORDINATES DATA 3 53 220 00 5 14 0 00 0 0 00 00 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 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 wor
72. e is removed Since it becomes the cause of failure Please be careful not to catch the hand at installation and removal 2Unpacking to Installation 2 RH 6FH 12FH 20FH series and RH 3FH S15 CE specification The machine cable connection method about the RH 6FH series and the CE Marking specification of RH 3FH is shown Although the robot arm shown in the figure is RH 6FH the connection method is the same also by the CE specification of RH 3FH Robot arm p Note 1 Controller Motor signal cable 2 Motor power cable Note 1 Although the picture is the CR750 D controller also the connection method is the same in the CR750 Q controller Fig 2 8 Connecting the machine cables RH 6FH 12FH 20FH series and RH 3FH S15 CE specification Carry out the following procedure after installing the controller referring to the separate Controller Setup Basic Operation and Maintenance manual 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 Connect the machine
73. e the optional hand internal wiring and piping set in order to prevent the cable disconnection Re cover the connector of the hand input cable that is attached to this option before using 2 2 8 No 2 arm lt a gt Ethernet cable 4 pairs totaling 8 lines of AWG 24 0 2mm When using as the Ethernet cable LAN connector Customer prepared Robot side Connect the customer s con Customer prepared PIN Robot side When using as spare wiring Cut the LAN con nectors When using by passing through the shaft please use the optional W p 2 hand internal wiring and piping set to prevent the cable disconnection Note Although the figure is RH 6FH the connection method is the same also in RH 3FH 12FH 20FH Fig 2 9 Pulling out the Ethernet cable How to connect the Ethernet cable is shown below 1 Remove the screws used to fix the No 2 arm cover U and then remove the No 2 arm cover U 2 Ethernet cables are located in the positions shown in Fig 2 9 lt a gt coiled and stored 3 Remove the tying band used to coil the Ethernet cable 4 Connect the cable on the customer supplied tool When using as spare wiring please remove the LAN connectors and replace with customer s connector 5 It is possible to use the optional hand internal wiring and piping set to feed the tool cable through the inside of the shaft Replace the connector of the hand input cable that is att
74. ement Yu kl bersynth UH1 14 222 NOK Kluber Co Ltd 5 Maintenance and Inspection Un Lubrication oil ERE Lubrication No Parts to be lubricated Lubrication method Default charge amount Lubrication amount Gover to maker guide RH 12FH 20FH series lt 1 gt J1 axis reduction gears Grease nipple 4BNo2 24 000 Hr 47g Battery cover 2 J2 axis reduction gears WC 610 Only addition Harmonic Drive Systems Inc 24 000 Hr 39g X3 Shaft ball spline No CE specification ig Multemp PS2 No2 arm Wipe the old grease KYODO YUSHI CO LTD Every 2000km cover U 4 Shaft ball screw and applies CE specification movement 1g kl bersynth UH1 14 222 NOK Kluber Co Ltd Caution The brand name of the grease shown in the Table 5 7 is the grease put in at shipping 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 Depending on the robot operation state the lubrication time will fluctuate so determine the time according to the state so that the grease does not run out 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 func
75. emove the wires the wire hooks the robot will stand by itself as shown in Fig 2 3 the self supporting plate suspension fitting and fixing plate 6 Always follow the above procedures and methods to transport the robot for secondary transportation such as when changing the installation position If the arm is directly suspended without using the specified suspension fittings or if it is suspended in the work posture the configuration devices could be damaged and the transportation workers will be subject to risk due to an inadequate center of gravity position CAUTION When transporting a robot always attach four wires CAUTION To reattach the fixing plate again set the axes of the robot to the positions according to the table below 2 3 Transportation posture RH 12FH 20FH series Axis RH 12FH55 RH 12FH70 RH 12FH85 RH 20FH85 RH 20FH100 J1 37 5 214 15 1 21 0 J2 127 5 111 4 105 1 111 0 JaNotel 340mm J4 Not fixed Note1 The bottom surface of the shaft will interfere with the floor if the J3 axis is lowered down to the upper mechanical stopper Position the axes as indicated when transporting the robot Installation 2 9 2Unpacking to Installation 2 2 4 Installation procedures The installation procedure of the robot arm is shown below 4 M8x40 RH 3FH 6FH series 4 M12x45 RH 12FH 20FH series Four positions N Spring washer
76. end axis relative to the line that passes through both the rotational center of the J1 axis and the rotational center of the J2 axis FL1 Flag 1 amp B0000 0000 T 1 0 RIGHT LEFT Note amp B is shows the bina LEFT i Fig 6 1 Configuration flag RIGHT LEFT Configuration flag Appendix 115 6Appendix Appendix 116 Configuration flag s 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 Nov 2012 MEE Printed in Japan on recycled paper Specifications are subject to change without notice
77. ese symbols before reading this instruction manual Table 1 1 Symbols in instruction manual N DANGER Terminology Item Symbol Meaning iQ Platform Controller Indicates the controller which controls the robot arm 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 DB of MELSEC Q series It is connected with the Item drive unit by the dedicated cable Multi CPU system The robot CPU system 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 A safety circuit etc tand alone type Item Indicates the box which arranged control parts such as robot CPU Controller aa MAE servo amplifier and the safety circuit Symbol Precaution indicating cases where there is a risk of operator fatality or serious injury if handling is mistaken Always observe these precau tions to safely use the robot NWARNING Precaution indicating cases where the operator could be subject to fatalities or serious injuries if handling is mistaken Always observe these precautions to safely use the robot N CAUTION Precaution indicating cases where operator could be subject to injury or physical damage could occur if handling is mistaken Always observe t
78. every three months estimated at 500 Hr operation hours 0 Hr Monthly inspection Monthly inspection 500 Hr Monthly inspection 3 month inspection Monthly inspection Monthly inspection o 2 1 000 Hy Monthly inspection 3 month inspection 6 month inspection gt fa Monthly inspection Monthly inspection 1 500 Hr Monthly inspection 3 month inspection Monthly inspection Monthly inspection 2 000 Hr Monthly inspection 3 month inspection 6 month inspection Yearly inspection 6 000 Monthly inspection 3 month inspection 6 month inspection Yearly inspection 3 year inspection Operating time lt Guideline for inspection period 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 X3 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 63 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
79. ey and display the Origin setting selection screen 7 Press the 5 key and display the User selection screen 5 JKL 5 112 Resetting the origin 5 Maintenance and Inspection 8 Input 1 into the axis to origin setting Press the EXE key and display Confirmation screen r 1 0 lt ORIGIN gt USER 9 Press the F1 key and the origin position is set n This complete the Origin setting by the User origin method CHANGE TO ORIGIN OK Resetting the origin 5 113 5 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 label With this the ori gin can be set with the origin data input method the next time Confirm the origin data on the teaching pendant screen origin data input screen The origin data label is enclosed with the arm or attached on the back of the battery cover The teaching pendant operation method and battery 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 24 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 battery cover Refer to Page 68 5 3 2 Installing removing the cover and remove the 2 Confirming the ori
80. f emergency stop switch A CAUTION 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 A DANGER Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence Z CAUTION Establish a set signaling method to the related operators for starting work and fol low this method Signaling of operation start Z CAUTION 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 Z CAUTION 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 Safety Precautions 1 3 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 NCAUTION NCAUTION Z CAUTION Z CAUTION Z CAUTION Z CAUTION A WARNING Z WARNING Z CAUTION A WARNING Z CAUTION Z CAUTION Z CAUTION N WARNING 1 4 Safety Precautions If the automatic operation of the robot is operated by two or more control equip ment design the right
81. f the safety fence entrance door is opened 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 N CAUTION Z N CAUTION N 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 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 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 connec
82. g bolt 1 set 2 6 Confirming the product 2Unpacking to Installation 2 2 Installation 2 2 1 Unpacking lt 2 gt Upper lid out 3 porem socket l four IS NCAUTION Always unpack the robot at a flat place The robot could tilt over if unpacked at an Fixing plate B oP unstable place Fixing plate A c Fig 2 1 Unpacking the robot arm The robot is shipped from the factory in cardboard and plywood frame packing Always refer to Fig 2 1 and unpack the robot NCAUTION 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 Using a knife etc slit the tape lt 1 gt fixing the upper lid 2 of the cardboard box Fig 2 1 2 Pull the upper lid X2 of the cardboard box off with both hands Fig 2 1 b 3 Remove the hexagon socket bolts 3 four positions which fix the robot Fig 2 1 c This completes the unpacking Note The robot must be transported without removing the fixing plate A and B Remove after installing Z CAUTION When repackaging the robot in the wooden frame always use the fixing plate Installation 2 7 2Unpacking to Installation 2 2 2 Transportation procedures RH 3FH 6FH series No 2 arm No 1 arm Fixing plate A Fig 2 2 Transportation of robot arm Mass RH 3FH35 series RH 3FH45 series RH 3FH55 serie
83. ge of time and must be replaced as required Table 5 4 provides guidelines for replacing the packing Replace the packing in accordance with the instructions given below If the packing is not replaced in a timely manner water or oil will be allowed to intrude the robot possibly making it inoperative Table 5 4 Packing replacement guideline Service environment Whether or not robot is pressurized When packing must be replaced General environment Not pressurized Note Clean room Oil mist Not pressurized Note Pressurized When signs of cracking or peeling are noted in the packing Not pressurized When the cover mounted on the robot is removed put back in place Note1 When used in the general or clean room environment robot can do away with pressurization 1 Packing Replacement Instructions Stick again new packing as before 1 Remove the old packing and clean and degrease the surface on which it has been placed 2 The sticking surface of packing is double coated adhesive tape Referring to Fig 5 5 Example of sticking packing good example and Fig 5 7 Sticking the cord like packing and stick the packing in line with form Be careful for the packing not to slide The example of unsuitable packing slid is shown in Fig 5 6 Example of sticking packing bad example 3 Although the No 2 arm cover U sticks two or more packings per place it has length w
84. gin data Confirm the value displayed on the teaching pendant s Origin Data Input screen Refer to Page 24 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 battery cover Refer to Page 24 Fig 2 16 Origin data label an example and Page 27 Fig 2 17 Correspondence of origin data label and axis for details on the origin data label 4 Installing the cover Install the battery cover removed in step 1 Confirming the origin data label above Refer to Page 68 5 3 2 Installing removing the cover and replace the battery cover This completes the recording of the origin data 5 114 Resetting the origin 6Appendix 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 Indicates the location of the
85. hat the joint in jog mode is displayed on J1 0 00 J5 0 00 J2 40 00 J6 40 00 the screen J3 90 00 If other jog modes are displayed please press the F1 o m M i 9 function key corresponding to the joint If the E 0 3 XYZ CYLNDR JOG jog mode which he wishes under the screen is not Joint jog mode displayed it is displayed that the FUNCTION key is pressed Set jog speed If it finishes jog operation press the JOG key lt CURRENT gt JOINT 100 Mi TO again or function key which correspond to 0 00 J5 0 00 close 0 00 J6 0 00 90 00 Whenever it presses the key of OVRD 1 the 0 00 OVRD 4 OVRD override goes up Conversely if the OVRD 1 1 JOG ERATA gt key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the controller Setting the speed Set the override to 10 here for confirmation work J1 axis jog operation M um um Es 1 1 1 i i i i 1 1 av i 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 J2 axis jog operation J2 axis i ci Yun r Pp m When the Y J2 keys are pressed the J2 axis will rotate in the plus direction When the Y J2 keys are pressed Rota
86. he origin 5 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 mode of the controller to MANUAL and set the T B ENABLE switch to ENABLE to validate the T B AN CAUTION The brakes are released here and the J3 axis shaft is moved with both hands For safety purposes the brakes must be released by two workers 1 J1 axis origin setting mechanical stopper lt MENU gt 1 Press the 4 key on the menu screen and dis 1 FILE EDIT 2 RUN 3 PARAN play the Origin Break selection screen 5 SET INIT 6 ENHANCED 2 With both hands slowly move the J1 axis in minus direction and contact the axis against the mechanical stopper m pp lt OR GIN BRAKE gt 1 ORIGIN 2 BRAKE 3 Press the 1 key and display the Origin setting selection screen 4 Press the 2 key and display the Mechanical stopper selection screen Resetting the origin 5 97 5 Maintenance and Inspection lt ORIGIN gt MECH N j gt 5 Input 1 into the J1 axis Set 0 to other axes Ji J2 s MS 6 Press the EXE key and display Confirmation ACA 1 0 L0 sme screen EXE lt ORIGIN gt MECH 7 Press the F1 key and the origin position is set CHANGE TO ORIGIN 7 up ORIGIN MECH COMPLETED 8 Setting of the origin
87. hese precautions to safely use the robot JOG If a word is enclosed in brackets or a box in the text this refers to a key on the teaching pendant RESET EXE This indicates to press the B key while holding down the A key In this example the RESET key is pressed while holding down the A B EXE key T B This indicates the teaching pendant O P Indicates the operating panel on the front of controller or drive unit for the controller which installed the operating panel 1 2 Using the instruction manuals 1Before starting 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 training This also applies to maintenance work with the power source turned ON Enforcement of safety training Z CAUTION 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 Z WARNING 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 o
88. holder and disconnect the lead connector 4 Insert the new battery into the holder and connect the lead connector Replace all batteries with new ones at the same time 5 Replaces the backup battery one by one in the above mentioned procedure 6 All the batteries should check that it has been exchanged newly If the old battery is contained generating heat and damaging may occur 7 Install the battery cover lt 2 gt as before Be careful so that the cable may not be inserted 8 Initialize the battery consumption time Always carry out this step after replacing the battery and initialize the battery usage time Refer to the sep arate Instruction Manual Detailed Explanation of Functions and Operations for details on the operation methods Note If the reason for replacement is power down of the battery resetting the origin is necessary refet to xxx 5 92 Maintenance and inspection procedures 5 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 performa
89. hoses Remove temporarily 7 Install the new timing belt in reverse procedure of removal Install the new belt to the timing pulley on the motor lt 5 gt and timing pulley B 6 securely Fix the shaft fixing plate lt 8 gt by fastening the original fixing screws securely If using the hand input cables lt 11 gt and air hoses lt 12 gt connect them as before 8 Install the J3 axis motor lt 3 gt by tightening lightly the J3 axis motor fixing screw lt 2 gt two screws 9 Adjust the tension of J3 axis timing belt with referring to Page 75 2 RH 3FH series Inspecting Adjusting the J3 axis timing belt 10 Install No 2 arm cover U securely as before 11 Reset the origin of J3 and axis with referring to the Page 96 5 6 Resetting the origin 12 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox2 13 Refer to Instruction Manual RT ToolBox2 User s Manual for operation of RT2 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter This completes replacement of the J3 axis timing belt 5 78 Maintenance and inspection procedures 5 Maintenance and Inspection 4 RH 6FH 12FH 20FH series Inspecting Adjusting the J3 axis timing belt The section related to J3 axis timing belt of RH 6FH 12FH 20FH is shown in Fig 5 12 The picture is the image which removed the No 2 arm
90. in setting 2 J2 axis origin setting 3 J3 and J4 axis origin setting 5 6 3 ABS origin method 1 Select the T B 5 6 4 User origin method 5 6 5 Recording the origin data 1 Confirming the origin data label 2 Confirming the origin data 3 Recording the origin data 4 Installing the cc GAppendix Appendix 1 Appendis i 15 Appendix 115 1Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals the basic terminology and the safety precautions 1 1 Using the instruction manuals 1 1 1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below Use these doc uments according to the application For special specifications a separate instruction manual describing the special section may be enclosed Safety Manual Standard Specifications Robot Arm Setup amp Maintenance Controller Setup Basic Operation and Maintenance Detailed Explanation of Functions and Operations 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 f
91. ing the origin 5 Maintenance and Inspection 8 Setting of the origin is completed 9 Refer to Page 114 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal O Release the brake lt gt 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 O Select the axis of origin setting 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 3 J3 and J4 axis origin setting Origin settings for the J3 and J4 axes must be performed at the same time The method of origin setting is the same as the mechanical stopper method Refer to Page 101 3 J3 and J4 axis origin setting mechanical stopper perform the required origin setting operations This complete the Origin setting by the Jig method Resetting the origin 5 109 5 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 angu
92. ing the robot remove the self supporting plate hanging jig and fixing plate 7 If you operate the robot at a high speed reaction forces are applied to the installation stand by the robot s operation Make sure that the installation stand on which the robot is placed has sufficient strength and 180 150 200 ePi Fig 2 4 Installation dimensions 2 10 Jnstallation 2Unpacking to Installation rigidity Table 2 4 shows the maximum reaction force design values that may be applied to an installation stand Please use these values as reference when designing the installation stand Table 2 4 Magnitude of each reaction force Unit Value RH 3FH series Tilt moment ML 240 Torsional moment Mz N m 255 Horizontal direction translation force Fy N 810 Vertical direction translation force Fy 380 RH 6FH series Tilt moment M 1 640 Torsional moment N m 710 Horizontal direction translation force Fy N 1 653 Vertical direction translation force Fy N 2 318 RH 12FH 20FH series Tilt moment Mj 3 190 Torsional moment Mz 1 840 Horizontal direction translation force Fy 2 240 Vertical direction translation force Fy N 5 500 CAUTION When installing the robot secure enough space behind the robot for future maintenance to allow the connection of cables and the replacement of the backup batter
93. ion 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 No Part name Type Qty Remarks RH 3FH series 1 Robot arm 1 unit 2 Guarantee card 1 copy 3 Installation bolts M8 x 40 4 pcs For robot arm installation 4 Spring washer for installation bolts For M8 4 pcs 5 Plain washer for installation bolts For M8 4 pcs 6 Fixing plates 1 set For robot arm transportation 7 Fixing plates installation bolt 1 set 8 Installation bolt for machine cable M4 x 8 4 pcs To fix to the back of robot arm base RH 6FH series 1 Robot arm 1 unit 2 Guarantee card 1 copy 3 Installation bolts M12 x 45 4 pcs For robot arm installation 4 Spring washer for installation bolts For M12 4 pcs 5 Plain washer for installation bolts For M12 4 pcs 6 Fixing plates 1 set For robot arm transportation 7 Fixing plates installation bolt 1 set RH 12FH 20FH series 1 Robot arm 1 unit 2 Guarantee card 1 copy 3 Installation bolts M12 x 45 4 pcs For robot arm installation 4 Spring washer for installation bolts For M12 4 pcs 5 Plain washer for installation bolts For M12 4 pcs 6 Fixing plates 1 set For robot arm transportation 7 Fixing plates installation bolt 1 set 8 Hanging jig 1 set 9 Hanging jig fixin
94. is completed Ji 4X J4 Jb Hs J7 J8 data in this manual and record the origin data on the origin data seal 9 Refer to Page 114 5 6 5 Recording the origin Release the brake 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 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 5 98 Resetting the origin 5 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 Break selection screen 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED 2 With both hands slowly move the J2 axis in plus direction and contact the axis against A MITSUBSH the mechanical stopper J J2 3 Press the 1 key and display the Origin setting selection screen 4 Press the 2 key and display the Mechanical stopper selection screen 5
95. ith which packing ends overlap Stick packing in the following procedures For more information see Fig 5 8 Examples of packing overlaps Examples of improperly treated cut edge are shown as well a Stick packing in line with form of the sticking surface Finally cut packing so that adjoining pieces have a Imm overlap at the end b Apply liquid gasket to the cut edges Designated liquid gasket 1212 Maker Three Bond c Stick so that the gap may not be made to each other s packing AN CAUTION Do not install the cover immediately after sticking packing Install the cover after the 6 hours pass after sticking packing for gasket hardening 4 Confirm that packing is stuck correctly and install the cover When tightening the bolts fixing the cover avoid tightening them to a specified torque at a time Tighten the bolt in the order shown as much as possible in the Fig 5 10 Example of order which tighten bolts The torque which tightens the fixing bolt of each cover is shown in Table 5 3 Cover fixing screw list AN CAUTION Stick the packing securely pressing down with the finger If sticking is insuffi cient when the cover is installed packing slides by the pressure and there is a possibility that it may become impossible to secure protection performance Completion of packing replacement 5 70 Maintenance and inspection procedures Maintenance and Inspection Packing is stuck securely without sliding
96. k View from A Alignment mark of J4 axis Note There is no alignment mark of the J3 axis Contact the J3 axis against mechanical stopper as the mech anism stopper method Fig 5 21 ABS mark attachment positions 5 110 Resetting the origin 5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below 1 Select the T B SRON 1 Press the 4 key on the menu screen and dis ORIGIN BRK play the Origin Break selection screen 6 ENHANCED il 2 Press the 1 key and display the Origin setting J ORIGIN 2 BRAKE selection screen 3 Press the 4 key and display the ABS selection screen 4 Input 1 into the axis to origin setting Press the EXE key and display Confirmation screen jp ale oed ORIGIN ABS 5 Press the F1 key and the origin position is set up CHANGE TO ORIGIN OK This complete the Origin setting by the ABS method Resetting the origin 5 111 5 Maintenance and Inspection 5 6 4 User origin method IN CAUTION Before using this method the origin must be set with the other method The setting method is explained in Page 96 Table 5 11 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 mode of the controller to MAMNUAL and set the ENABLE switch on the teachi
97. k coordinates Press the FUNCTION keys and display CLOSE function Press the function key corresponding to CLOSE Returns to MENU screen WORK NUMBER 2 TEACHING POINT WO 2 WORK COORD ce 123 Confirming the operation 2 45 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 WORK NUMBER 2 TEACHING POINT WO WORK COORD gt WORK NUMBER 2 WORK COORDINATES DATA 3 53 220 00 5 14 0 00 0 00 0 00 LM 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 JOG Press the key and display the jog JoG screen JOG is displayed on the screen lt CURRENT gt WORK 100 M1 TO 1 bottom on Check that the WORK in jog mode is 90 00 displayed on the screen 0 00 i If other jog modes are displayed please press 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 to Confirmation and selection of the close work coordinates system L Target work
98. ks 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 this case the position data must be reviewed 5 74 Maintenance and inspection procedures 5 Maintenance and Inspection 2 RH 3FH series Inspecting Adjusting the J3 axis timing belt The section related to J3 axis timing belt of RH 3FH series and adjustment is shown in Fig 5 11 The picture is the image which removed the No 2 arm cover lt 3 gt J3 axis motor lt 2 lt 1 gt adjustment screw Loosen the nut adjust by screw X6 J3 timing pulley B Don t remove the timing belt lt 5 gt J3 timing pulley A Don t remove the timing belt Fig 5 11 Inspecting Adjusting the J3 axis timing belt Inspection and adjustment procedure of the timing belt of J3 axis are shown below 1 Confirm that the power supply of the controller is OFF 2 Refer to Page 68 Fig 5 4 Installing removing the cover and remove the No
99. l it out from the robot arm Remove the No 2 arm cover U and connect the connector above the No 2 arm Turn the controller s power OFF before this operation Refer to Page 68 5 3 2 Installing removing the cover for removing installing the cover oa 2 arm cover U Connect inside the No 2 arm cover U Connector of robot arm side Coiled and stored by cable tie gt PS a J wr e The type in the diagram is the RH 6FH however the location is the same on the RH 3FH 12FH 20FH Fig 3 4 Installing the hand output cable The installation procedure for the hand output cable is shown below 1 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 2 The hand output cable is stored in the location shown in Fig 3 4 Remove cable tie and check the connectors GR1 GR2 3 Connect the connector GR1 GR2 of optional cable with connector of robot arm side GR1 GR2 Connect with the same names 4 Pull the hand output cables out of the robot arm Referencing Page 60 3 5 External Wiring and Piping Box pull the cable out When installation of the optional external wiring and piping box finished Installing the hand output cable is complete 3 54 Installing the hand output cable Jinstalling the option devices 3 4 Hand internal wiring and piping set The installation procedure for the hand internal wiring and piping set is shown in Fig 3 5 for the RH 3FH series
100. lar 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 mode of the controller to MANUAL and set the ENABLE switch on the teaching pendant 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 29 2 4 Confirming the operation for details on the jog operation Note that if the ABS marks are peeled off the positions can be matched using the following alternative methods Match the ruling lines of the ABS mark mounting position surfaces J4 axis inm x r am J2 axis I E J1 axis i Clean Oil mist clean spesification specification mark lt M nis View from rd b Standard specification E 1 Oil mist spesification Alignment mark Marking off line Shaft side is mechan ical stopper s bottom Alignment mar
101. lling the tip of the air hose out from the shaft please be sure to use the optional hand internal wiring and piping set A plate that can be fixed to an appropriate position and silicon grease to apply to friction points are both included with the product please refer to Page 55 3 4 Hand internal wiring and piping set Further when using the optional external wiring and piping box the air hose can be pulled out from the rear of the No 2 arm please refer to Page 60 3 5 External Wiring and Piping 6 If the hand output cable and the air hose have excess length please tie the excess section by cable tie and fix it to the plate The plate have some holes for fixing the cable hose with a cable tie 7 Install securely the No 2 arm cover U as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installation surface of the clean and the oil mist specification covers is using sealing material In the event that the sealing material has been removed or has been bent or broken to the extent that it cannot be return to the original form be sure to replace the sealing material Please inform the dealer if exchange is necessary This completes installing the solenoid valve set 3 50 Jnstalling the solenoid valve set Jinstalling the option devices 2 RH 12FH 20FH series No 2 arm cover U Items for customer to prepare A Philips screwdriver M4 screws Air hose for secondary piping 6
102. lt does not require lubrication and has a low noise However if the belt usage method and tension adjust ment are inadequate the life could drop and noise could be generated Sufficient aging to remove the initial elon gation of the belt and adjustment of the belt tension have been carried out before shipment from the factory However depending on the robot working conditions elongation will occur gradually over a long time The tension must be confirmed during the periodic inspection The 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 85 7 Timing belt tension for the tension adjustment value of the timing belt Maker Gates Unitta Asia Company Type U 505 Measurement by the sound wave Measurement by the push pull gauge type belt tension gauge Fig 5 10 Tension adjustment method of timing belt 1 Timing belt replacement period The timing belt life is greatly affected by the robot working conditions so a set time cannot be given However if the following symptoms occur replace the belt 1 When crac
103. may cause the belt to loosen with vibration 12 Install No 2 arm cover U and No 2 arm cover D securely as before and finish adjustment This completes adjustment of the J4 axis timing belt 5 84 Maintenance and inspection procedures 5 Maintenance and Inspection 7 Timing belt tension Pressing force Span Slack Tension Fig 5 14 Belt tension Table 5 5 Pressing force timing belt Axis Belt type Span s mm Slack d mm Pressing force f N Remarks RH 3FH series J3 309 3GT 6 96 1 5 2 J4 motor side 336 3GT 6 64 1 0 2 J4 shaft side 282 3GT 12 74 1 2 4 RH 6FH series J3 264 3GT 6 82 1 3 3 J4 motor side 315 3GT 6 64 1 0 2 JA shaft side 363 3GT 12 95 1 5 4 RH 12FH series J3 288 3GT 12 M434N4 11 11 4 JA motor side 417 3GT 9 M434N4 99 1 5 3 JA shaft side 456 3GT 20 M434N4 121 1 9 7 RH 20FH series J3 303 3GT 12 M434N4 11 11 4 J4 motor side 417 3GT 9 M434N4 99 1 5 3 JA shaft side 456 3GT 20 M434N4 121 1 9 7 Table 5 6 The preset value and adjustment value in the sound wave type belt tension gauge Preset value Standard tension Axis Belt type M g m W mm R S mm T N RH 3FH series J3 309 3GT 6 25 6 96 26 32 J4 motor side 336 3GT 6 25 6 64 26 32 JA shaft side 282 3GT 12 25 12 74 53 65 RH 6FH series J3 264 3GT 6 25 9 0 82 40 48 J4 motor side 315 3GT 6 25
104. n NCAUTION Take care against applying big force to the Ethernet cable other cables and the air hose 2 18 Installation CAUTION NCAUTION NCAUTION 2Unpacking to Installation Please confirm not having broken or not having stripped the packing when installing or removing the cover Contact to the dealer if packing is broken or has stripped Failure will be caused if the robot is used under the condition that the packing is broken or stripped because oil mist etc will invade in the arm When ADD cover is installed please keep too much load from being applied to the cables and the air hoses If too much load is applied the cable will be broken and the hose is bent therefore robot and pneumatic drive equipment cannot operate normally When ADD cover is installed catch neither the cable nor the air hose If the bolt is tightened while it had been caught the cable will be broken and the hose is bent and the robot and pneumatic drive equipment cannot operate normally Moreover packing does not stick securely and protection specification cannot be secured Installation 2 19 2Unpacking to Installation 2 2 10 About oil mist specification 1 Piping for pressurization inside robot arm In use in oil mist environment protection performance can be improved by pressurizing the inside of the robot arm Please connect the 8 air hose to the joint for pressurization of the robot arm base portion AIR PURGE and
105. nal deviation or malfunction could occur Do not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults Securely install the hand and tool and securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuries or damage if the robot is started with external commands Keep the jog speed as low as possible and always watch the robot Failure to do so could lead to interference with the workpiece or peripheral devices After editing the program always confirm the operation with step operation before starting automatic operation Failure to do so could lead to interference with peripheral devices because of programming mistakes etc Make sure that i
106. nce 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 See Fig 5 19 For specific information about parts to be replaced and timing of overhaul contact your local service representative If overhaul is not performed Predetermined time period 1 Periodic inspection Failure rate A If overhaul is performed Servo on time Fig 5 19 Periodic inspection overhaul periods About Overhaul 5 93 5 Maintenance and Inspection 5 5 Maintenance parts The consumable parts that must be replaced periodically are shown in Table 5 9 and spare parts that may be required during repairs are shown in Table 5 10 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 9 Consumable part list No Part name Type Usage place Q ty Supplier 1 Grease Reduction gears of each axis An needed 2 Lithium battery ER6 In base 5 Mitsubishi Electric 3 Liquefied gasket Packing Note1 An needed RH 3FH series 4 Timing belt J3 axis 1 5 J4 axis motor side 1 Mitsubishi Electric 6 J4 axis
107. ng 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 axis 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 29 2 4 Confirming the operation for details on the jog operation IN CAUTION Choose the user origin position as the position where it doesn t move by the gravity This position is left as a guideline to position all axes with jog operation when setting the origin again with this method 2 Enter the JOINT jog mode and display the joint coordinates on the teaching pendant screen Record the value of the axis for which the origin is to be set 3 Input the value recorded in the user designated origin parameter USRORG The parameter details and input methods are described in the separate Instruction Manual Detailed Explana tion of Functions and Operations Refer to that manual and input the user designated origin position 2 RUN 4 Next set the origin A ORIGIN BRK Display the menu screen 6 ENHANCED 5 Press the 4 key on the menu screen and dis play the Origin Break selection screen ORIGIN 2 BRAKE 6 Press the 1 k
108. ng to Page 91 5 3 7 Replacing the backup battery 2 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 1 Replace the bellows J3 axis Only clean specification and oil mist specification Replace it referring to Page 124 5 3 5 Replacing the bellows Inspection items 5 65 5Maintenance 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 94 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 The outline drawing of RH 3FH series is shown in Fig 5 2 and RH 6FH 12FH 20FH series is shown in Fig 5 3 RH 3FH series No 2 arm cover U 8 J3 axis motor
109. no risk of contamination by dust and oil mist If it must be replaced in a dust filled area be sure to remove as much dust as possible in advance before replacing it 1 Clean specification 1 Turn off the controller s power supply 2 Refer to Page 68 Fig 5 4 Installing removing the cover and remove the No 2 arm cover U and the No 2 arm cover D 3 Loosen the two fixing M4 screws of bellows and remove the bellows to downward together with No 2 arm cover D 4 Remove the four fixing screws which fix the bellows to the No 2 arm cover D and removes the ring then the bellows can be removed from No 2 arm cover D 5 Fix the new bellows to the No 2 arm cover D in the same way screw tightening torque 0 8Nm Fill the gap between the No 2 arm cover D and the bellows with a seal such as a liquid gasket 6 Install the No 2 arm cover D as before 7 Fix the bellows to shaft with adjusting the position of the bellows s bottom to 30mm from end of shaft Align two set screws M4 to the D cut surface and fix them securely 8 Fill the gap between the bellows fixing section and the shaft with a seal such as a liquid gasket 9 Sticks the attached ABS mark on the lower part of bellows Makes the J4 axis into the position of 0 degree by jog operation etc and match the ABS mark sticker with ABS mark on the shaft and stick it This completes the replacing bellows Caution When installing the No 2 arm cover D to the No 2 arm please
110. of the T B N CAUTION N CAUTION N WARNING J3 axis The robot will move during this operation Make sure that there are no operators near the robot and that there are no obstacles such as tools in the robot operation range To immediately stop the robot release the deadman switch on the back of the T B The servo power will turn OFF and the robot will stop The robot will also stop if the EMG STOP switch emergency stop switch on the front of the T B or the EMG STOP switch emergency stop on the front of the controller is pressed Confirm that the origin has been set If the origin has not been set ek 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 Page 22 2 3 Setting the origin for details on setting the origin J4 axis Each axis moves independently Fig 2 18 JOINT jog operation Confirming the operation 2 29 2 Unpacking to Installation End axis amp UY X Fig 2 19 XYZ jog operation End axis Tool coordinate sys tem reference origin X Fig 2 20 TOOL jog operation 2 30 Confirming the operation While maintaining the end axis posture the axis moves straight along the base coordinate system Also while maintaining the end axis position the end axis posture changes Z Base coordinate sys tem reference origin Z While main
111. ollowing operations pressing down the enabling switch of T B lightly Resetting the origin 5 105 5 Maintenance and Inspection 1 J1 axis origin setting 2 RUN 1 Press the 4 key on the menu screen and dis ORIGIN BRK play the Origin Break selection screen 6 ENHANCED Select ORIGIN BRK 2 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 n s i through the origin jig into the pinholes and fas ten 1 ORIGIN 2 BRAKE 3 Press the 1 key and display the Origin setting selection screen 4 Press the 3 key and display the Tool selection screen Z 23 3 DEF Select TOOL N 4 gt 5 Input 1 into the J1 axis Set 0 to other axes 6 Press the EXE key and display Confirmation 1 0 0 space screen EXE SORIGIN gt TOOL 7 Press the F1 key and the origin position is set CHANGE TO ORIGIN OK 5 106 Resetting the origin 5 Maintenance and Inspection 8 Setting of the origin is completed 9 Refer to Page 114 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal O Release the brake 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
112. on of the tool coordinate system 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 of the tool coordinate system When the Z J3 keys are pressed Move along the minus direction Confirming the operation 2 31 2 Unpacking to Installation When the robot is in the transportation posture lt 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 33 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog Q the buzzer of T B sounds and the robot does not move 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 end axis posture 7 Jn 5 Cve 7 E gt The Position of the end axis will not change TX 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 O When alarm No 5150 occurs If alarm No 5150 ORIGIN NOT SET occurs the origin has not been set correctly Reconfirm the value input for the origin data O Tool length
113. ot to overly loosen the screws 6 Loosen the tension adjustment screw lt 1 gt Adjusts by turning the tension adjustment screw lt 1 gt slowly and moving the J3 axis motor 3 little by little When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust tension to the above mentioned value Note Be careful if the belt is removed from pulley 5 6 or the mesh of belt and pulley 5 65 is shifted by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 96 5 6 Resetting the origin 7 After adjustment fasten securely the two J3 axial motor fixing screws lt 2 gt and the nut of tension adjustment screw lt 1 gt Improper tightening may cause the belt to loosen with vibration 8 Install No 2 arm cover U securely as before and finish adjustment This completes adjustment of the J3 axis timing belt Maintenance and inspection procedures 5 79 5 Maintenance and Inspection 5 RH 6FH 12FH 20FH series Replacing the J3 axis timing belt The procedure for replacing the J3 axis timing belt on the RH 6FH 12FH 20FH series is shown below The diagram shows an image of the removed No 2 arm cover U After replacing the J3 axis timing belt the resetting the origin of J3 and J4 axis is necessary 1 Refer to Page 68 Fig 5 4 Installing removing the cover and remove the No 2 arm cover U 2 Loosen the nut
114. 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 2 Is there any abnormal motion or abnormal noise Follow the troubleshooting section Visual 5 64 Inspection items 5 2 2 Periodic inspection Maintenance and Inspection Carry out periodic inspection with the procedures given in Table 5 2 Table 5 2 Periodic inspection items details Procedure Inspection item details Remedies Monthly inspection items 1 Are any of the bolts or screws on the robot arm loose Securely tighten the bolts Are any of the connector fixing screws or terminal block terminal screws loose Securely tighten the screws 3 month inspection items 1 Is there any grease of the shaft section still Wipe off the old grease and supply the new grease 6 month inspection items 1 Has the dust accumulated into bellows When environment with much dust Remove bellows and clean the inside Refer to Page 124 5 3 5 Replacing the bellows for how to remove bellows Yearly inspection items 1 Replace the backup battery in the robot arm Exchange it referri
115. pressurize the inside of the robot arm Refer to the separate Standard specifications manual for specification of air purge Coupling for pressurization 8 Note Although the figure is RH 6FH the position of the joint is the same also in RH 3FH 12FH 20FH Fig 2 11 Air purge 2 2 11 About clean specification 1 Piping for suction inside robot arm In use of the robot of clean specification please connect the 8 air hose to the coupling for suction of the robot body base portion VACUUM and suck the inside of the robot arm Refer to the separate Standard specifications manual for vacuum condition Coupling for suction 8 Note Although the figure is RH 6FH the position of the joint is the same also in RH 3FH 12FH 20FH Fig 2 12 Vacuum 2 20 installation 2Unpacking to Installation 2 Duct installation Remove the CONBOX cover on the robot arm rear and install the attached ventilation duct reference Fig 2 13 As the Z axis moves up and down the volume of the bellows varies and air is sucked in and released out of the robot s ventilation duct opening Be sure to locate the ventilation duct s opening in a position that will not affect the robot s cleanliness Furthermore whilst it is only a small amount internal suction results in external air flowing into the robot through the ventilation duct s opening and therefore the following two points should be considered when deciding whe
116. r and robot Installation of safety fence 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 Z CAUTION Z CAUTION N CAUTION N CAUTION N CAUTION Z CAUTION N WARNING Z WARNING Z CAUTION NWARNING N CAUTION N CAUTION N CAUTION Z CAUTION N 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 positio
117. re to locate the ventilation duct s opening The opening should be facing downwards The opening should not be located in the vicinity of dust dirt or liquids etc Recommended cleanliness of surrounding area less than ISO class 5 CONBOX cover a paver Robot Robot p sa base base CR Ventilation duct Ventilation duct UC with attached 17V with attached NN plate cover q plate cover Opening Opening Internal suction E Internal suction g Machine cable P ad pu Machine cable Pu RH 3FH RH 6FH 12FH 20FH Fig 2 13 Installation of Exhaust Duct Note When using the optional electromagnetic valve set we recommend using the primary piping s spare piping 6 air hose to release the exhaust fumes Please take care as leaking exhaust fumes inside the robot may have an impact on the robot s cleanliness Installation 2 21 2Unpacking to Installation 2 3 Setting the origin The origin is set so that the robot can be used with a high accuracy After purchasing the robot always carry out this step before starting work This step must also be carried out if the combination of robot and controller being used is changed There are several methods for setting the origin but the origin data input method will be explained here Refer to Page 96 5 6 Resetting the origin for the other methods
118. 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 11 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 11 Origin setting method No Method Explanation Remarks 1 Origin data input method The origin data set as the default is input from the T B The setting method is explained in Page 22 2 3 Setting the origin Mechanical stopper method This origin posture is set by contacting each axis against the mechanical stopper The setting method is explained in Page 97 5 6 1 Mechanical stopper method Jig method The origin posture is set with the calibration jig installed The setting method is explained in Page 105 5 6 2 Jig method User origin method A randomly designated position is set as the origin posture The setting method is explained in Page 112 5 6 4 User origin method ABS origin method This method is used when the encoder backup data lost in the cause such as battery cutting Before using this method the origin must be set with the other method with same encoder The setting method is explained in Page 110 5 6 3 ABS origin method 5 96 Resetting t
119. rews 10 Loosen the nut of tension adjustment screw 8 for timing belt A Adjusts by turning the tension adjustment screw lt 8 gt slowly and moving the J4 axis motor 92 little by little When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust tension to the above mentioned value Note Be careful if the belt is removed from pulley lt 10 gt lt 4 gt or the mesh of belt and pulley 10 lt 4 gt is shifted by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 96 5 6 Resetting the origin lt The No 2 arm upper view Inside of the No 2 arm cover U gt lt 9 gt J4 axis motor lt 7 gt axis motor fixing screw two screws Exists in the rear of J4 axis also lt 1 gt Timing belt A lt 8 gt Tension adjustment screw for timing belt A Loosen the nut and screw The RH 3FH 12FH 20FH series is also equivalent although the figure is RH 6FH lt The No 2 arm bottom view Inside of the No 2 arm cover D lt 1 gt Timing belt A j lt 10 gt Timing pulley A D e Push lt 42 pulley The RH 3FH 12FH 20FH series is also equivalent although the figure is RH 6FH 11 After adjustment fasten certainly the two J4 motor fixing fixing screws lt 7 gt And fasten certainly the nut of tension adjustment screw lt 8 gt Improper tightening
120. rm side are located close to where the solenoid valve is installed and are tied up with cable tie Cut the cable tie and connect them to the connectors Installing the solenoid valve set 3 49 Installing the option devices 4 Connect the primary piping air hose 6 The air hoses are located close to where the solenoid valve is installed and are tied up with cable tie Cut the cable tie and connect them Of the two air hoses connect the one marked AIR IN to the solenoid valve s P port and the one marked RETURN to the R port Note When connecting the RETURN air hose be sure to remove the dust cap attached at the RETURN joint on the robot base section If the cap is not removed exhaust air pressure will increase and the solenoid valve may not operate properly By connecting the exhaust air hose 6 customer preparation to this RETURN air joint exhaust air from the solenoid valve is able to escape to the designated point 5 Connect the secondary piping air hose 4 The optional hand curl tube the hand internal wiring and piping set or the air hose prepared by customer can all be used however when pulling the tip of the air hose out from the shaft please be sure to use the optional hand internal wiring and piping set Connect the air hoses to solenoid valve port A and port B Please refer to Table 3 1 and connect to the necessary ports Covers the unused solenoid valve joints with the plugs included Note When pu
121. rnal wiring and piping set RH 6FH The installation procedure is shown below 1 Move the J3 axis to the top end with a jog operation and shut off the controller s power supply This is necessary for space standard settings when feeding the air hose and hand input cable through the inside of the shaft 2 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 3 When using the hand input cable connect the connectors HC1 HC2 of optional hand input cable to connectors HC1 HC2 of robot side Connect with the same names The connectors of robot side are tied up by cable tie Cut the cable tie and pull them out When the hand input cable is not used tie up the connector and fix to the plate by cable tie The plate have some holes for fixing the cable hose with a cable tie 4 Connect the secondary piping air hose Although the diagram shows an example which connected the optional solenoid valve the cables and hoses can be pulled out out of the robot from rear of the No 2 arm by using optional external wiring and piping Refer to Page 60 3 5 External Wiring and Piping Box for how to pull it out When using the optional solenoid valve connect to the A port or B port of solenoid valve Refer to Page 49 Fig 3 1Solenoid valve installation procedures RH 3FH 6FH and Page 52 Table 3 1 Solenoid valve ports and hoses Correspondence of couplings and hand ports for connect to the port 3 56 Hand internal
122. rnet cable to the ADD cover by cable clamp The recommendation the cable clamp OA W1608 OHM ELECTRIC INC ADD cover Lock nut X Note Measures against the noise If the communication error considered to originate by the noise occurs specify and remove the noise source And implement the measures against the noise by Cable clamp grounding of the Ethernet cable and the addition of the ferrite core if needed The recommendation the ferrite core Type E04SR301334 SEIWA ELECTRIC MFG CO LTD Ethernet cable Fig 2 10 Pull out the Ethernet cable Base side 1 Loosen the two screws and remove the ADD cover located at the back of the robot base 2 Pull out the Ethernet cable that is stored inside the cover coiled and stored 3 Remove the cable tie of Ethernet cable 4 Remove the lock nut attached to the cable clamp customer prepared and pass through the Ethernet cable 5 Remove the grommet of ADD cover After removing the grommet please remove the sealant material that remains in the hole in the plate 6 Feed the Ethernet cable through the hole that was created by removing the grommet 7 Feed the end of the Ethernet cable through the cable clamp and securely fasten the ADD cover with the lock nut 8 Install the ADD cover in its original position When installing the cover please take care not to damage the spongy sealing material stuck to the hole This completed pull out the Ethernet cables of the base sectio
123. s RH 6FH35 series RH 6FH45 series RH 6FH55 series Approx 31kg Approx 32kg Approx 33kg Approx 39kg Approx 40kg Approx 41kg CAUTION VORSICHT EZ Oo XX850 d 5 2ATHTCRDITC lt KESL The robot must always be ransported by two workers Bei einem Transport sollte der Roboter von 2 Personen an den in der Abbildung gezeigten Stellen angehoben werden 1 The robot must be transported by two workers with putting the fixing plate A and B Place the robot on a cart etc and move it to near the installation place Transporting the robot with the following should be lim ited to placing the robot on the frame or cart and to positioning 2 When transporting the robot arm one person should hold the fixing plate A of No 2 arm A and No 2 arm B and another person should hold the fixing plate A of base C When transporting the robot do not apply force to the cover or apply a strong shock on the robot 3 Remove the fixtures after installing the robot NCAUTION NCAUTION CAUTION CAUTION To prevent accidents do not hold the robot from the left right sides or hold covers that have no grips Be careful not to apply force to the shaft section J3 axis The shaft may be damaged and the overload error may occur at the time of movement When installing the fixing tool again place the robot in the posture where each axis shows the
124. short 1 Prepare the grounding cable AWG 11 4 2mm2 or more and robot side installation screw and washer 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 2Unpacking to Installation 2 2 6 Connecting with the controller 1 RH 3FH series No CE specification Robot arm Note 1 Although the picture is the CR751 D controller also the connection method is the same in the CR751 Q controller Controller Note 1 The connectors are AMP1 AMP2 BRK from the left Ng Motor power cable Motor signal cable Machine cables AMP2 CN2 Controller side Plate fixing the Obot arm side cable clamp two plates Cable clamp fixing plate The each boards are fixed in the con dition of having been inserted in the hollow The cables are passed into the opening Fig 2 7 Connecting the machine cables RH 3FH No CE specification Carry out the following procedure after installing the controller referring to the separate Controller Setup Basic Operation and Maintenance manual The procedure of connecting the machine cable is shown below 1 Make sure that the power switch of the controller is turned OFF 2 Connect the machine cable to its corresponding connector on the robot arm side a Refer to Page 68 5 3 2 Installing removing the cover and remove the CONBO
125. t 4 gt slowly and moving the timing pulley C 52 little by little When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust tension to the above mentioned value Note Be careful if the belt is removed from pulley 5 6 or the mesh of belt and pulley 5 65 is shifted by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 96 5 6 Resetting the origin XThe No 2 arm bottom view Inside of the No 2 arm cover D 2 Timing belt B lt 5 gt Timing pulley C lt 6 gt Timing pulley D lt 4 gt Timing pulley B lt 3 gt Timing pulley lt B gt lt C gt fixing screw three screws Loosen lt 4 gt Tension adjustment screw for D timing belt lt 3 gt Timing pulley lt B gt lt C gt fixing screws three screws Loosen the nut and screw Loosen The RH 3FH 12FH 20FH series is also equivalent although the figure is RH 6FH 7 After adjustment fasten certainly the three timing pulley lt B gt lt C gt fixing screws X3 And fasten certainly the nut of tension adjustment screw lt 4 gt 8 Improper tightening may cause the belt to loosen with vibration Maintenance and inspection procedures 5 83 5 Maintenance and Inspection 9 Next adjusts the tension of the timing belt A lt 1 gt Lightly loosen two J4 motor fixing screws lt 7 gt Be careful not to overly loosen the sc
126. t cable etc The type in the diagram is the RH 6FH however the instal lation method is the same on the RH 3FH 12FH 20FH No 2 arm cover U External Wiring and Piping Box Fix to the rear of the No 2 arm lt a gt Coupli remove the No 2 arm cover B a2voup ing 6 two couplings b Coupling hand input cable The diagram shows an example of pulling the lt c gt Cable clamp attachment hole 21 Two points left and right Blind plug attached Table 3 2 Hose and cables which can be pulled out RH 3FH 6FH only Q4 eight couplings RH 3FH 6FH 6 eight couplings RH 12FH 20FH lt d gt In the other side has two E holes for fixing the hose and cable by cable tie Installation holes M4 screw four places lt f gt Positions to fix with cable tie two positions left and right The hole for fixing the cable tie J2 axis reduction gears Air hose LJ Note Fix all with cable tie sections lt d gt and lt e gt of the diagram Position to pull out No Air hoses cables RH 3FH 6FH RH 12FH 20FH Example usage 1 Primary piping air hose 6 2 hoses lt a gt Coupling Coupling Primary air supply to externally The primary piping is equipped from rear of 6 two couplings 6 two couplings installed solenoid valve 2 Secondary piping air hose 4 8 hoses RH lt b gt Coupling Coupling Taking in the secondary air from 3FH
127. taining the end axis posture the axis moves straight along the tool coordinate system Also while maintaining the end axis position the end axis posture changes 2 Unpacking to Installation The axis moves straight along the base li coordinate system At this time the end axis posture is not maintained Also the end axis posture changes End axis Base coordinate sys Y tem reference origin TX 4 axis z Fig 2 21 3 axis XYZ jog operation Vertical The current position is set as the arc centering on the Z axis and the axis moves along that arc expands and contracts in the radius direction and moves vertically At this time the end axis posture is maintained Also while imm maintaining the axis posture position the end axis posture changes Fig 2 22 CYLINDER jog operation Confirming the operation 2 31 2 Unpacking to Installation 12 While maintaining the end axis posture the axis moves straight along the work coordinate system Also while maintaining the end axis position the end axis posture changes Tool length Ci x i Control E point Yw WORK coordinate system Fig 2 23 WORK jog operation 2 32 Confirming the operation 2 Unpacking to Installation 1 JOINT jog operation Select joint jog mode JOG Press the key and display the jog screen CUTS CN NX W T JOG is displayed on the screen bottom Check t
128. te in the minus direction Confirming the operation 2 33 2 Unpacking to Installation When the robot is in the transportation posture The axes may be outside the movement area Move these axes toward the inner side of the movement area J3 axis jog operation L3 ver J J3 axi axis A P When the 2 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 J4 axis jog operation Aust ume uw E 1 Aw Do 5 18 J4 axis rm _ When the A J4 keys are pressed the J4 axis will rotate in the plus direction When the A J4 keys are pressed Rotate in the minus direction Q the buzzer of T B sounds and the robot does not move 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 2 34 Confirming the operation 2 Unpacking to Installation 2 XYZ jog operation Select XYZ jog mode JOG Press the key and display the jog screen ans ON NX W T JOG is displayed on the screen bottom Check that the XYZ in jog mode is displayed on J1 0 00 J5 0 00 J2 40 00 J6 40 00 the screen J3 90 00 If other jog modes are displayed please press the F1 m M function key corresponding to the XYZ If the TOOL 0 3 XYZ C
129. ted to USB When using network equipment measures 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 CR751 D or CR751 Q controller Notes of the basic component are shown N CAUTION AC200V 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 Earth leakage breaker NV Grounding Connector screw Grounding terminal PE AN CAUTION Be careful of interference with peripheral equipment Especially don t give a shock to the shaft J3 axis When you install the hand be careful not to knock at the shaft end by the hammer etc The shaft may be damaged Take care also of the following items 1 The robot s locus of movement may change with specified speed Especially as for the corner section short cut distance may change Therefore when begin ning automatic operation moves at low speed at first and you should gather speed slowly with being careful of interference with peripheral equipment Short cut Arch movement example 2 It can be confirmed whether the specified position exist in the defined area by using the instruc tion command Zone It can utilize as
130. tion Manual Detailed Explanation of Functions and Operations for details of parameter MFGRST This complete of lubricating to J1 J2 axis 3 Lubrication method to the shaft 1 Applies the grease only above the shaft only Move the J3 axis to upper limit using the jog operation 2 Refer to Page 68 Fig 5 4 Installing removing the cover remove the No 2 arm cover U The bellows must be removed in the case of the oil mist and clean specifications Reference Page 86 5 3 5 Replacing the bellows and remove the bellows IN CAUTION Replace the bellows in a place where there is no risk of contamination by dust and oil mist If it must be replaced in a dust filled area be sure to remove as much dust as possible in advance before replacing it 3 Wipe the old grease off the ball spline or ball screw Wipe off the grease inside the No 2 arm cover U and the bracket attached vertically to the shaft fixing area 4 Apply the specified amount of grease to the ball spline and ball screws If too much grease is applied grease can spread inside the No 2 arm and if it reaches to the timing belt can cause the timing belt to deteriorate quicker than usual 5 Install the No 2 arm cover as before Install the bellows as before in the oil mist and clean specification Note Sealant is applied to the installation surface of cover in the oil mist and clean specification models Be sure to replace the sealant if it has been dislocated and
131. tion correspondence after installation is as shown in Table 3 1 Table 3 1 Solenoid valve ports and hoses Correspondence of couplings and hand ports Hand Hand port Solenoid valve port Solenoid valve used OPEN 1 Hand 1 1 st row CLOSE 2 OPEN 3 Hand 2 2 nd row CLOSE 4 OPEN 5 Hand 3 3 rd row CLOSE 6 OPEN 7 Hand 4 4 th row CLOSE 8 3 52 Installing the solenoid valve set 3installing the option devices 3 2 Installing the hand input cable Fig 3 3 shows the hand input cable s storage location on the robot Please use the optional external wiring and piping box to pull the hand input cable out externally After connecting the hand input cable connector reference Page 60 3 5 External Wiring and Piping Box and pull it out from the robot arm When passing through the inside of the shaft and using it please use the optional hand internal wiring and piping set Remove the No 2 arm cover U and connect the connector above the No 2 arm Turn the controller s power OFF before this operation Refer to Page 68 5 3 2 Installing removing the cover for removing installing the cover No 2 arm cover U Connect inside the No 2 arm cover U Connector of robot arm side Coiled and stored by cable tie CAUTION When this cable is connected to the robot the power supply is applied to the end of this cable The end of the cable is free at factory shipping
132. tion of RT ToolBox2 option computes the guide of the lubrication hours put together with the customer s operation status The numbers in theTable 5 7 correspond to the supply positions in Fig 5 17 Maintenance and inspection procedures 5 89 5 Maintenance and Inspection 2 Lubrication method to the J1 J2 axis 1 Turn off the controller s power supply 2 Refer to the Fig 5 6 Installing removing the cover and remove the covers 3 Insert the grease shown in Table 5 7 using a grease gun from the lubrication grease nipple Add only the specified amount of grease Adding excess grease may cause grease to leak IN 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 Recommendation grease gun KH35 Yamada Corporation Inc 4 Install the removed cover as before Note Sealant is applied to the installation surface of cover in the oil mist and clean specification models Be sure to replace the sealant if it has been dislocated and bent or crushed and does not return to its original shape 5 If the maintenance 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 Instruc
133. to instructions manual controller setup and basic operation amp maintenance for the operation method Setting the origin 2 23 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 Date Default The origin data to be input is noted in the origin data sheet enclosed with the arm YS or on the origin data history table J 1 O6DTYY attached to the back side of the battery J 2 2 HL9X cover Refer to Fig 2 16 J 3 1CP55V J4 T6 M Y Referring to Page 68 5 3 2 Installing J5 removing the cover remove the battery J6 cover and confirm the value Method E E N SP 85 The value given in the default setting O Alphabet 0 Zero column is the origin settings set with the Note Meanings of symbols in method column calibration jig before shipment E Jig method N Not used SP Not used Fig 2 16 Origin data label an example The origin data to input is found on also the robot examination report sheet AN WA RNING 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 t
134. urning the power ON 1 Turn the controller POWER switch ON The CR750 controller turns ON the front power switch The CR751 controller turns ON the switch of the earth leakage breaker of installation outside 2 24 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 I Lighting Operating from the T B lt gt 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 origin 2 25 2Unpacking to Installation 4 Selecting the origin setting method 1 Press the 4 key on the menu screen and display the ORIGIN BRAKE screen UN GIN BRK ANCED lt OR GIN BRAKE gt 2 Press the 1 key on the ORIGIN BRAKE screen and ORIGIN 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 4 Display the origin data input screen OS Selecting a menu lt gt The menu
135. ving along the base coordinate system 2 3 ptr 2 2 EM Em Y ES X i o 4 X i Cus Cc Q s z The direction of the end axis will 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 The flange surface end axis posture cannot be maintained with 3 axis XYZ jog With 3 axis XYZ jog the flange surface end axis posture orientation is not maintained when moving linearly in the X Y or Z axis direction Use XYZ jog to maintain the posture Confirming the operation 2 39 2 Unpacking to Installation Changing the end axis posture The Position of the end axis will not change When the C J6 keys are pressed the J4 axis will rotate in the plus direction When the C J6 keys are pressed Rotate in the minus direction 2 40 Confirming the operation 2 Unpacking to Installation 5 CYLNDER jog operation Select cylindrical jog mode qy JOG Press the key and display the jog screen JOG Ho
136. work coordinates system teaches and sets up the three points WO WX WY f Notes The figure is the example of RV 6SD of our company but work coordinates other types are the same 7 EOM Robot coordinates Xw ps UMP ud system Work The jogging movement based on this work is lt Teaching point 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 24 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 MENU screen 2 WORK COORD RUN ORIGIN BRK gt ENHANCED Confirming the operation 2 43 2 Unpacking to Installation 2 Press the 2 keys in the menu screen and select 2 WORK COORD WORK NUMBER 1 TEACHING POINT WO 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
137. y 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 Installation 2 11 2Unpacking to Installation 2 2 5 Grounding procedures 1 Grounding methods 1 There are three grounding methods as shown in Fig 2 5 but the dedicated grounding Fig 2 5 a should be used for the robot arm and controller Controller Controller Robot arm and Robot arm and personal personal computer computer Controller when possible Refer to the separate Controller and Robot armil er soil Setup Basic Operation and Maintenance for details on the controller grounding a Dedicated grounding b Common grounding Optimum Good Fig 2 5 Grounding methods 2 Grounding procedures M4 x10 Spring washer Plain washer D MN Be Common grounding Normal w Robot grounding cable AWG 11 4 2mm or more Prepared by customer Fig 2 6 Connecting the grounding cable 2 12 installation 2 Use Class D grounding grounding resistance 1000 or less Dedicated grounding separated from the other devices should be used 3 Use a AWG 11 4 2mm2 or more stranded wire for the grounding wire The grounding point should be as close to the robot arm and controller as possi ble and the length of the grounding wire should be

Robot Arm Setup & Maintenance

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Robot Arm Setup &amp; Maintenance

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Robot Arm Setup & Maintenance