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RH-1FHR-S60 Series INSTRUCTION MANUAL ROBOT ARM

1. Note1 ol Controller Motor power Motor signal CN1 I CN2 p Latch h E le 4 N o p fe p b 00 Sy m i rs ni CN1 L CN2 CN2 Motor signal cable ONT Latch Robot arm base section 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 7 Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate Controller Setup Basic Operation and Maintenance manual Robot arm Connector on the robot arm side Connector on the machine cable side 2 13 installation 1 Make sure that the power switch on the front of the controller is turned OFF 2 Connect the machine cable to its corresponding connector on the robot arm 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 NCAUTION Be careful not to get your hand pinched This complete the connection of machine cable N CAUTION N CAUTION N CAUTION N CAUTION S Padding 2Unpacking to Installation To remove the cable insert a minus screwdriver into the hoo
2. Two fixing screws ET i CN2 g CNI Two fixing screws CONBOX cover Motor signal cable Note 1 Although the picture is the CR751 D controller also the connec Mor power cable tion method is the same in the CR751 Q controller The cables are passed into the opening Controller side Machine cable Hollow Cable clamp fixing plate CN2 AMP2 AMPI Robot arm side two plates Cable clamp fixing plate The each boards are fixed in the condition of having been inserted in the hollow Fig 2 8 Connecting the machine cables Install a controller while referring to Installation procedures in the separate Controller setup basic operation and maintenance manual and attach a cable fixation plate referring to Attachments installation procedures Then connect a robot arm and controller with machine cables 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 70 5 3 2 Installing removing the cover and remove the CONBOX cover b Feed the connector of robot side to the opening on the back of the robot base c Insert the cable clamp fixing plate a
3. i 1 l Top end of the IN J3 axis operat ing range N oe 9 Seal the outlet with the liquid gasket J3 axis When an optional bellows set has been installed to the robot and then amp 3 required cleanliness J4 axis Fixing air hoses and cables inside a hand Fig 3 5 Installing the hand internal wiring and piping set 5 59 Hand internal wiring and piping set Jinstalling the option devices 3 6 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 output cable etc When using this option J1 axis operating range is limited 120 degree And a stopper for changing the operating range option is required No 2 arm cover U External Wiring and Piping Box Fix to the rear of the No 2 arm remove the No 2 arm cover B lt a gt Coupling lt b gt Coupling 6 two couplings Q4 eight couplings lt d gt In the other side has two holes for fixing the hose and cable by cable tie The diagram shows an example of pulling the hand input cable lt c gt Cable clamp attachment hole 21 Two points left and right Installation holes Blind plug attached M4 screw
4. 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 of the tool coordinate system When the C J6 keys are pressed rotate in the minus direction Q O When alarm No 5150 occurs O O If alarm No 5150 ORIGIN NOT SET occurs the origin has not been set correctly Reconfirm the value input for the origin data Q O Tool length O O The default tool length is Omm and the control point is the center of the end axis After installing the hand set the correct tool length in the parameters Refer to the separate manual Detailed Explanation of Functions and Operations for details 2 39 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 aan DINT l 100 Mt T0 Check that the XYZ456 in jog mode is n HA d i D d FUNCTION displayed on the screen J3 90 00 i If other jog modes are displayed please press the J4 0 00 F function key corresponding to the XYZ456 If HUNE JOG EA PAM DIR F1 4 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 100 Mi TO again or function key which correspond to
5. No 2 arm B8 IR EN 5 Liquid gasket application range The gap between the shaft and the shaft fixation plate 2 3 No 2 arm cover D D cut surface Details of D cut surface and liquid gasket application range Bellows fixation part ABS mark Shaft fixation part i Y Bellows Bellows Shaft ixati M4 set screw 2places Rn part fixation part D cut surface x z ABS mark Ik Details of the portions of sticking the ABS mark stickers Fig 5 13 Replace the bellows option Maintenance and inspection procedures 5 84 5 Maintenance and Inspection 5 3 6 Lubrication 1 Lubrication position and specifications The grease nipple position is shown in Fig 5 14 The lubrication specifications for each place are shown in Table 5 4 Refer to the Page 70 5 3 2 Installing removing the cover for the method of removing and installing the cover Inside of the battery cover D J1 axis lubrication port 2 J2 axis lubrication port lt 3 gt Shaft section application ball screw spline Fig 5 14 Lubrication positions Table 5 4 Lubrication specifications a Lubrication oil Lubrication Lubrication No Parts to be lubricated Note Oiling method Cover to remove maker interval amount Grease nipple 1 J1 axis reduction gears WA 610 Only 21 000 Hr 12g Battery cover ad
6. T Cos 4 96 D VINS28 J2 J3 J5 J6 J8 B 5 D V S29 J3 J6 1 Confirm that the cursor is at the D position on the T B display screen 2 Input the D value V S29 Inputting V Press the CHARACTER key and set to the character input mode Condition that ABC was displayed under the screen Press the TUV key three times V will be set Inputting Press the key five times will be set Press the key once and advance the cursor Press the key twice input and press the PQRS key four times input S Press the CHARACTER key and set to the numeral input mode Condition that 123 was displayed under the screen Press the 2 key input 2 and press the 9 key input gry V S29 will appear at the D data on the teaching pendant screen 3 Press the key and move the cursor to the J1 input position 4 Input the J1 value in the same manner as above 5 Input the J2 J3 and J4 values in the same manner Setting the origin 2 28 2Unpacking to Installation lt ORIGIN gt DATA 6 After inputting all of the values press the EXE key The D V1 S29 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 CHANGE TO ORIGIN
7. minus direction and contact the axis against the mechanical stopper lt ORIGIN BRAKE gt T 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 92 5 Maintenance and Inspection lt ORIGIN gt MECH N JE 5 Input 1 into the J1 axis Set 0 to other axes Ji J J4 J5 l t 2 6 Press the EXE key and display Confirmation a EN 1 0 5 Erg screen lt ORIGIN gt MECH 7 Press the F1 key and the origin position is set CHANGE TO ORIGIN up lt ORIGIN gt MECH COMPLETED 8 Setting of the origin is completed ACE A 9 Refer to Page 109 5 6 5 Recording the origin J4 J5 dus np JK ue data in this manual and record the origin data on the origin data seal Q O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow key The origin is set only for the axis for which a 1 is displa
8. Details of the A section T B connector Hand lock Two places Fig 2 13 Installing and removing the T B CR751 controller The installation of T B is finished Q O If error C0150 occurs O O At the time of the first power supply injection error C0150 the serial number of the robot arm has not been set up occur the robot after purchase Parameter Please input the serial number of the robot body into RBSERIAL Refer to instructions manual controller setup and basic operation amp maintenance for the operation method Setting the origin 2 24 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 B Wises 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 14 J 3 1CP55V J 4 T6 M Y Referring to Page 70 5 3 2 Installing J 5 removing the cover remove the battery J 6 cover and confirm the value Method E E N SP E N E N SP SIE The value given in the default setting o 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
9. 0 00 J5 40 00 close l 0 00 J6 0 00 Whenever it presses the key of OVRD the 90 00 override goes up Conversely if the OVRD 0 00 OVRD N OVRD NY key is pressed it will go down TOOL 06 3 XYZ J 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 Moving along the base coordinate system gt Y T Ys Y mal 6 ex y Z ox 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 Q The flange surface end axis posture cannot be maintained with 3 axis XYZ jog O O 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 40 2 Unpacking to Installation Changing the end axis posture TZ TZ t X nA m a TX mmn E
10. 2 CR751 contr er 5 Inputting the origin data 6 Installing the battery cover 2 4 Confirming the operation etes 1 JOINT jog operation 3 TOOL jog operation E E A 4 3 axis XYZ jog operat 5 CYLNDER jog 1 6 Work jog operation 3 Installing the option devices 3 1 Installing the solenoid valve set p 1 Hand number and solenoid valve ports common to RH FH series 3 2 installing the hand input cable 12st ionic tct nd TLAN 9 3 4 lnataling the Hand output GABE 2 usse nea aeaiee a bei c md den Oe 3 4 Changing the operating range E 1 Operating range changeable angle 2 The change method of the operating range l 3 5 Hand intemal wiring and piping Set Lice ettet pitt debebit ihnen Ad CONTENTS 1 Installation procedure 3 6 External Wiring and Piping Box 3 7 Installing ihe vacuum walve Set cies enit o E UE IN UO Ud E rdum Ee NU UN ABa ERU BIS eco assiette xen Ree t dh de Dm Maa e P Ep MM 5 Maintenance and Inspection 5 1 Maintenance and inspection 5 2 Inspection items 5 2 1 Daily i 5 22 Periodic i inspe ion pu 5 3 Maintenance and acne Bde 5 3 1 Robot arm structure 5 3 2 Installing removing hir cover 5 3 gea Peplagament Procedure 2 Lubric tian methall to the J J2 AKIS nri 3 Lubrication method to the shaft 5 3 7 Replaci
11. Reference SSCNET IIl employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable If the cap is not attached dirt or dust may adhere to the connector pins resulting in deterioration connector properties and leading to malfunction 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 Use the network equipments personal computer USB hub LAN hub etc con firmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB When using network equipment 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 2 Unpacking to Installation 2 1 Confirming the product 2Unpacking to Installation The standard configuration of the robot arm part of the purchas
12. FL1 FL2 The types of configuration flags are shown below 1 RIGHT LEFT Indicates the location of the 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 binary Fig 6 1 Configuration flag RIGHT LEFT Configuration flag Appendix 110 6Appendix Appendix 111 Configuration flag 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 Feb 2015 MEE Printed in Japan on recycled paper Specifications are subject to change without notice
13. Fig 2 14 Origin data label an example IN 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 turning 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 25 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 LY Lighting Q Operating from the T B Q O Always set the mode of the controller to MAMNUAL and then set the T B ENABLE switch to ENABLE When the T B is valid only operations from the T B are possible Operations from the controller or external signals will not be accepted Setting the origin 2 26 2Unpacking to Installation 4 Selecting the origin setting method 1 Press the 4 key on the menu screen and display the 2 RUN 4 ORIGIN BRK ORIGIN B
14. 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 arm side are located close to where the solenoid valve is installed and are tied up with cable tie Pull out 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 Installing the solenoid valve set Jinstalling the option devices 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
15. 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 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 N WARNING N CAUTION N CAUTION N DANGER N DANGER N DANGER Z CAUTION Z CAUTION 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 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 interna
16. and dis 3 PARAM 4 ORIGIN BRK play the Origin Break selection screen 5 SET INIT 6 ENHANCED il lt ORIGIN BRAKE gt 2 Press the 1 key and display the Origin setting 1 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 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 IN CAUTION After setting the origin when the joint coordinates of the ABS mark position deviate from the coordinates of the ABS origin by 1 5 or more align the end points of the ABS marks and set the origin using the ABS origin method again 5 105 Resetting the origin 5 Maintenance and Inspection IN CAUTION When the ABS mark label of the axis other than the J4 axis is peeled off align the pinholes used to set the origin with the jig method The joint coordinates are the same between the ABS origin method and the jig method Resetting the origin 5 106 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 91 Table 5 8 Origin setting method The procedure for setting the origin with the user origin method is explained below This operation is carr
17. 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 X 1 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 e id P d E a4 H ma ihe When the Y J2 keys are pressed the J2 axis will rotate in the plus direction When the Y J2 keys are pressed rotate in the minus direction Confirming the operation 2 34 2 Unpacking to Installation Q When the robot is in the transportation posture 4 The axes may be outside the movement area Move these axes toward the inner side of the movement area J3 axis jog operation mew L 3 pit J3 axis 2 ABC When the Z J3 keys are pressed the J3 axis will rotate in the plus direction When the Z J3 keys are pressed rotate in the minus direction J4 axis jog operation Ao 7 k EA Boa QS L6 mv J4 axis 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 Of the buzzer of T B sounds and the robot does not move 4 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
18. lubrication interval in Table 5 4 Please ask dealer for more details about overhaul 2 Lubrication method to the J1 J2 axis 1 Turn off the controller s power supply 2 Refer to the Fig 5 3 Installing removing the cover and remove the covers 3 Insert the grease shown in Table 5 4 using a grease gun from the lubrication grease nipple Add only the specified amount of grease Adding excess grease may cause grease to leak AN CAUTION Use manual grease gun and inject grease with pressure 0 03Mpa or less Do not use the grease gun which derived by the factory air presser to avoid injecting by too high pressure A grease gun that fits the grease nipple is required Recommended grease gun CH 400 manufacture Yamada Corporation Inc The CH 400 gun is a cartridge type grease gun Contact your dealer and use com mercially available grease cartridges When a grease can is used hand grease gun KH 32 manufacture Yamada Corpora tion is recommended The KH 32 comes with a short nozzle HSP 1 as standard If this short nozzle does not reach the desired areas depending on the robot model and installation location it may be useful to use a long nozzle HSP 2 CH 400 has a long nozzle as standard equipment 4 Install the removed cover as before Note Sealant is applied to the installation surface of the cover Be sure to replace the sealant if it has been dislocated and bent or crushed and does not return to its original shape 5
19. 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 Installing the solenoid valve set 5 52 Jinstalling the option devices 3 2 Installing the hand input cable Fig 3 2 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 6 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 70 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 a factory shipping so if the tool side is not connected it may be cause of
20. 4 Release the brake of the J3 axis Input 1 into the J3 axis Set 0 to other axes 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 No 2 arm cover 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 J3 7 With both hands slowly move the J3 axis in plus direction and contact the axis against the mechanical stopper z Hu J3 axis Shaf 2777 AN CAUTION For safety purposes the step for releasing the brakes must be carried out by two workers One worker must operate the T B and the other must support the J3 axis shaft When the brake is released the J3 axis could drops with its own weight Resetting the origin 5 96 5 Maintenance and Inspection AN CAUTION If F1 key or enable switch of T B is released the brakes will be work immediately 8 Hold the J4 axis with your hand and rotate it 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 lt ORIGIN BRAKE gt 1 ORIGIN 2 BRAKE 10 Press the 1 key and display t
21. 610 Torsional moment Mz N m 807 Horizontal direction translation force Fy 1 575 Vertical direction translation force Fy 712 NCAUTION When installing the robot secure following space Connection space for connecting machine cables behind the robot Maintenance space for replacing the batteries in front of the robot Maintenance space for removing No 2 arm cover above the robot 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 Z CAUTION When leading machine cables fix cables in the position near connectors as much as possible not to apply excessive force or the cable s weight on the connectors Maintenance space for removing No 2 arm cover 10 nS NCAUTION may cause oil leakage or faults 2 11 Installation b mw X Fix machine cables Connection space for connecting the machine cable Maintenance space for replacing the batteries This robot is hanging installation type Do not put the robot in an inverted position It 2Unpacking to Installation 2 2 4 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 ar
22. 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 1 1 Using the instruction manuals 1 1 2 Symbols used in instruction manual The symbols and expressions shown in Table 1 1 are used throughout this instruction manual Learn the meaning of these symbols before reading this instruction manual Table 1 1 Symbols in instruction manual 1Before starting use 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 Q3 O 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 ra safety circuit etc Stand alone type Item Indicates the box which arranged control parts such as robot CPU Controller n un servo amplif
23. From Controller Setup to Maintenance manual Refer that manual as necessary 4 65 5Maintenance and Inspection 5 Maintenance and Inspection The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are described in this chapter The types and replacement methods of consumable parts are also explained 5 1 Maintenance and inspection interval Maintenance and inspection are divided into the inspections carried out daily and the periodic inspections carry out at set intervals Always carry these out to prevent unforeseen trouble to maintain the product for a long time and to secure safety 1 Inspection schedule In addition to the monthly inspection add the following inspection items every three months estimated at 1 000 Hr operation hours 0 Hr Monthly inspection Monthly inspection 1 000 Hr Monthly inspection 3 month inspection Monthly inspection c P n 2 Monthly inspection Fi Ey 2 000 Hr Monthly inspection 3 month inspection 6 month inspection 2 T B Monthly inspection Monthly inspection 3 000 Hr Monthly inspection 3 month inspection Monthly inspection Monthly inspection 4 000 Hr Monthly inspection 3 month inspection 6 month inspection Yearly inspection 8 000 Hr Monthly inspection 3 month inspection 6 month inspection Yearly inspection 2 year inspection 12 000 Hr Monthl
24. Z end axis posture changes Fig 2 17 XYZ jog operation 2 31 Confirming the operation 2 Unpacking to Installation End axis Tool coordinate reference origin X cU gt Y X While maintaining the end axis posture the axis moves C straight along the tool coordinate system Y Also while maintaining the end axis position the end Z axis posture changes Fig 2 18 TOOL jog operation Base coordinate system reference origin End axis The axis moves straight along the base X coordinate system At this time the end n J4 axis axis posture is not maintained z Also the end axis posture changes Fig 2 19 3 axis XYZ jog operation Confirming the operation 2 32 2 Unpacking to Installation TZ Vertical Y 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 maintaining the axis posture position the end axis posture changes Radius y C Fig 2 20 CYLINDER jog operation WORK coordinate system Zw Yw Xw reo length E Eas c 5 Control point v Z TYw 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 When the controller software ve
25. a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow key The origin is set only for the axis for which a 1 is displayed on the screen If the origin is not to be set press the 0 key and display a 0 5 95 Resetting the origin 5 Maintenance and Inspection 3 J3 and J4 axis origin setting mechanical stopper Always perform origin setting of the J3 axis and the J4 axis simultaneously 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 carried 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 lt MENU gt MEME 1 If the wiring and piping is passed in the shaft 1 FILE EDIT 2 RUN 3 PARAM A ORIGIN BRK removes the No 2 arm cover U referring the 5 SET INIT 6 ENHANCED Page 70 5 3 2 Installing removing the cover It is not necessary to remove the cover if wiring and piping is not passed 2 Press the 4 key on the menu screen and dis play the Origin Break selection screen lt ORIGIN BRAKE gt 1 ORIGIN 2 BRAKE 3 Press the 2 key and display the Break release 2 ABC selection screen Lt H2 Cue Lo SPACE
26. before this operation Refer to Page 70 5 3 2 Installing removing the cover for removing installing the cover No 2 arm cover U Connector of robot arm side Coiled and stored by cable tie The robot is an example Fig 3 3 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 3 Pull out 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 6 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 Installing the hand output cable 5 54 3Installing the option devices 3 4 Changing the operating range The operating ranges of J1 axis can be limited Change the mechanical stopper and the operating range to be set inside of that area If the operating range must be limited to avoid interference with peripheral devices or to ensure safety set up the operating range as shown below 1 Operating range changeable angle The operating range must be set up at angels indicated by Table 3 2 Table 3 2 Operating rang
27. clamp the same way Fig 3 7 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 6 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 f of Fig 3 6 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 arm cover U as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installation surface of the 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 n
28. etc is replaced When deviation occurred by a col lision The accuracy is lower than that of the jig method The setting method is explained in Page 92 5 6 1 Mechanical stopper method 4 ABS origin method This method is used when the encoder backup data lost in the cause such as battery cutting When the encoder data is lost due to flat battery of the robot arm when H112n occurs Before using this method the origin must be set with the other method with same encoder The setting method is explained in Page 104 5 6 3 ABS origin method 5 User origin method A randomly designated position is set as the origin posture When an arbitrary position is set as the origin Before using this method the origin must be set with the other method The setting method is explained in Page 107 5 6 4 User origin method Caution The origin is set using the jig method No 2 at factory default The value set with the jig method is encoded and used as the origin data to be input at the initial startup after shipment When the robot arm does not mechanically deviate for example caused by replacement of the reduction gear motor or timing belt or does not lose the encoder data the origin data input method at shipment can be used to set the origin The origin data is inherent to the serial number of each robot arm The ABS origin method is used to restore the previous dat
29. explains for the following robot type Robot type RH 1FHR 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 Company names and production names in this document are the trademarks or registered trademarks of their respective owners Copyright C 2014 2015 MITSUBISHI ELECTRIC CORPORATION CONTENTS 1 Before starting use au i 1 1 regia the maudi manuals sense 2 Unpacking ta Instellatibhi netto AREARE ARAN 2 SCA he produci ss sales roca dat b n IRE Re Ea aen ES HR 2 2 Installation d 2 2 1 Unpacking 2 2 2 Transpor Wi GA curasset EIE ER ER UR de NEUE MEE ELM eae 1 Trans ovine with e a crane 2 Th ti al 2 2 3 Insta posi dua E tL Ru UM ede E 2 24 aisi procedures ca esau haat EEEE eae aera TROPPO TER 0 ranen m 1 CR75 haa ROC KON 2 CR751 controller 2 2 6 Ethernet Cables 1 No 2 arm 2 Base area 2 2 71 Pe D CR750 paa e
30. factory but as these are consumable parts they must be replaced periodically by the customer The guideline for replacing the battery is one year but this will differ according to the robot s usage state There exists the kinds of the errors about the battery shown in Table 5 5 If error 7500 occurs please exchange the battery of the robot arm and the controller simultaneously Table 5 5 The error about the battery Item Error number Description Measure 7520 The battery consumption time was exceeded Replace the battery 2 7510 Battery voltage low o t The backup data cannot O 7500 No battery voltage be guaranteed if this error occurs 7520 The battery consumption time was exceeded g Replace the battery S 133nNete Encoder battery voltage low 42 2 The backup data cannot a 112n Encoder ABS position data lost be guaranteed if this error occurs oo Note1 n indicates the axis number The method of replacing the battery of robot arm is shown below refer to the separate Instruction manual Controller setup basic operation and maintenance about controller s battery About the purchase of the battery refers to Page 90 5 5 Maintenance parts AN CAUTION If error 7500 or 112n occurs the program data and other data in the controller is lost and it becomes necessary to load the data such as program and origin data again 5 87 Maintenance and inspection procedures
31. four places Table 3 3 Hose and cables which can be pulled out No Air hoses cables Position to pull out Example usage 1 Primary piping air hose 6 2 hoses Primary air supply to externally installed solenoid valve The primary piping is equipped from rear of lt a gt Coupling base to No 2 arm 6 two couplings 2 Secondary piping air hose 4 8 hoses Taking in the secondary air from externally installed A ai Coupling Air hose of the optional hand internal wiring lt b gt eight couplings solenoid valve and piping set or prepared by the customer g pang Pulling out the secondary air from optional solenoid valve 3 Optional hand output cable e 21 hole four For driving the externally installed solenoid valve c 4 Optional hand input cable places Taking in the input signals from tools such as the hand Note Fix all with cable tie sections lt d gt and lt e gt of the diagram lt f gt Positions to fix with cable tie two positions left and right lt e gt Fix to the external wiring and piping box with cable tie has two holes for fixing The hole for fixing the cable tie Diagram shows an image of pulling out air hose and cables Fig 3 6 External Wiring and Piping Box External Wiring and Piping Box 5 60 installing the option devices Fig 3 6 shows the installation procedure for the external wiring and piping box Remov
32. not interfere with other components NCAUTION Do not power on the controller when the internal cables are connected to the con nectors on the robot If the end of the cables on the tool side is not processed troubles such as fuse blown by ground fault or short circuit may occur Check that the end of the cables has been processed before powering on the controller 12 Turn off the controller s power supply then install the No 2 arm cover U securely as before with fixing screws tightening torque 1 39 to 1 89 Nm When installing the cover check that no air hose or cable is pinched and no air hose is bent Note The installation surface of 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 cables and air hoses inside the robot s shaft 2 21 Installation 2Unpacking to Installation Refer to Page 21 3 Installation procedure and install cables and air hoses correctly The numbers in Fig 2 11 are correspond to the same numbers in 3 Installation procedure Turn the controller s power OFF before this operation Refer to Page 70 5 3 2 Installing removing the cover for removing installing the cover No 2 arm cover U 2k 12 Approx 10mm
33. 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 Be sure to replace the sealant if it has been dislo cated and bent or crushed and does not return to its original shape Moreover when replacing a sealant it is necessary to remove the optional bellows Refer to Page 84 5 3 5 Replacing the bellows Option for details on how to remove bellows Maintenance and inspection procedures 5 10 5Maintenance and Inspection 5 3 3 Packing Replacement Procedure When signs of cracking or peeling are noted in the packing they must be replaced 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 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 4 Example of sticking packing good example and Fig 5 6 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 s
34. please move to the counter direction 2 35 Confirming the operation 2 Unpacking to Installation 2 XYZ jog operation Select XYZ jog mode JOG Press the key and display the jog screen aT ONT iX Mi TO JOG is displayed on the screen bottom Check that the XYZ in jog mode is displayed on J1 0 00 J5 0 00 J2 30 00 J6 40 00 the screen J3 90 00 If other jog modes are displayed please press the F1 He HUM y function key corresponding to the XYZ If the TOOL oc 3 XYZ CYLNDR 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 override goes up Conversely if the OVRD OVRD OVRD sive JOG ESSA Eni 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 L3 rr TZ TZ Y Y ce TY e d Z Z us When the X J1 keys are pressed the robot will move along the X axis plus direction When the X J1 keys are press
35. securely without sliding Fig 5 4 Example of sticking packing good example Completion of packing replacement 5 71 Maintenance and inspection procedures 5Maintenance and Inspection Sliding Fig 5 5 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 Stick the packing Cord like packing Fig 5 6 Sticking the cord like packing Maintenance and inspection procedures 5 12 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 ae a a ee i gt ee 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 7 Examples of packing overlaps 5 73 Maintenance and inspection procedures 5Maintenance and Inspection Fig 5 8 Example of order which tighten bolts Maintenance and inspection procedures 5 14 5 Maintenance and Inspection 5 3 4 Inspection maintenance and replacement
36. 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 pulling the tip of the air hose out from the shaft please be sure to use the optional hand internal wiring and piping set Silicon grease to apply to friction points is included with the product please refer to Page 57 3 5 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 6 External Wiring and Piping Box 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 covers is using sealing material In the event that the sealing mate rial 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 nec essary This completes installing the solenoid valve set 1 Hand number and solenoid valve ports common to RH FH series The connection correspondence after installation is as shown in Table
37. the 4 key on the menu screen and dis play the Origin Break selection screen 1 ORIGIN 2 BRAKE 6 Press the 1 key and display the Origin setting selection screen 7 Press the 5 key and display the User selection screen 5 JKL 5 107 Resetting the origin 5 Maintenance and Inspection 8 Input 1 into the axis to origin setting Press the EXE key and display Confirmation screen ORIGIN USER 9 Press the F1 key and the origin position is set up CHANGE TO ORIGIN OK This complete the Origin setting by the User origin method Resetting the origin 5 108 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 25 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 Ref
38. the trouble such as broken the fuse by short circuit er Before connecting to the robot customer A should check whether or not the cable tip The robot is an example has been properly treated Fig 3 2 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 2 Pull out 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 6 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 5 53 installing the hand input cable Jinstalling the option devices 3 3 Installing the hand output cable Fig 3 3 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 6 External Wiring and Piping Box and pull 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
39. 4 l S EN Match up the peak of the air hose and cable with the top end of the fixing plate 5 9 NING SN CNN EN 3x NN 3 SS Bae Connect inside the No 2 arm cover U ELESS 3 Expanding sleeve Silicone grease application places 10 o Lr E dii o LS cQ 11 Perform the operation of the J3 and J4 axes and check that no interference occurs 7 1 Top end of the J3 axis operat ing range 9 J3 axis Seal the outlet with the liquid gasket When an optional bellows set has been installed to the robot and then required cleanliness J4 axis Fixing air hoses and cables inside a hand Fig 2 11 Installation of air hoses and cables inside the robot s shaft Installation 2 22 2Unpacking to Installation 2 3 Set
40. 5 3 6 Lubrication Inspection items 5 68 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 90 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 is shown in Fig 5 2 lt 8 gt J3 axis motor lt 3 gt J2 axis motor No 2 arm cover U lt 1 gt J1 axis motor L E lt 11 gt Ball screw spline lt 2 gt Reduction gears ee gt No 2 arm lt 9 gt J3 axis timing belt R pd EN Ce T No 2 arm cover D i Base h N No 1 arm lt 7 gt J4 axis timing belt 2 lt 5
41. 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 AN CAUTION Replace the battery one by one If all batterys are removed the encoder data will be lost and resetting the origin is necessary The battery installation position is shown in Fig 5 15 Refers to the figure and replaces the batteries in the following procedures lt 1 gt Fixing screw Si ix screws E b 2 s lt 2 gt Battery cover Battery Fig 5 15 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 Replaces the backup battery one by one The battery holder is located inside the battery cover 2 Remove the old battery from the 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 All the batteries should be checked that it has been exchanged newly If the old battery is contained gener ating heat and damaging may occur 6 Install the battery cover lt 2 gt as before Be careful so that the cable may not be insert
42. 7 XWiring and piping connection drawing iset Connector 2 sets Connector HC1 HC2 HC1 HC2 CN Connector Connector GR Connector V1 L GR Connector S1 Connector S1 Connector S2 l 4 Connector V2 Air hose 6 J Connector V1 t F Primary piping PV 6 SRETURN gt PY Primary piping MP ps mi CO RETURN PV eK oc N PS Ro non i PA i ie PS lt a 2S STs Primary piping f ER V Primary piping H lt AIR IN gt t lt AIR IN Secondary piping 4 Air hose 4 Secondary piping 4 t Air hose 4 j Lf P d as L Fig 3 8 Vacuum valve installation procedures 5 63 installing the vacuum valve set Jinstalling the option devices The installation procedure is detailed 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 Fix the vacuum valve to the mounting bracket in the position indicated in Fig 3 8 Place it so that the vac uum valve s primary piping connection joints PV PS V ports are located on the right hand side and fix it securely using the attachment M4 screws tightening torque 1 39 to 1 89N m When using a 2 sets vacuum valve two vacuum valves are jointly fastened to the m
43. 751 13VD Q CR751 20VD Q CR751 07VLD Q Refer to separate Standard Specifications Manual for the outside dimension of CR751 controller Using the instruction manuals 1 2 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 Z CAUTION NCAUTION Z WARNING Z CAUTION DANGER NCAUTION Z CAUTION Z CAUTION 1 3 Safety Precautions 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 o
44. 9 MITSUBISHI ELECTRIC Mitsubishi Industrial Robot RH 1FHR S60 Series INSTRUCTION MANUAL ROBOT ARM SETUP amp MAINTENANCE ELI a BrP A3335 B E 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 DANGER N CAUTION N CAUTION N CAUTION All teaching work must be carried out by an operator who has received special training This also applies to maintenance work with the power source turned ON Enforcement of safety training For teaching work prepare a work plan related to the methods and procedures of operating the robot and to the measures to be taken when an error occurs or when restarting Carry out work following this plan This also applies to maintenance work with the power source turned ON Preparation of work plan Prepare a device that allows operation to be stopped immediately during teaching work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and
45. ACHING POINT WO TEACHING POINT WO gt RE ORD CURRENT POSITION Specify the teaching point W0 WX WY teaching the position TEACH 2 45 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 value is displaye Operation will be canceled if the CLOSE key is pressed WORK COORD gt WORK NUMBER 2 WORK NUMBER 2 TEACHING POINT WO TEACHING POINT WO RECORD CURRENT POSITION OK W JUMP f W 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 00 0 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 m
46. B to confirm that the operation is correct Moving the robot manually is called jog operation This operation includes the JOINT jog that moves each axis the XYZ jog that moves along the base coordinate system the TOOL jog that moves along the tool coordinate system and the CYLNDER jog that moves along the circular arc This operation is carried out while pressing the deadman switch on the back of the T B Note The figure of the robot which indicated to the explanation page in each jog mode is an example N CAUTION N CAUTION N CAUTION N WARNING 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 To check whether the origin of the robot deviates move the robot arm to the posi tion where the ABS marks align each other and check the displayed joint coordi nates of the position For the details of the ABS mark position and the joint coordinates refer to Page 104 5 6 Resetting the origin and Page 119 5 6 2 ABS origin method Confirm that the origin has been set If the ori
47. CED Confirming the operation 2 44 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 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 Toe ONE OF THE WORK NUMBER W JUMP W GRID Press numeral key 1 8 and specify the work coordinates number The coordinate value of the specified work coordinates system is displayed WORK JUMP TE ONE OF THE WORK NUMBER WORK NUMBER 2 TEACHING POINT WO p W JUMP 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 22 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 WORK COORD gt WORK NUMBER 2 TE
48. 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 Instruction 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 Refer to Page 70 Fig 5 3 Installing removing the cover remove the No 2 arm cover U 2 Wipe the old grease off the shaft Wipe off the grease inside the No 2 arm cover U and the bracket attached vertically to the shaft fixing area 3 Apply the specified amount of grease to the shaft 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 4 Install the No 2 arm cover U as before This completes of applying grease to shaft Maintenance and inspection procedures 5 86 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
49. OK OS Moving the cursor Q9 Press the 1 1 1 e and gt keys Q O Inputting characters O O Press the CHARACTER key and set to the character input mode Condition that ABC was displayed under the screen The displayed character is scrolled each time at pressing the key Q How to input symbols Q4 The symbol is allocated to G2 and key Please repress each key until the symbol to wish is displayed e FQ PES i 0 5 25 1 I KG exco lt gt ke ye CHIE Q 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 25 1 Confirming the origin data to its original position This completes the setting of the origin with the origin data input method AN WARNING Removing and installing the cover by always turning off the controller power Failure to do so could lead to the robot moving because of incorrect operations or to physical damage or personal injury Q If the origin input data is incorrect O O If the origin input data is incorrect the 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 29 Setting the origin 2 Unpacking to Installation 2 4 Confirming the operation In this section the robot will be moved manually using the T
50. RAKE screen 6 ENHANCED lt ORIGIN BRAKE gt 2 Press the 1 key on the ORIGIN BRAKE screen and 1 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 J2 J5 J8 OS Selecting a menu O O The menu can be selected with one of the following methods A Press the numeral key for the No of the item to be selected B Using the and keys etc move the cursor to the item to be selected and then press the INP key OS The input method of numeral O4 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 21 Setting the origin 5 Inputting the origin data T B screen Origin data label D J1 J2 J3 J4 J5 J6 J7 J8 lt ORIGIN gt DATA Jl J2 J4 J5 J7 J8 2Unpacking to Installation Input the value confirmed in section Page 25 1 Confirming the origin data The correspondence of the origin data label value and axis to be input is shown in Fig 2 15 Fig 2 15 Correspondence of origin data label and axis The method for inputting the origin data is explained below The value shown in Fig 2 14 will be input as an example CHARACTER Bo 8 ruv
51. a by aligning the triangular marks to each other for each axis to set the lost origin data Although the setting position is confirmed visually deviations within a half rotation of the motor can be compensated Remarks The ABS origin method cannot be used when the robot arm mechanically deviates for example caused by replacement of the reduction gear motor or timing belt After the origin setting is completed move the robot arm to the position where the ABS marks align each other and check that the displayed joint coordinates of the position are correct For the details of the ABS mark position and the joint coordinates refer to Page 104 5 6 3 ABS origin method Resetting the 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 ur 3 PARAM 4 ORIGIN BRK play the Origin Break selection screen 5 SET INIT 6 ENHANCED 2 With both hands slowly move the J1 axis in
52. alve on the No 2 arm Turn the controller s power OFF before this installing operation Refer to Page 70 5 3 2 Installing removing the cover for removing installing the cover No 2 arm cover U Items for customer to prepare Ke 2 14 Mounting bracket A hexagon wrench M4 screws ES 2 Screw holes for BE L a vacuum valve Vacuum pressure supply PV port ru j installation RETURN eod Vacuum breaking air adjustment xw needle Install to inside the No 2 arm cover U Vacuum breaking pressure supply PS port Vacuum valve lt AIR IN gt Fixing screw attachment of a vacuum valve 1 set M4x20 two screws 2 sets M4x35 two screws 10 Match up the peak of the air hose and cable with the top end of the fixing plate a e A 11 Applying silicone grease 9 b 8 i 5 12 Hand output signal connection connector GR1 Secondary piping air hose 7 Hand input signal connection connectors HC1 HC2 Fixing plate Connect to the GR1 HC1 and HC2 connectors of the robot side 4 6
53. ance and Inspection 5 6 2 Jig method This method is using the origin setting tool If the origin setting tool is required please ask nearby dealer The reference figure of the origin setting tool is shown in Fig 5 17 Fig 5 17 Reference dimension of origin setting tool The procedure of setting the origin with the origin setting tool is shown below Carry out this method for each axis First set each axis by the origin position There are the method of releasing the brake and adjusting with the origin position manually and the method of adjusting with the origin position by jog feed Here explains 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 following operations pressing down the enabling switch of T B lightly 5 99 Resetting the origin 5 Maintenance and Inspection 1 J1 axis origin setting MENU 1 FILE EDIT 3 PARAM 2 RUN 4 ORIGIN BRK 5 SET INIT 6 ENHANCED 1 Press the 4 key on the menu screen and dis play the Origin Break selection screen Select ORIGIN BRK 2 Move the J1 axis slowly toward th
54. at 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 12 and push in until there is sound Details of the A section Dummy connector Controller p 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 case of the B section slide to the front and remove and pull up out the latch oT UJ Q o 2 i Q L o b E Fig 2 12 Installing and removing the T B CR750 controller The installation of T B is finished Q If error 0150 occurs C9 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 23 Setting the origin 2Unpacking to Installation 2 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 13 Controller T B connector Teaching pendant
55. axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately OS Select the axis of origin setting O O Do cursor movement into the parenthesis of each axis by the arrow key The origin is set only for the axis for which a 1 is displayed on the screen If the origin is not to be set press the 0 key and display a 0 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 96 3 J3 and J4 axis origin setting mechanical stopper perform the required origin setting operations This complete the Origin setting by the Jig method 5 103 Resetting the origin 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 angular position of the origin within one rotation of the encoder as the offset value If the origin setting is performed according to the ABS origin method this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately This operation is carried out with the teach
56. ays 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 Safety Precautions 1 4 1Before starting use Z CAUTION Z CAUTION Z CAUTION DANGER Z DANGER Z DANGER DANGER Z CAUTION Z CAUTION 1 5 Safety Precautions Do not stop the robot or apply emergency stop by turning the robot controller s main power OFF If the robot controller main power is turned OFF during automatic operation the robot accuracy could be adversely affected Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters If t
57. ch 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 5 101 Resetting the origin 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 4 ORIGIN BRK 6 ENHANCED No 2 arm 2 Slowly rotate the J2 axis 0 degree with both hands And align the pinholes of the No 1 and No 2 arms feed through the origin jig into the pinholes and fasten Hole bottom face Origin setting tool we No 1 arm lt ORIGIN 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 33 3 DEF N Bl gt 5 Input 1 into the J2 axis Set 0 to other axes Cue 6 Press the EXE key and display Confirmation 1 0 LO sme Screen EXE 7 Press the F1 key and the origin position is set up lt ORIGIN gt TOOL CHANGE TO ORIGIN OK n Resetting the origin 5 102 5 Maintenance and Inspection 8 Setting of the origin is completed 9 Refer to Page 109 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal Q O Release the brake O O Do cursor movement into the parenthesis of each
58. ct dealer when the sealing material needs to be replaced This completes installing the Hand internal wiring and piping set Hand internal wiring and piping set 5 58 3Installing the option devices Refer to Page 57 1 Installation procedure and install cables and air hoses correctly The numbers in Fig 3 5 are correspond to the same numbers in 1 Installation procedure Turn the controller s power OFF before this operation Refer to Page 70 5 3 2 Installing removing the cover for removing installing the cover No 2 arm cover U 21 12 Approx 10mm 4 Match up the peak of the air hose and cable with the top end of the fixing plate Connect inside the 5 9 No 2 arm cover U e Expanding sleeve Silicone grease application places 10 o 11 Perform the operation of the J3 and J4 axes and check that no interference occurs
59. cted 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 After turning the power ON Turn the power ON while monitoring the robot 1 Is there any abnormal motion or abnormal noise when the power is turned ON Follow the troubleshooting section During operation try running with an original program 1 Check whether the movement points are deviated Check the following points if there is any deviation 1 Are any installation bolts loose 2 Are any hand installation section bolts loose 3 Are the positions of the jigs other than the robot deviated 4 If the positional deviation cannot be corrected refer to Troubleshooting check and remedy Follow the troubleshooting section Is there any abnormal motion or abnormal noise Visual Follow the troubleshooting section 5 67 Inspection items 5Maintenance and Inspection 5 2 2 Periodic inspection Carr
60. d aw v X Z BA gt Y X Fa Er J4 axis E z 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 41 Confirming the operation 5 CYLNDER jog operation Select cylindrical jog mode Qr JoG CURRENT JOINT 100 Mi TO Ji 0 00 J5 40 00 FUNCTION J2 0 00 J6 0 00 uS o ae Hl IONS JOG ERATA ROS gt CYLNDER jog mode Set jog speed CURRENT JOINT 100 M1 TO 0 00 Jo 40 00 0 00 J6 0 00 90 00 0 00 OVRD OVRD Yy sie JOG ERA ON Setting the speed Moving along an arc centering on the Z axis Z u3 Vertical Y 2 Unpacking to Installation JOG Press the key and display the jog screen JOG is displayed on the screen bottom Check that the CYLNDER in jog mode is displayed on the screen If other jog modes are displayed please press the function key corresponding to the CYLNDER If the jog mode which he wishes under the screen is not displayed it is displayed that the FUNCTION key is pressed If it finishes jog operation press the JOG key again or function key which correspond to close Whenever it presses the key of OVRD 1 the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is display
61. dition 4B No 2 Grease nipple Harmonic Drive Systems Inc lt 2 gt J2 axis reduction gears WB 610 Only 21 000 Hr 8g addition No 2 arm cover U Shaft Wipe the old NOK Klubersynth UH1 14 222 Every 3 grease and NOK CORPORATION 2 000km lg ball screw spline applies movement Note1 When the screw is installed in the illustrated lubrication point install the attached grease nipple and supply the grease Caution The brand name of the grease shown in the Table 5 4 is the grease put in at shipping The lubrication time is a cumulative value of the operation at the maximum speed If the operation has been sus pended or if the designated speed is slow the lubrication time can be lengthened in proportion 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 By the maintenance forecast function of RT ToolBox2 option computes the guide of the lubrication hours put together with the customer s operation status 5 85 Maintenance and inspection procedures 5 Maintenance and Inspection The numbers in theTable 5 4 correspond to the supply positions in Fig 5 14 When the specified time limit 24 000 Hr is due the overhaul work to replace internal grease is required For the J1 J2 axis reduction gears if the overhaul cannot be conducted at the specified timing lubricate them at the
62. e changeable angle Type Direction Note Standard Change angle Note2 Note3 Ji RH 1FHR5515 side 170 deg 150 deg 130 deg Mechanical stopper angle 172 3 deg 152 3 deg 132 3 deg Mechanical stopper position P10 P11 P12 side 170 deg 150 deg 130 deg Mechanical stopper angle 172 3 deg 152 3 deg 132 3 deg Mechanical stopper position P10 N11 N12 Note Refer to Fig 3 4 for mechanical stopper position Note2 The changeable angle shown in Table 3 2 indicates the operation range by the software The mechanical stopper angle in the table shows the limit angle by the mechanical stopper Use caution when layout designing of the robot Note3 The changeable angle can be set independently on the side and side 5 55 Changing the operating range Jinstalling the option devices 2 The change method of the operating range Bl Installation of the mechanical stopper 1 Turn off power to the controller 2 Install the hexagon socket bolt in the screw hole to the angle to set up referring to Table 3 2 and Fig 3 4 About the mechanical stopper position and the relation of bolt size is shown in Fig 3 4 When the screw hole is covered by the arm move the No 1 armslowly by hand Installation bolt Hexagon socket head cap screw M10 x 20 Changing the operating range is pre pared optional Fig 3 4 Mechanical stopper position E Change the operati
63. e front using both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig into the pinholes and fas ten Pin hole r No 1 arm Origin setting tool r lt ORIGIN BRAKE gt 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 33 Select TOOL 3 DEF MN M gt 5 Input 1 into the J1 axis Set 0 to other axes Cue 6 Press the EXE key and display Confirmation 1 0 L0 se screen EXE lt ORIGIN gt TOOL CHANGE TO ORIGIN OK 7 Press the F1 key and the origin position is set up LI Resetting the origin 5 100 5 Maintenance and Inspection 8 Setting of the origin is completed 9 Refer to Page 109 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal Q O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately Q O Select the axis of origin setting O O Do cursor movement into the parenthesis of ea
64. e 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 70 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 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 lt How to remove the blind plug gt Simple spanner for resin nuts To the inside of a robot arm External wiring and piping box Lock nut this option box SN Cable clamp Attached to a hand output cable and a hand input cable Lock nut Make sure that the sup plied spanner securely I hold the lock nut Cable to pull out hand output cable etc To remove the blind plug hold the lock nut with the supplied simple spanner for resin nuts and loosen the cap with a screwdriver The supplied simple spanner is used when attaching a cable
65. eans 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 work coordinates Press the FUNCTION keys and display CLOSE function Press the function key corresponding to CLOSE Returns to the MENU screen WORK NUMBER 2 TEACHING POINT WO 2 WORK COORD UE NGHE 123 Confirming the operation 2 46 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 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 UR ects 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 Wi bottom RU VA Check that the WORK in jog mode is 90 00 displayed on the screen 0 00 If other jog modes are displayed please press the function key corresponding to the WORK WORK jog mode If t
66. ection 2 Note The robot is an example 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 attached to the hand wiring and piping set and then connect Please reference Page 57 3 5 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
67. ed 7 Initialize the battery consumption time Always carry out this step after replacing the battery and initialize the battery usage time Refer to the separate Instruction Manual Detailed Explanation of Functions and Operations for details on the opera tion methods Caution If the old battery is replaced because it has been used up it is necessary to set the origin again Refer to Page 91 5 6 Resetting the origin and reset the origin using the ABS origin method Maintenance and inspection procedures 5 88 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 performance As a rule of thumb however it is recommended that overhaul be carried out before the total amount of servo on time reaches the predetermined levels 24 000 hours for the robot body and 36 000 hours for the controller See Fig 5 16 For specific information about parts to be replaced and timing of overhaul contact your local service representative If overhaul is not performed Predeterm
68. ed 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 When the robot is in the transportation posture 4 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 34 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog Confirming the operation 2 36 2 Unpacking to Installation Q Olf the buzzer of T B sounds and the robot does not move O O If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction Changing the 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 Q O When alarm No 5150 occurs C9 If alarm No 5150 ORIGIN NOT SET occurs the origin has not been set correctly Reconfirm the value input for the origin data Q O Tool length Q 4 The default t
69. ed on screen upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work The direction of the frange will not change Assuming that the current position is on an arc centering on the Z axis the robot moves along that arc When the X J1 keys are pressed the robot will expand in the radial direction When the X J1 keys are pressed contract in the radial direction When the Y J2 keys are pressed the robot will move along the arc in the plus direction When the Y J2 keys are pressed move in the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction When the Z J3 keys are pressed move along the minus direction Confirming the operation 2 42 2 Unpacking to Installation Changing the flange surface posture L3 oer Vertical y 2 Radius The position of the end axis will not change 2 ABC 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 43 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 move
70. ed product is shown in Table 2 1 Confirm the parts Users who have purchased optional products should refer to the separate Special Specifications Table 2 1 Standard configuration No Part name Type Qty Remarks 1 Robot arm RH 1FHR series 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 plate 1 set For robot arm transportation 7 Fixing plate installation bolt 1 set 8 Transportation tool 1 set 9 Transportation tool installation bolt 1 set Confirming the product 2 6 2Unpacking to Installation 2 2 Installation 2 2 1 Unpacking t out 2 Upper lid 1 Tape 7 Fixing pm board d Robot arm 3 3 Hexagon 4 NN Socket bolts Four positions INO Y8 ga 07V Always unpack the robot at a flat place The robot could tilt over if unpacked at an unstable place Transporta tion tool 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 Handle the robot arm according to 2 2 2Transportation procedures NCAUTION Always unpack the robot at a flat place The robot could tilt over if unpacked at an unstable place The unpacking process is
71. eeds to be replaced When an optional bellows set has been installed to the robot and then required cleanliness to ensure the cleanliness level use liquid gasket and others to seal the outlet on the shaft tip where the air hoses and the cables are pulled out 9 Turn on the power supply and set the parameter to change the operating range Parameter Factory default setting Contents of the change MEJAR 170 170 0 0 0 D 120 120 L1 L1 L1 C1 puts S J1 axis operating range is limited 120 degree Note Refer to the separate Instruction manual Detailed Explanation of Functions and Operations for the details of the setting method 5 61 External Wiring and Piping Box Jinstalling the option devices AN CAUTION The parameter must be changed to limit J1 axis operating range to 120 degree If the parameter not be changed this option and a robot could interfere and cause breakage 10 After changing the parameter turn off the controller power and turn on again And move the axis changed by joint jog operation to the limit of the operating range Confirm that the robot stops by limit over at the changed angle This completes installing the External Wiring and Piping Box External Wiring and Piping Box 5 62 3Installing the option devices 3 7 Installing the vacuum valve set The installation summary of the vacuum valve is shown bellow Remove the No 2 arm cover U and install the vac uum v
72. er to Page 70 5 3 2 Installing removing the cover and remove the battery cover 2 Confirming the origin data Confirm the value displayed on the teaching pendant s Origin Data Input screen Refer to Page 25 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 25 Fig 2 14 Origin data label an example and Page 28 Fig 2 15 Correspondence of origin data label and axis for details on the origin data label 4 Installing the battery cover Install the battery cover removed in step 1 Confirming the origin data label above Refer to Page 70 5 3 2 Installing removing the cover and replace the battery cover This completes the recording of the origin data 5 109 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
73. es and the cables with cushion rubber before fixing 7 When using the hand input signal or the optional solenoid valve refer to Page 57 3 5 Hand internal wiring and piping set 8 The connected connectors are stored to the c portion NCAUTION Do not remove the cable ties which fixing connectors Fix the plate on the No 2 arm other cables and air hoses with cable ties In this way the internal cables and connectors do not touch the plate edge and others or break due to the vibration during the robot operation 9 Carry out piping and wiring on the tool side Fix the air hoses and the cables which are pulled out from the shaft lower end to the hand side Check again that the highest point of the curved section of the air hoses and the cables reaches the height of the fixing plate upper end and then fix the air hoses and the cables at the outlet of the shaft When an optional bellows set has been installed to the robot and then required cleanliness to ensure the cleanliness level use liquid gasket and others to seal the outlet on the shaft tip where the air hoses and the cables are pulled out 10 Apply silicon grease to the contact surface between the air hoses of the fixing plate and the cables the cable sliding portion from the shaft upper end to the fixed portion and the opening on the shaft upper end 11 Power on the controller perform the jog operation for the J3 and J4 axes and check that the air hoses and the cables do
74. exist in the defined area by using the instruc tion command Zone It can utilize as 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 2014 08 09 BFP A3335 First print 2014 08 22 BFP A3335 A Recommended grease gun was described 2015 02 10 BFP A3335 B The explanation of the origin setting method were added The description of the setting range of ABS origin method was added The description of how to change the operating range was added The corporate logo mark of illustrations in this manual was changed Introduction Thank you for purchasing the Mitsubishi industrial robot This instruction manual explains the method of unpacking installation and maintenance and inspection of the robot arm Always read through this manual before starting use to ensure correct usage of the robot The information contained in this document has been written to be accurate as much as possible Please interpret that items not described in this document cannot be performed And when maintenance and inspection of the robot to access the arm and the base section is necessary Please prepare the environment which can access the robot with the stepladder etc in RH 3FHR This document
75. forks and remove the transportation tool and fixing plate 5 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 lift up without using the specified transportation tool or if it is lifted up 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 NCAUTION To reattach the fixing plate again set the axes of the robot to the positions according to Table 2 2 NCAUTION 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 Posture J1 0 J2 145 J3 480mm J4 Not fixed 2 9 installation 2Unpacking to Installation 2 2 3 Installation procedures The installation procedure of the robot arm is shown below N Plain washer N Spring washer 4 M12 x 45 Four positions Fy Fr Base bottom EE LE T p S is 280 zi o 2 6 holes p 122 for 8 positioning pins 120 158 4 16 installation holes 200 Installation ref erence surface Rz25 122 0 WZ lE H 242 240 220 20 Fig 2 4 Installation dimensions 1 The robot installation surface has been machine finished Use
76. ge is recommended for connecting the attachment ACIN connector soldering is also possible Recommendation compression tools 234171 1 Tyco Electronics Note 2 The earth leakage breaker is the customer preparation Always use the cover below Recommendation For single primary power supply NV30FAU 2P 10A AC100 240V 30mA Cover TCS 05FA2 For three primary power supply NV30FAU 3P 10A AC100 240V 30mA Cover TCS 05FA3 Note 3 If necessary as shown in the figure connects the noise filter between ACIN terminal blocks and primary power supply Recommended noise filter SUP EL20 ER6 OKAYA ELECTRIC INDUSTRIES 1 Please prepare the following Leakage current breaker with the terminal cover cable for connecting the primary power supply AWG 14 2mm or above cables to ground the primary power supply AWG 12 3 5mm or above The secondary power cable with the ACIN connector for single phase or three phase power is supplied with the product to match the specifications When you build a cable suitable for your environment using the ACIN connector and the ACIN terminal supplied prepare a secondary power cable AWG 14 2mm or above 2 Confirm that the primary power matches the specifications 3 Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF 4 Connect the secondary power cable a When using the supplied power cable with the ACIN connector Refer to the figure above and co
77. gin has not been set will appear at the current position display on the teaching pendant the JOINT jog oper ation will take place in any jog mode selected Refer to Page 23 2 3 Setting the origin for details on setting the origin Q How to choose the jog mode O49 CURRENT JOINT J1 0 00 J2 0 00 J3 90 00 0 1000 Mi TO Bl a5 J5 J6 Press the JOG key the jog screen will be H JOG displayed and display the jog mode which can be chosen at the bottom of the screen Because J4 30 00 Pl PT these correspond to the function key of F1 F4 TOOL JOG XYZ j CYLNDR S press the function key corresponding to the jog FUNCTION mode to wish And if the FUNCTION key is Choose the jog mode pressed selection in jog modes other than the present display is possible The override 100 the mechanism number M1 and the tool number T1 and the base coordinate number B1 are displayed on the upside of the screen following the present jog mode JOINT Confirming the operation 2 30 2 Unpacking to Installation J3 axis Each axis moves independently JA axis Fig 2 16 JOINT jog operation Base coordinate system reference origin End axis Y lt d gen A X While maintaining the end axis posture the axis C 15 moves straight along the base coordinate system Y C Also while maintaining the end axis position the
78. gt J4 axis motor 6 J4 axis timing belt 1 sie Reduction gears Fig 5 2 Outline structure drawing of robot arm 5 69 Maintenance and inspection procedures 5Maintenance and Inspection 5 3 2 Installing removing the cover lt 1 gt No 2 arm cover U lt 4 gt ADD cover Upper side of back of base ume lt 6 gt CONBOX cover Under side of back of base 3 No 2 arm cover B No 2 arm rear Base section rear Note The cover on the bottom face of the No 1 arm is not removing Fig 5 3 Installing removing the cover IN 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 Table 5 3 Cover fixing screw list No Cover name Installation screw name Qty Note Remarks lt 1 gt No 2 arm cover U Truss head screw M4 x 10 6 X2 No 2 arm cover D Truss head screw M4 x 10 6 3 No 2 arm cover B Hexagon socket screw M4 x 8 4 4 ADD cover Hexagon socket screw M4 x 8 2 lt 5 gt Battery cover Truss head screw M4 x 10 6 lt 6 gt CONBOX cover Hexagon socket screw M4 x 8 4 Note1 The fixing torque for each screw are 1 39 1 89Nm 1 Referring to Fig 5 3 remove the covers 2 The names
79. he 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 2Unpacking to Installation 2 2 7 Passing air hoses and cables through the shaft For this robot customer prepared air hoses and cables can be pulled out from the No 2 arm by passing through the shaft For how to pass air hoses and cables through the shaft refer to the following 1 Specifications of internal air hoses and cables Use the air hoses and the cables which have flexibility capability of being repeatedly bent and twisted and high wear resistance for the internal use Select the air hose and the cable according to the specifications shown in Table 2 4 Table 2 4 Specifications of internal air hoses and cables Model Shaft inside Space factor Highest speed of Minimum R of Operating angle of diameter recommended J3 axis bending J4 axis RH 1FHR iimm 50 or less 1 100mm sec 20mm 360deg 2 Customer prepared products Table 2 5 shows the necessary products for passing air hoses and cables through
80. he FA environment related with conformity temperature or noise exists in the equipments connected 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 A CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751 D or CR751 Q because of leakage protection Controller TT Three phase Single phase AC200V AC200V o amt Y on Sel The controller is an ea 3 j example ACIN connector Primary For single phase For three phase Grounding screw Grounding screw Earth leak ACIN connector ACIN connector age breaker FERAS i 7 NV el zz pas le ol zlzlz 4 Note 2 PE terminal PE terminal lt 3 gt LINE LOAD Secondary pw a ACIN connector or power cable Attachment lt 4 gt LINE LOAD lt 2 gt LINE LOAD Note 3 Noise filter Note 1 Crimping swa
81. he Origin setting selection screen 11 Press the 2 key and display the Mechanical stopper selection screen gt 12 Input 1 into the J3 and J4 axis Set 0 to other axes Cus O sae 13 Press the EXE key and display Confirmation screen 5 97 Resetting the origin 5 Maintenance and Inspection lt ORIGIN gt MECH 14 Press the F1 key and the origin position is CHANGE TO ORIGIN OK set up 15 When No 2 arm cover U was removed installs as before lt ORIGIN gt MECH COMPLETED 16 Setting of the origin is completed un T 17 Refer to Page 109 5 6 5 Recording the origin a i e data in this manual and record the origin data on the origin data seal Q O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately Q 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 98 5 Mainten
82. he 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 lt CURRENT gt WORK 100 M1 TOI J coordinates system Confirm the target work coordinates system 0 00 J5 40 00 The current target number is displayed on the E yo 0 00 screen upper right W1 W8 0 00 The number of work coordinates can be IM JOG eral E changed by the arrow key Upper arrow Lower arrow 1 al Push the key Upper arrow the number will Select the work coordinates system increase W1 W2 eee 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 Whenever it presses the key of OVRD Upper lt CURRENT gt JOINT 100 M1 TO arrow the override goes up Conversely if 0 00 J5 40 00 i it wi 40 00 J6 40 00 the OVRD Lower arrow key is pressed it will 90 00 go down 20000 l OVRD N OVRDN The current setting speed is displayed on dE JOG ERATA ORME screen upper
83. he 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 Do not connect the Handy GOT when using the GOT direct connection function of this product Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not Do not connect the Handy GOT to a programmable controller when using an iQ Platform compatible product with the CR 50 Q CR751 Q controller Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not Do not remove the SSCNET III cable while power is supplied to the multiple CPU system or the servo amplifier Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo amplifier Eye discomfort may be felt if exposed to the light Reference SSCNET IIl employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Do not remove the SSCNET III cable while power is supplied to the controller Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET Ill cables Eye discomfort may be felt if exposed to the light
84. he robot installed on a secure table Use in an instable posture could lead to positional deviation and vibration Wire the cable as far away from noise sources as possible If placed near a noise source positional deviation or malfunction could occur Do not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults Securely install the hand and tool and securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuries or damage if the robot is started with external commands Keep the jog speed as low as possible and always watch the robot Failure to do so could lead to interference with the workpiece or peripheral devices After editing the program
85. hown in Fig 5 5 Example of sticking packing bad example 3 Although the No 2 arm cover U sticks two or more packings per place it has length with which packing ends overlap Stick packing in the following procedures For more information see Fig 5 7 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 1mm 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 N 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 8 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 A 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 Packing is stuck
86. ibing the special section may be enclosed Safety 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 Special Explains the product s standard specifications factory set special specifications option Specifications configuration and maintenance parts etc Precautions for safety and technology when incorporating the robot are also explained Robot Arm Setup amp Maintenance Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Controller Setup Basic Operation and Maintenance 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 Detailed Explanation of Functions and Operations 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 Troubleshooting Additional axis function Tracking Func tion Manual Extended Function Instruction Manual for each error No
87. ied out with the teaching pendant Set the mode of the controller to MAMNUAL and set the ENABLE switch on the teaching pendant to ENABLE to enable the teaching pendant The operation method is shown below When setting the origin for the first time using this method carry out the operations in order from step 1 For the second and following time move the robot arm to the user origin position with jog operation and accurately posi tion all 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 30 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 USERORG 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 4 ORIGIN BRK Display the menu screen 6 ENHANCED 5 Press
88. ier 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 these 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 A B 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 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 CR751 Thin type CR751 Heavy type There are two kinds of CR751 controller one is Thin type the height is 98mm and the other is Heavy type the height is 174mm each of which are different in height Thin type CR751 03HD Q CR751 06HD Q CR751 12HD Q CR751 20HD Q CR751 03HRD Q CR751 02VD Q CR751 04VD Q CR751 04VJD Q CR751 07VD Q Heavy type CR
89. ined time period I Periodic inspection If overhaul is performed Failure rate Servo on time Fig 5 16 Periodic inspection overhaul periods 5 89 About Overhaul 5 Maintenance and Inspection 5 5 Maintenance parts The consumable parts that must be replaced periodically are shown in Table 5 6 and spare parts that may be required during repairs are shown in Table 5 7 Purchase these parts from the dealer when required Some Mit subishi designated parts differ from the maker s standard parts Thus confirm the part name robot arm and con troller serial No and purchase the parts from the dealer Table 5 6 Consumable part list No Part name Type Usage place Q ty Supplier 1 Grease Reduction gears of each axis An needed Shaft An needed 2 Lithium battery ER6 Inside the battery cover 3 3 Liquefied gasket Packing Note An needed Melian 4 Timing belt J3 axis 1 5 J4 axis motor side 1 6 J4 axis shaft side 1 7 Bellows set option J4 axis shaft 1 Note1 The liquefied gasket is necessary for the place which uses two or more packings to connect Table 5 7 Spare parts list No Names Usage place Q ty Supplier 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 Mitsubishi Electric 6 J2 axis 1 7 Ball screw spline J3 axis 1 8 Liquid gasket Bellows An
90. ing 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 To align the ABS marks view the robot from the front The deviation between the end points of the two triangular marks must be 1 mm or less The positions where the ABS mark is attached are shown in below Refer to Page 30 2 4 Confirming the operation for details on the jog operation b Note There is no alignment mark of the J3 axis The posture to be set is the same with the mechanical stopper method Refer to Page 96 3 J3 and J4 axis origin setting mechani cal stopper J1 axis Alignment mark Alignment mark J4 Alignment mark of J4 axis Within 1mm 7 side deviation Within 1mm side deviation Setting range of alignment mark The angles of each axis which sets up the ABS origin are shown below J1 axis O degrees J2 axis 0 degrees J3 axis 436 6mm J4 axis 0 degrees Fig 5 18 ABS mark attachment positions Resetting the origin 5 104 5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below 1 Select the T B MENU 1 FILE EDIT SRN 1 Press the 4 key on the menu screen
91. ion such as when changing the installation position If the arm is directly suspended without using the specified transportation tool 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 Table 2 2 CAUTION The robot should keep vertical not be horizontal It becomes the cause of the grease leakage or the trouble Installation 2 8 2Unpacking to Installation 2 Transporting with a manual pallet jack Mass RH 1FHR series Approx 56kg Transportation tool lt Fork insertion segment View A View B Fork insertion segment Fig 2 3 Transportation of robot arm 1 Insert the forks of a manual pallet jack surely into the fork insertion segment of the transportation tool 2 Lift up the robot with a manual pallet jack to transport it to the designated location 3 Be careful not to subject the robot to physical shock during transport 4 After installing the robot refer to Page 10 2 2 3 Installation procedures pull out the
92. ion correctly Installation diagram is shown in Fig 3 5 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 Pass the tool hand side of the secondary piping air hoses and hand input cables through the shaft Make sure that the air hoses and the cables are not twisted or crossed 4 Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm away from the opening of the shaft 5 The highest point of the curved section of the air hoses and cables should be matched up with the top of the fixing plate Z CAUTION If the air hoses and the cables are not long enough or too long when the robot oper ates excessive bending and friction with the shaft upper end or the cover may result in a break or abnormal operations of the tool hand 6 In the state of the steps 4 and 5 fix the air hoses and the cables to the a and b portions of the plate with cable ties For the a portion wrap the air hoses and the cables with cushion rubber before fixing 7 Cut the secondary piping air hoses in appropriate length and connect the air hoses to the solenoid valve The diagram shows the connection to the optional solenoid valve as an example The air ho
93. k while padding with a cloth and remove the cable by lifting the hook CAUTION 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 damaged and it may not be connected securely Minus screwdriver A 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 cable is removed Since it becomes the cause of failure Please be careful not to catch the hand at installation and removal Installation 2 14 2Unpacking to Installation 2 CR751 controller Note1 9 Robot arm base section Motor power CN1 o o AMP1 AMP2 BRK TENE Controller Motor signal CN2
94. l information of the robot controller may be damaged Do not connect the Handy GOT when using the GOT direct connection function of this product Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not Do not remove the SSCNET III cable while power is supplied to the controller Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables Eye discomfort may be felt if exposed to the light Reference SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable If the cap is not attached dirt or dust may adhere to the connector pins resulting in deterioration connector properties and leading to malfunction Make sure there are no mistakes in the wiring Connecting differently to the way specified in the manual can result in errors such as the emergency stop not being released In order to prevent errors occurring please be sure to check that all functions such as the teaching box emergency stop customer emer gency stop and door switch are working properly after the wiring setup is com pleted Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for t
95. leanliness to ensure the cleanliness level use liquid gasket and others to seal the outlet on the shaft tip where the air hoses and the cables are pulled out 10 Apply silicon grease to the contact surface between the air hoses of the fixing plate and the cables the cable sliding portion from the shaft upper end to the fixed portion and the opening on the shaft upper end 11 Power on the controller perform the jog operation for the J3 and J4 axes and check that the air hoses and the cables do not interfere with other components 5 57 Hand internal wiring and piping set Jinstalling the option devices NCAUTION Do not power on the controller when the internal cables are connected to the con nectors on the robot If the end of the cables on the tool side is not processed troubles such as fuse blown by ground fault or short circuit may occur Check that the end of the cables has been processed before powering on the controller 12 Turn off the controller s power supply then install the No 2 arm cover U securely as before with fixing screws tightening torque 1 39 to 1 89 Nm When installing the cover check that no air hose or cable is pinched and no air hose is bent Note The installation surface of a 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 conta
96. m and controller Controller Controller Controller when possible Refer to the separate Controller and and an F i A n Roboter orson Robot antl znal Bobotsrm Tresor Setup Basic Operation and Maintenance for computer computer computer x t A A A O details on the controller grounding 2 Use Class D grounding grounding resistance 100Q or less Dedicated grounding separated from the other E pum devices should be used E E 3 Use a AWGit 1 4 2mm or more stranded wire for m i o E dd co pu el hl d UtdhE the grounding wire The grounding point should be as close to the robot arm and controller as possi ble and the length of the grounding wire should be short Fig 2 5 Grounding methods 2 Grounding procedures Robot grounding cable AWG 11 4 2mm2 or more 1 Prepare the grounding cable AWG 1 1 4 2mm or Prepared by customer more and robot side installation screw and washer E 2 If there is rust or paint on the grounding screw sec tion A remove it with a file etc 7 3 Connect the grounding cable to the grounding screw y gt i section C e Plain washer gt i ee E Spring washer M4 x 10 Fig 2 6 Connecting the grounding cable Installation 2 12 2Unpacking to Installation 2 2 5 Connecting with the controller 1 CR750 controller
97. m 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 Please be careful not to catch the hand at installation and removal Installation 2 16 2Unpacking to Installation 2 2 6 Ethernet Cables Ethernet cables 4 pairs totaling 8 lines of AWG 26 0 13mm 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 use 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 1 No 2 arm a Ethernet cable 4 pairs totaling 8 lines of AWG 26 0 13mm7 When using as the Ethernet ms LAN connector Customer prepared PEE Robot side When using as spare wiring 2 Cut the LAN con nectors Connect the customer s con Customer prepared aco Robot side ii 9 Note When using by passing through the shaft please use the optional W p ii A hand internal wiring and piping set to prevent the cable disconn
98. n posture Transporting the robot in a non designated posture could lead to personal injuries or faults from dropping Always use the robot installed on a secure table Use in an instable posture could lead to positional deviation and vibration Wire the cable as far away from noise sources as possible If placed near a noise source positional deviation or malfunction could occur Do not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults Securely install the hand and tool and securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuries or damage if the robot is started with external commands Keep the jog speed as low as possible and alw
99. n proceed to adjust timing belt A 17 lt The No 2 arm bottom view Inside of the No 2 arm cover D X1 Timing belt A 2 Timing belt B Adjust next Adjust first Shaft Timing pulley D Timing belt B adjustment Screw XThe No 2 arm upper view Inside of the No 2 arm cover U Timing pulley A Timing belt B adjustment screw ee Fig 5 11 Inspecting Adjusting the J4 axis timing belt Maintenance and inspection procedures 5 80 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 70 Fig 5 3 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 Page 83 Fig 5 12 Belt tension Or measure the tension of the belt with tension meters and confirm that the value is in standard tension shown in Page 83 Fig 5 12 Belt tension 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 lt 2 gt Lightly loosen timing pulley lt B gt l
100. needed Maintenance parts 5 90 5 91 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 reset if the combination of robot and controller being used is changed or if the motor is changed causing an encoder area The origin setting methods and when each origin set ting method is required are shown in Table 5 8 Table 5 8 Origin setting method No Method Explanation Cases when setting the origin is required Remarks 1 Origin data input The origin data set as the default is At the initial startup The setting method is explained in calibration jig installed robot motor reduction gear timing belt etc is replaced When deviation occurred by a col lision method input from the T B When the controller is replaced Page 23 2 3 Setting the origin Use this method at the initial When the data is lost due to flat startup battery of the robot controller when C7500 occurs 2 Jig method The origin posture is set with the When a structural part of the The setting method is explained in Page 99 5 6 2 Jig method 3 Mechanical stopper method This origin posture is set by contacting each axis against the mechanical stopper When a structural part of the robot motor reduction gear timing belt
101. ng range parameters Specify the operating range to parameters MEJAR with appropriate values variable angles given in Table 3 2 by the following steps 1 Turn on power to the controller 2 Set up the operating range changed into parameter MEJAR MEJAR J1 minus side J1 plus side L1 L1 L1 Bl Change the mechanical stopper origin position parameters If you have changed operating range on the J1 minus side change mechanical stopper origin position parame ters by the following step 1 Set MORG parameter to the angle which set mechanical stopper position MORG J1 mechanical stopper angle L1 L1 L1 E Check the operating range After changing the parameter turn off the controller power and turn on again Then move the axis changed by joint jog operation to the limit of the operating range Confirm that the robot stops by limit over at the changed angle This completes the procedure to change the operating range Changing the operating range 5 56 3Installing the option devices SSS AA 3 5 Hand internal wiring and piping set Remove the No 2 arm cover U and fix this option to the plate on the No 2 arm Turn the controller s power OFF before this operation Refer to Page 70 5 3 2 Installing removing the cover for removing installing the cover 1 Installation procedure The installation procedure is shown below Refer to the installation diagram shown from the next section and perform the installat
102. ng the backup batter 1 Replacing the battery robot d 5 4 About Overhaul uestis EX Maptenance drca T A d B amp R S ung the origin a Ji axis origin setting mechanical stopper 2 J2 axis origin setting mechanical stopper 3 J3 and J4 axis origin setting mechanical stopper 5 6 2 Jig method Mm 1 J1 2 J2 axis origin setting 3 J3 and J4 axis origin se 5 6 3 ABS origin method 1 Select the T B 5 6 4 User origin th thod 5 6 cording the origin data 1 Confirming the origin data label 2 Confirming the origin data 3 Recording the origin data 4 Installing the battery cover 6Appendix Appendix 1 Configuration flag mene 110 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 Moreover handling and operation of a teaching pendant T B are described based on R32TB R33TB in instruction manuals If using other T B such as R56TB R57TB refer to a supplied instruction manual of the T B 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 descr
103. nnect the cable from the secondary side of the earth leakage breaker b When building a power cable using the ACIN connector and the ACIN terminals supplied Connect the ACIN terminals with the secondary power cable prepared by customers and insert the ACIN terminals to the ACIN connector pins with the following numbers Crimping caulking is recommended to connect the ACIN terminals For single phase 1 and 3 For three phase 1 2 and 3 Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker 5 Connect this ACIN connector to the ACIN connector on the front of the controller 6 Connect the grounding cable to the PE terminal M4 screw 7 Connect the primary power cable to the primary side terminal of the earth leakage breaker 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 lt can be confirmed whether the specified position
104. nsion 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 12 Check and adjust with the belt pressing force f and the slack amount d between spans 5 Maintenance and Inspection 5 3 5 Replacing the bellows Option With reference to Fig 5 13 exchanges the bellows option Replacement method of bellows is shown below 1 Loosen the two set screws M4 and remove the shaft fixation part from the shaft Then completely remove a liquid gasket filling the gap between the shaft fixation part and the shaft 2 Refer to Page 70 Fig 5 3 Installing removing the cover and remove the No 2 arm cover D and the bel lows together 3 Fix the new bellows to the No 2 arm cover D with six truss screws M4 4 Fix the bellows to the shaft with adjusting the position of the bottom of the shaft fixation part to 30mm from end of shaft Align two set screws M4 to the D cut surface and fix them securely Tightening torque 1 39 to 1 89 Nm 5 Fill the gap between the shaft fixation part and the shaft with a liquid gasket to prevent dust emergence Recommendation gasket 1212 Supplier Three Bond Holdings Co Ltd 6 Stick the attached ABS mark stickers on the bottom surface of the bellows fixation part and the side face of the shaft fixation part Makes the J4 axis into the position of 0 degree by jog operation etc and stick the ABS mark stickers
105. o 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 16 5 Maintenance and Inspection 3 Replacing the J3 axis timing belt The procedure for replacing the J3 axis timing belt 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 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 70 Fig 5 3 Installing removing the cover and remove the No 2 arm cover U 3 Loosen the nut of tension adjustment screw 1 and loosen the tension adjustment screw lt 1 gt lt 3 gt J3 axis motor Move the J3 axis to the position lowered about 30mm from the upper limit previously lt 2 remove lt gt Tension adjustment screw Loosen the nut t and screw 4 Remove two fixing screws X2 remove the J3 axis motor lt 3 gt remove the timing belt 45 from the timing pulley A lt 5 gt X3 J3 axis motor m 1i remove 2 J3 axis motor fixing scre
106. of timing belt This robot uses a timing belt for the drive conveyance system of the J5 axis Compared to gears and chains the timing belt does not require lubrication and has a low noise However if the belt usage method and tension adjust ment are inadequate the life could drop and noise could be generated Sufficient aging to remove the initial elon gation of the belt and adjustment of the belt tension have been carried out before shipment from the factory However depending on the robot working conditions elongation will occur gradually over a long time The tension must be confirmed during the periodic inspection The 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 83 5 Timing belt tension for the tension adjustment value of the timing belt Maker Gates Unitta Asia Company Type U 505 Image of Measurement by the sound Measurement by the push pull gauge wave type belt tension gauge Fig 5 9 Tension adjustment method of timing belt 1 Timing belt replacement period The timing belt life is greatl
107. ool length is Omm and the control point is the center of the end axis After installing the hand set the correct tool length in the parameters Refer to the separate manual Detailed Explanation of Functions and Operations for details 2 37 Confirming the operation 2 Unpacking to Installation 3 TOOL jog operation S o Select TOOL jog mode JOG lt CURRENT gt Ji 0 00 J2 40 00 JOINT 100 0 00 0 00 Mi TO Jo FUNCTION 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 J6 J3 90 00 J4 40 00 F1 ME JOG ERATA MED If other jog modes are displayed please press the FA function key corresponding to the TOOL If TOOL jog mode the jog mode which he wishes under the screen is not displayed it is displayed that the FUNC Set jog speed CURRENT JOINT 0 00 J5 0 00 J6 100 0 00 0 00 Mi TO 90 00 0 00 HUNE JOG ESDAFAM OANE OVRD OVRD 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 Setting the speed Moving along the tool coordinate system 3 ver J TZ Y MER The curren
108. ork 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 Yw 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 Zw plus direction on the work coordinates system When the Z J3 keys are pressed Move along the minus direction When the X Y or Z keys are used the operation is the same in the WORK jog and the Ex T jog modes Confirming the operation 2 48 2 Unpacking to Installation Changing the end axis posture Z lt 1 gt Work jog mode Z way Tool length B t eue C 5 z The position of the control point does not change The end axis is rotated Work coordinates system z Control point TYw 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 2 Ex T jog mode Teo length Xw Control point Zw Yw Work coordinates system Ex T coordinates system When the C J6 keys are pressed the control point will rotate in the plus direction around the Z axis Zw of work coordinates system Ex T coordinates system When the C J6 keys are pressed the control point will rotate in the minus di
109. ounting bracket with screws 4 Connect supplied cables and air hoses The cables are connected to the vacuum valve by using the following connector 1 set connector S1 and V1 2 sets connector of S1 S2 V1 and V2 5 Connect the hand input output signal connection connectors GR1 HC1 and HC2 of the vacuum valve with hand input output signal connection connectors of robot arm side GR1 HC1 and HC2 Connect with the same names The hand output signal cables of the robot arm side are located close to where the vacuum valve is installed and are tied up with cable tie Pull out and connect them to the connectors 6 Connect the primary piping air hose 6 The air hoses are located close to where the vacuum 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 vacuum valve s PS port and the one marked RETURN to the PV port 7 Connect the secondary piping air hose 4 8 Pass the secondary piping air hose through the shaft 9 The silicon rubber is supplied together with the vacuum valve to prevent bending the air hose Wrap a sec ondary piping air hose in the silicon rubber and fix them with supplied cable tie at b portion shown in Fig 3 8 10 Carry out piping on the tool side AN CAUTION Fix the air hose to the hand side Check again that the highest point of the curved section of the air hose reaches the height of the fixing pla
110. packing may also Installation 2Unpacking to Installation become seriously impaired and there is a risk that the specified level of product protection may not be achievable Normal condition abnormal condition 4 v Y ji Air hose Z CAUTION 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 NCAUTION When operating the robot friction may result in dust being generated from the tip of the shaft When an optional bellows set has been installed to the robot and then required clean liness 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 Base area M amp Ethernet cable Fix the Ethernet cable to the ADD cover by cable clamp Expansion The recommendation the cable clamp OA W1608 OHM ELECTRIC INC t Inside the robot arm E Inside the ADD cover Base section rear m Note Measures against the noise ADD cover Ene 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 grounding of the Ethernet cable and the addition of the Ethernet cable Cable clamp ferrite core if needed Encre The recommendation the ferrite core Type E04SR301334 SEIWA ELECTRIC MFG CO LTD Fig 2 10 Pull out the Ethernet cable Ba
111. peration to prevent contact of the operator and robot Installation of safety fence Establish a set signaling method to the related operators for starting work and fol low this method Signaling of operation start As a principle turn the power OFF during maintenance work Place a sign indicat ing that maintenance work is in progress on the start switch etc Indication of maintenance work in progress Before starting work inspect the robot emergency stop switch and other related devices etc and confirm that there are no errors Inspection before starting work 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 NDANGER NCAUTION NCAUTION Z CAUTION Z CAUTION Z CAUTION Z CAUTION N WARNING N WARNING Z CAUTION Z WARNING Z CAUTION Z CAUTION NCAUTION Z CAUTION N WARNING When automatic operation of the robot is performed using multiple control devices GOT programmable controller push button switch the interlocking of operation rights of the devices etc must be designed by the customer 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 transportatio
112. pletes adjustment of the J4 axis timing belt Maintenance and inspection procedures 5 82 5 Timing belt tension Pressing force 5 Maintenance and Inspection Pressing force Span Slack Tension Axis Belt type Slack d Pressing force f Remarks J3 309 3GT 6 1 5 J4 motor side 336 3GT 6 64 1 0 JA4 shaft side 282 3GT 12 74 12 The preset value and adjustment value in the sound wave type belt tension gauge Axis Belt type Preset value M g m W mm R S mm Standard tension T N J3 J4 motor side JA4 shaft side 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 Fig 5 12 Belt tension 309 3GT 6 336 3GT 6 282 3GT 12 5 83 Maintenance and inspection procedures 2 5 2 5 2 5 6 6 12 102 64 74 26 32 26 32 53 65 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 te
113. pply of the controller is OFF 2 Refer to Page 70 Fig 5 3 Installing removing the cover and remove the No 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 Page 83 Fig 5 12 Belt tension Or measure the tension of the belt with tension meters and confirm that the value is in the range of standard tension shown in Page 83 Fig 5 12 Belt tension 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 X2 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 lt 6 gt or the mesh of belt and pulley 5 lt 6 gt is shifted by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 91 5 6 Resetting the origin 7 After adjustment fasten securely the tw
114. rection 2 49 Confirming the operation 2 Unpacking to Installation O When the robot is in the transportation posture O O There are directions from which linear movement is not possible from the transportation posture In this case the robot will not move Refer to section Page 34 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog Q Of the buzzer of T B sounds and the robot does not move O O If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction OS Tool length C49 O The default tool length is Omm and the control point is the center of the end axis After installing the hand set the correct tool length in the parameters Refer to the separate manual Detailed Explanation of Functions and Operations for details Confirming the operation 2 50 3Installing 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 8 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 70 5 3 2 Installing removing the cover for removing installing the cover X 2 arm cover U Solenoid valve Items for customer to prepare Fix
115. right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work Setting the speed 2 47 Confirming the operation 2 Unpacking to Installation When the software version is R5 F Q series S5 F D series or later the additional WORK jog operation Ex T jog is available The conventional WORK jog operation and the Ex T jog operation can be switched by setting the parameters WK1JOGMD to WK8JOGMD of each work coordinates system The respective operations are as follows WORK jog operation mode Conventional WORK jog Ex T jog Parameters WKnJOGMD n is 1 to8 set O initial value 1 ting XYZ key operation Moves along each axis of the work coordi Same as the conventional WORK jog nates system C key operation With the control point position maintained While the control point position is the direction changes along the work coor changed the direction changes on the Z dinates system axis of the work coordinates system Zw AB key operation The robot does not move The robot does not move The jog movement based on work coordinates system 47 Work coordinates system Bu length b The direction of the end axis will not change Move the control point with a straight line in accordance Yw with the work coordinates system Control point When the X J1 keys are pressed the robot will move along the X axis Xw plus direction on the w
116. 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 N DANGER Z CAUTION Z CAUTION N CAUTION N CAUTION N CAUTION Z CAUTION NWARNING Z WARNING N CAUTION NWARNING N CAUTION N CAUTION N CAUTION NCAUTION When automatic operation of the robot is performed using multiple control devices GOT programmable controller push button switch the interlocking of operation rights of the devices etc must be designed by the customer 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 t
117. rsion is R5 F Q series S5 F D series or later jog operation around the work coordinates system is available EX T jog In this jog operation when the jog operation is performed for the posture elements the posture rotates on the Xw axis Yw axis or Zw axis of the work coordinates system while the control point is changed Fig 2 21 WORK jog operation 2 33 Confirming the operation 2 Unpacking to Installation 1 JOINT jog operation Select joint jog mode lt CURRENT gt JOINT 100 MI TO Ji 40 00 J5 40 00 J2 40 00 J6 0 00 J3 490 00 Ec J4 0 00 ay DM Joc EET Joc Joint jog mode Set jog speed lt CURRENT gt JOINT 0 00 J5 0 00 J6 100 M1 TO 0 00 0 00 90 00 0 00 HUNE JOG ESATA RIED gt OVRD OVRD Setting the speed J1 axis jog operation J1 axis JOG Press the key and display the jog screen JOG is displayed on the screen bottom Check that the joint in jog mode is displayed on the screen If other jog modes are displayed please press the function key corresponding to the joint If the jog mode which he wishes under the screen is not displayed it is displayed that the FUNCTION 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
118. rt and the air hose relay part in the binding or twisting range Twisting range Installation 2 20 2Unpacking to Installation 3 Installation procedure The installation procedure is shown below Refer to the installation diagram shown from the next section and perform the installation correctly 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 Pass the tool hand side of the internal air hoses and cables through the shaft Make sure that the air hoses and the cables are not twisted or crossed 4 Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm away from the opening of the shaft 5 The highest point of the curved section of the air hoses and cables should be matched up with the top of the fixing plate NCAUTION If the air hoses and the cables are not long enough or too long when the robot oper ates excessive bending and friction with the shaft upper end or the cover may result in a break or abnormal operations of the tool hand 6 In the state of the steps 4 and 5 fix the air hoses and the cables to the a and b portions of the plate with cable ties For the a portion wrap the air hos
119. s The setting method of the work coordinates system using T B R32TB is shown in the following Parameter Setting the coordinate value to WKnCORD n is meaning the number 1 8 of work coordinates can also set up the work coordinates system Refer to the separate manual Detailed Explanation of Functions and Operations for details of parameter The work coordinates system teaches and sets up the three points WO WX WY T fl Notes The figure is the example of f RV 6SD but other types are work coordinates the same Nt Ue Robot coordinates Xw Bw E 4 system Work The jogging movement based on this workis 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 22 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 ENHAN
120. se 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 section Installation 2 18 2Unpacking to Installation NCAUTION NCAUTION NCAUTION NCAUTION 2 19 Installation Take care against applying big force to the Ethernet cable other cables and the air hose Please confirm not having broken or not having stripped the packing when installing or removing the cover Contact to the dealer 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 t
121. ses can also be pulled out from the rear of the No 2 arm by using another option an external wiring and piping box For the details refer to Page 60 3 6 External Wiring and Piping Box For the connection to the optional solenoid valve connect the air hoses to the A and B ports of the sole noid valve 8 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 and cables are tied up by cable tie at c portion Cut the cable tie and pull them out The connected connectors are stored to the c portion When the hand input cable is not used tie up the connector and fix to the plate by cable tie Z CAUTION Do not remove the cable ties which fixing connectors Fix the plate on the No 2 arm other cables and air hoses with cable ties In this way the internal cables and connectors do not touch the plate edge and others or break due to the vibration during the robot operation 9 Carry out piping and wiring on the tool side Fix the air hoses and the cables which are pulled out from the shaft lower end to the hand side Check again that the highest point of the curved section of the air hoses and the cables reaches the height of the fixing plate upper end and then fix the air hoses and the cables at the outlet of the shaft When an optional bellows set has been installed to the robot and then required c
122. 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 a 2 Pull the upper lid lt 2 gt 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 Remove after installing NCAUTION When repackaging the robot in the wooden frame always use the fixing plate 2 7 installation 2Unpacking to Installation 2 2 2 Transportation procedures 1 Transporting with a crane Mass Wire RH 1FHR series Approx 56kg Wire hook Transporta Eye bolt tion tool Fig 2 2 Transportation of robot arm 1 Hook the wires to each of the four eyebolts attached to the transportation tool 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 3 Installation procedures remove the wires the wire hooks transportation tool and fixing plate 6 Always follow the above procedures and methods to transport the robot for secondary transportat
123. t 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 lt 4 gt slowly and moving the timing pulley C lt 5 gt 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 5 gt lt 6 gt or the mesh of belt and pulley lt 5 gt lt 6 gt is shifted by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 91 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 Timing pulley B lt 3 gt Timing pulley lt B gt lt C gt fixing screw three screws Loosen lt 4 Tension adjustment screw for lt 3 gt Timing pulley lt B gt lt C gt fixing screws timing belt B Loosen the nut and screw three screws _ Loosen 7 After adjustment fasten certainly the three timing pulley lt B gt lt C gt fixing screws lt 3 gt And fasten certainly the nut of tension adjustment screw lt 4 gt Improper tightening may cause the belt to loosen with vibration 5 81 Maintenance and inspection procedures 5 Maintenance and Inspection 8 Next adjusts
124. t setting speed is displayed on screen upper right and STATUS NUMBER of the controller Set the override to 10 here for confirmation work X gt Y Y 2 When the X J1 keys are pressed the robot will move along the X axis plus direction of the tool coordinate system When the X J1 keys are pressed move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction of the tool coordinate system When the Y J2 keys are 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 38 2 Unpacking to Installation Q O When the robot is in the transportation posture 4 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 34 1 JOINT jog operation and move the robot to a position where linear movement is possible and then carry out XYZ jog Q Olf the buzzer of T B sounds and the robot does not move 24 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 Z
125. te upper end and then fix the air hose at the tool side If the air hose is not long enough or too long when the robot operates excessive bending and friction with the shaft upper end or the cover may result in a break or abnormal operations of the tool hand 11 Apply silicon grease to the contact surface between the air hose of the fixing plate the air hose sliding portion from the shaft upper end to the fixed portion and the opening on the shaft upper end 12 If the air hose have excess length fix the excess section of the air hose at the plate with the cable tie 13 Power on the controller perform the jog operation for the J3 and J4 axes and check that the air hose do not interfere with other components 14 Turn off the controller s power supply then install the No 2 arm cover U securely as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installation surface of the cover is using sealing material In the event that the sealing mate rial 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 solenoid valve set Installing the vacuum valve set 5 64 4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section 4 Basic operations in the
126. the installation holes 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 installing the robot remove the fixing plate and transportation tool 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 rigidity Table 2 3 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 Installation 2 10 2Unpacking to Installation Table 2 3 Magnitude of each reaction force Unit Value Tilt moment ML N m
127. the shaft The user needs to prepare the products Table 2 5 Customer prepared products Name Qty Usage and recommended product Expanding sleeve Moderate Protecting the air hoses and cables and improving the twisting rigidity quantity Recommended expanding sleeve EXP 13 PT manufactured by Kitagawa Industries Co Ltd Cushion rubber Moderate Protecting the bent portion and the fixed portion of the twisted end quantity Recommended cushion rubber silicon rubber thickness of 1mm dimensions of 30mm X 80mm Cable tie Moderate Fixing the air hoses and the cables quantity Silicon grease Moderate Reducing friction and wear when the air hoses and the cables slide amount Recommended silicon grease G 501 manufactured by Shin Etsu Chemical Co Ltd Liquid gasket Moderate Sealing the outlet at the tip of the shaft amount Recommended liquid gasket 1212 manufactured by Three Bond Co Ltd Precautions for implementation of moving part Bending range Expanding sleeve Plate for fixation 1 The internal air hoses and cables are bent and twisted according to the operations of the J3 and J4 axes Structurally the twisting occurs inside the shaft and the bending occurs inside the expanding sleeve Without the expanding sleeve the twisted air hoses and cables may run onto the guide portion of the fixing plate and the air hoses may be bent or broken 2 Do not place the connector connecting pa
128. 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 screws 9 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 lt 10 gt 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 91 5 6 Resetting the origin lt The No 2 arm upper view Inside of the No 2 arm cover U lt 9 gt J4 axis motor Hs XT J4 axis motor fixing screw two screws Exists in the rear of J4 axis also lt 1 gt Timing belt A E lt 8 gt Tension adjustment screw for timing belt A Loosen the nut and screw lt The No 2 arm bottom view Inside of the No 2 arm cover D X12 Timing belt A 10 After adjustment fasten certainly the two J4 motor fixing fixing screws lt 7 gt And fasten certainly the nut of tension adjustment screw 8 Improper tightening may cause the belt to loosen with vibration 11 Install No 2 arm cover U and No 2 arm cover D securely as before and finish adjustment This com
129. ting 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 91 5 6 Resetting the origin for the other methods The teaching pendant is required for this operation Caution If the origin data at shipment is erased due to out of battery it is necessary to set the origin again Refer to Page 91 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 CR750 controller Explain the installation method of T B below 1 Check th
130. to plate A Philips screwdriver M4 screws Air hose for secondary piping 4 primary piping air hose 96 m P port Solenoid valve exhaust hose q6 gt G port in Note When connecting this air hose be d rd sure to remove the dust cap attached on the robot base section and output signal connection cables GR1 GR2 Install to inside the No 2 arm cover U Fixing screws M4 x 30 two screws left and right included in the solenoid valve set Note The robot is an example i Hand output signal connection con nectors GR1 GR2 Connect to the GR1 and GR2 connec tors of the robot side Solenoid valve exhaust joint 96 R port Secondary piping connection joint 94 A B ports A port From the left side in order 1 B port From the left side in order 2 3 4 5 7 6 8 Base section Solenoid valve exhaust joint 6 upper side RETURN Primary piping connection joint v6 lower side AIR IN Primary piping connection joint 6 P port 5 51 Fig 3 1 Solenoid valve installation procedures 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 8 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
131. ttached 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 Connect the machine cable to the corresponding connector of the controller Connects the connector CN1 AMP1 AMP2 BRK and CN2 surely Fix CN2 connector by tightening two screws Tighten the fixing screw of CN2 by 0 06 0 07 Nm 2 15 Installation 2Unpacking to Installation This completes connecting the machine cables N CAUTION N CAUTION N CAUTION N 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 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 order to prevent a breaking of cables and a damage of connectors always use the controller after installing the attachment cable fixation plate Connect the machine cable at the place without the effect of the dust or oil mist Please keep the dust and oil mist fro
132. w remove Ls lt 4 gt Timing belt Remove from the timing pulley A lt 5 gt y 5 77 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 87 When using the optional hand internal wiring and piping set remove the fixing screws fixed to the top Remove the timing belt 4 from the timing belt removal space lt 9 gt created under the shaft fixing plate 8 by lift up lt 10 gt Shaft Ball screw spline XI Shaft fixing screw four screws remove Also at the back left of the diagram lt 8 gt Shaft fixing plate lift up lt 9 gt Timing belt removal space f lt 4 gt Timing belt Remove from the timing belt removal space lt 9 gt to upward mmmmmmmmm N 4 Timing belt The belt was removed on the shaft fixed plate 8 Maintenance and inspection procedures 5 18 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 4 Timing belt AA 1 gt Hand input cable con SS nector Remove temporarily lt 12 gt Air hoses d Remove temporaril
133. y 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 lt 6 gt 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 76 2 Inspecting Adjusting the J3 axis timing belt 10 Install No 2 arm cover U securely as before 11 Reset the origin of J3 and J4 axis with referring to the Page 91 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 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 79 Maintenance and inspection procedures 5 Maintenance and Inspection 4 Inspecting Adjusting the J4 axis timing belt As shown in Fig 5 11 the J4 axis timing belt consists of two timing belts timing belt A lt 1 gt and timing belt B 2 When adjusting the timing belts first adjust timing belt B 2 and the
134. y affected by the robot working conditions so a set time cannot be given However if the following symptoms occur replace the belt 1 When cracks from at the base or back of the belt teeth 2 When the belt expands due to adherence of oil etc 3 When the belt teeth wear to approx half of the tooth width 4 When the belt teeth jump due to belt teeth wear 5 When the belt snaps AN CAU TION 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 75 Maintenance and inspection procedures 5 Maintenance and Inspection 2 Inspecting Adjusting the J3 axis timing belt The section related to J3 axis timing belt and adjustment is shown in Fig 5 10 The picture is the image which removed the No 2 arm cover lt 3 gt J3 axis motor lt 2 lt 1 gt Tension adjustment screw Loosen the nut adjust by screw lt 6 gt J3 timing pulley B j Don t remove the timing belt 5 J3 timing pulley A Don t remove the timing belt Fig 5 10 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 su
135. y inspection 3 month inspection 6 month inspection Yearly inspection 2 year inspection 3 year inspection Operating time lt Guideline for inspection period gt 10 Hr day X20 days month X 3 months approx 600 Hr 15 Hr day X20 days month X3 months approx 1 000 Hr For one shift For two shifts Caution When using two lines the 3 month inspection 6 month inspection and yearly inspection must be carried out when half the time has passed Fig 5 1 Inspection schedule Maintenance and inspection interval 5 66 5Maintenance and Inspection 5 2 Inspection items The inspection items for the robot arm are shown below Also refer to section 5 Maintenance and inspection in the Controller setup basic operation and maintenance manual and inspect the controller 5 2 1 Daily inspection items Carry out the daily inspections with the procedures given in Table 5 1 Table 5 1 Daily inspection items details Procedure Inspection item details Remedies Before turning power ON Check the following items before turning the power ON lows For bellows installed robot Visual 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 conne
136. y out periodic inspection with the procedures given in Table 5 2 Table 5 2 Periodic inspection items details Procedure Inspection item details Remedies Monthly inspection items 1 Are any of the bolts or screws on the robot arm loose Securely tighten the bolts 2 Are any of the connector fixing screws or terminal block terminal Securely tighten the screws screws loose 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 Remove bellows and clean the inside For bellows installed robot When environment with much dust Refer to Page 84 5 3 5 Replacing the bellows Option for how to remove bellows Yearly inspection items 1 Replace the backup battery in the robot arm Exchange it referring to Page 87 5 3 7 Replacing the backup battery 2 year inspection items 1 Is the friction at the timing belt teeth severe If the teeth are missing or severe friction is found replace the timing belt 2 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 Replace it referring to Page 84 5 3 5 Replacing the For bellows installed robot bellows Option Note Supply the grease to each axis with referring to Page 85
137. yed on the screen If the origin is not to be set press the 0 key and display a 0 5 93 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 the mechanical stopper 3 Press the 1 key and display the Origin setting selection screen 4 Press the 2 key and display the Mechanical stopper selection screen V 5 Input 1 into the J2 axis Set 0 to other axes us O spac 6 Press the EXE key and display Confirmation screen m lt ORIGIN gt MECH 7 Press the F1 key and the origin position is set CHANGE TO ORIGIN OK up Resetting the origin 5 94 5 Maintenance and Inspection COMPLETED 8 Setting of the origin is completed JA B J 9 Refer to Page 109 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal J5 J6 Q O Release the brake O O Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display

RH-1FHR-S60 Series INSTRUCTION MANUAL ROBOT ARM

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