Related Manuals for Mitsubishi Electric RH-3FH Series
Summary of Contents for Mitsubishi Electric RH-3FH Series
- Page 1 Mitsubishi Industrial Robot RH-3FH/6FH/12FH/20FH Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8865-AA...
- Page 3 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. CAUTION All teaching work must be carried out by an operator who has received special training.
- Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER 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.
- Page 5 WARNING 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. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
- Page 6 *CR751-D or CR751-Q controller Notes of the basic component are shown. 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 Controller Three phase Single phase AC200V AC200V...
- Page 7 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.
- Page 8 ・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed to attachment of the robot arm in standard. 2013-01-21 BFP-A8865-F ・The connectors of RH-3FH series machine cable (AMP1, AMP2, BRK) were combined as CN1 connector. 2013-03-21 BFP-A8865-G ・...
- Page 9 Date of Point Instruction Manual No. Revision Details 2014-12-19 BFP-A8865-P ・ ”(1) Replacing the battery (robot arm)” was changed. ・ The explanation of the origin setting method were added. The description of the setting range of ABS origin method was added. ・...
- Page 10 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) 2012-2019 MITSUBISHI ELECTRIC CORPORATION...
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Page 11: Table Of Contents
(1) Specifications of internal air hoses and cables .................... 2-21 (2) Customer prepared products ..........................2-21 (3) Installation procedure .............................. 2-22 (4) RH-3FH series ................................2-24 (5) RH-6FH series ................................2-25 (6) RH-12FH/20FH series ............................2-26 2.2.8 About oil mist specification ............................2-27 (1) Piping for pressurization inside robot arm ...................... - Page 12 5.3.4 Inspection, maintenance and replacement of timing belt ................5-87 (1) Timing belt replacement period ......................... 5-87 (2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt ..............5-88 (3) RH-3FH series: Replacing the J3 axis timing belt ..................5-89 (4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt ........5-92 (5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt ............
- Page 13 CONTENTS Page (3) J3 and J4 axis origin setting ..........................5-123 5.6.3 ABS origin method ..............................5-124 (1) Select the T/B ................................ 5-126 5.6.4 User origin method ..............................5-128 5.6.5 Recording the origin data ............................5-130 (1) Confirming the origin data label ........................5-130 (2) Confirming the origin data ..........................
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Page 14: Before Starting Use
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. -
Page 15: Symbols Used In Instruction Manual
1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1:Symbols in instruction manual Terminology Item/Symbol Meaning iQ Platform... -
Page 16: Safety Precautions
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. CAUTION All teaching work must be carried out by an operator who has received special training. -
Page 17: Precautions Given In The Separate Safety Manual
1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER 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. - Page 18 1Before starting use CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.
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Page 19: Unpacking To Installation
Confirm the parts. Users who have purchased optional products should refer to the separate "Standard Specifications". Table 2-1 ： Standard configuration Part name Type Qty. Remarks RH-3FH series Robot arm 1 unit Guarantee card 1 copy Installation bolts Ｍ8 x 40 4 pcs. -
Page 20: Installation
2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking <2> Upper lid Pull out ②上ブタ 引き抜く <1> Tape ①テープ Fixing board 固定台 （ａ） （ｂ） <3> Hexagon socket ③六角穴付ボルト bolts (Four positions) （４箇所） CAUTION Robot arm ロボット本体 Always unpack the robot at a flat place. The robot could tilt over if unpacked at an unstable place. -
Page 21: Transportation Procedures
2Unpacking to Installation 2.2.2 Transportation procedures (1) RH-3FH/6FH series Mass RH-3FH35** series: Approx. 31kg RH-3FH45** series: Approx. 32kg No.2 arm RH-3FH55** series: Approx. 33kg RH-6FH35** series: Approx. 39kg RH-6FH45** series: Approx. 40kg RH-6FH55** series: Approx. 41kg No.1 arm 注意 CAUTION VORSICHT <3>... -
Page 22: Rh-12Fh/20Fh Series
2Unpacking to Installation CAUTION If it is difficult to follow the transportation procedure shown in this section, take countermeasures not to allow the joints of the robot arm freely move by fixing the robot arm in such a way as to take advantage of the screw holes for fixing plates or the like. Otherwise, applying an excessive power on the joints by external forces may cause a malfunction. - Page 23 2Unpacking to Installation posture, the configuration devices could be damaged, and the transportation workers will be subject to risk due to an inadequate center of gravity position. CAUTION When transporting a robot, always attach four wires. CAUTION To reattach the fixing plate again, set the axes of the robot to the positions according to the table below.
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Page 24: Installation Procedures
2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. Ｆ Ｖ Ｍ Ｔ 4-M8x40 (RH-3FH/6FH series) 4-M12x45 (RH-12FH/20FH series) 4-M8×40 (Four positions) (4箇所) Spring washer バネ座金 Plain washer 平座金 Ｆ Ｍ Ｈ Ｌ Ｆ... - Page 25 (design values) that may be applied to an installation stand. Please use these values as reference when designing the installation stand. Table 2-4 ： Magnitude of each reaction force Unit Value Item RH-3FH series Tilt moment N ･ m Torsional moment N ･ m Horizontal direction translation force...
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Page 26: Grounding Procedures
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 arm and controller when possible. (Refer to the separate " Controller Controller Controller Controller... -
Page 27: Connecting With The Controller
2Unpacking to Installation 2.2.5 Connecting with the controller (1) CR750 controller Robot arm ロボット本体 Note 1) Controller コントローラ Motor signal cable モータ信号ケーブル（5ｍ） Motor power cable モータ電源ケーブル（5ｍ） 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 ：... - Page 28 2Unpacking to Installation Robot arm ロボット本体 The procedure of connecting the machine cable is shown below. (Although the figure of the robot arm is the example of RH-6FH of our company, it is the same) 1) Make sure that the power switch on the front of the Connector on the controller is turned OFF.
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Page 29: Cr751 Controller
2Unpacking to Installation (2) CR751 controller Robot arm ロボット本体 Note 1) Controller コントローラ Motor power (CN1) Motor signal (CN2) モータ電源(CN1) モータ信号(CN2) AMP1 AMP2 CONBOX cover (For the clean specification robot, the ventilation duct is attached.) ネジ Two fixing screws (固定用 2本) Motor power cable モータ電源ケーブル... - Page 30 2Unpacking to Installation c) Insert the cable clamp fixing plate attached to the machine cable into the hollow just under the opening. Fixing the plate by two screws securely under the condition that the plates inserted into the hollow. d) Connect the machine cable to its corresponding connector on the robot arm side. Connect the connector (AMP1, AMP2, CN2) securely.
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Page 31: Ethernet Cables
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. -
Page 32: Base Area
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 正常な状態 折れた状態 Air hose エアホース 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. - Page 33 2Unpacking to Installation 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. CAUTION Take care against applying big force to the Ethernet cable, other cables, and the air hose.
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Page 34: Passing Air Hoses And Cables Through The Shaft
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. -
Page 35: Installation Procedure
2Unpacking to Installation 【Precautions for implementation of moving part】 Bending range Expanding sleeve 1) The internal air hoses and cables are bent and twisted according to the operations of the J3 and J4 axes. Structurally, the Plate for fixation twisting occurs inside the shaft, and the bending occurs inside the expanding sleeve. - Page 36 2Unpacking to Installation 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.
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Page 37: Rh-3Fh Series
Seal the outlet with the liquid gasket. J3 axis （Only for clean/oil mist specification） J4 axis Fixing air hoses and cables inside a hand. Fig.2-11 ： Installation of air hoses and cables inside the robot’s shaft (RH-3FH series) Installation 2-24... -
Page 38: Rh-6Fh Series
2Unpacking to Installation (5) RH-6FH series Refer to Page 22, "(3) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 2- are correspond to the same numbers in "(3)Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"... -
Page 39: Rh-12Fh/20Fh Series
2Unpacking to Installation (6) RH-12FH/20FH series Refer to Page 22, "(3) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 2- are correspond to the same numbers in "(3)Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"... -
Page 40: About Oil Mist Specification
2Unpacking to Installation 2.2.8 About oil mist specification (1) Piping for pressurization inside robot arm In use in oil mist environment, protection performance can be improved by pressurizing the inside of the robot arm. Please connect the φ8 air hose to the joint for pressurization of the robot arm base portion "AIR PURGE", and pressurize the inside of the robot arm. -
Page 41: Arrangement Of The Ventilation Duct
2Unpacking to Installation (2) Arrangement of the ventilation duct The ventilation duct is attached to the robot’s base section rear (reference Fig. 2-16). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out of the robot’s ventilation duct opening. -
Page 42: Setting The Origin
2Unpacking to Installation 2.3 Setting the origin The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work. This step must also be carried out if the combination of robot and controller being used is changed. -
Page 43: Cr751 Controller
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. -
Page 44: Setting The Origin With The Origin Data Input Method
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 The origin data to be input is noted in the Date Default . -
Page 45: Preparing The T/B
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) MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear. -
Page 46: Selecting The Origin Setting Method
2Unpacking to Installation (4) Selecting the origin setting method <MENU> 1) Press the [4] key on the menu screen, and display the 1.FILE/EDIT 2.RUN ORIGIN/BRAKE screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 123 CLOSE <ORIGIN/BRAKE> 2) Press the [1] key on the ORIGIN/BRAKE screen, and 1.ORIGIN 2.BRAKE display the origin setting method selection screen. -
Page 47: Inputting The Origin Data
2Unpacking to Installation (5) Inputting the origin data Origin data label T/B screen Input the value confirmed in section Page 31, "(1) (D,J1,J2,J3,J4,J5,J6,J7,J8) Confirming the origin data". The correspondence of the origin data label value and axis to <ORIGIN> DATA D:(■... -
Page 48: Installing The Battery Cover
2Unpacking to Installation <ORIGIN> DATA 6) After inputting all of the values, press the [EXE] key. The D:( V!%S29) origin setting confirmation screen will appear. J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V) J4( T6!MSY) J5( ) J6( ) J8( CLOSE <ORIGIN> DATA 7) Press [F1] (Yes) to end the origin setting CHANGE TO ORIGIN. -
Page 49: Confirming The Operation
2 Unpacking to Installation 2.4 Confirming the operation In this section, the robot will be moved manually using the T/B to confirm that the operation is correct. Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis, the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate system, and the CYLNDER jog that moves along the circular arc. - Page 50 2 Unpacking to Installation J2 axis J2軸 － ＋ J1 axis J1軸 － ＋ ＋ J3 axis J3軸 － － ＋ J4 axis J4軸 * Each axis moves independently. Fig.2-21 ： JOINT jog operation * While maintaining the end axis posture, ＋Z the axis moves straight along the base coordinate system.
- Page 51 2 Unpacking to Installation * While maintaining the end axis posture, ＋Z the axis moves straight along the tool coordinate system. Also, while maintaining the end axis position, the end axis posture changes End axis Tool coordinate sys- 先端軸 tem reference origin ツール座標原点...
- Page 52 2 Unpacking to Installation Vertical * The current position is set as the arc 上下 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.
- Page 53 2 Unpacking to Installation ＋Z Tool length －X －Y ＋Y － ＋ ＋X －Z Control point WORK coordinate system * 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 version is R5 (F-Q series)/S5 (F-D series) or later, jog operation around the work coordinates system is available (EX-T jog).
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Page 54: Joint Jog Operation
2 Unpacking to Installation (1) JOINT jog operation Select joint jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "joint" in jog mode is displayed on +0.00 +0.00 the screen. - Page 55 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area. Move these axes toward the inner side of the movement area. J3 axis jog operation ＋ J3 axis J3軸...
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Page 56: Xyz Jog Operation
2 Unpacking to Installation (2) XYZ jog operation Select XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "XYZ" in jog mode is displayed on +0.00 +0.00 the screen. - Page 57 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section Page 41, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.
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Page 58: Tool Jog Operation
2 Unpacking to Installation (3) TOOL jog operation Select TOOL jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "TOOL" in jog mode is displayed +0.00 +0.00 on the screen. - Page 59 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section Page 41, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.
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Page 60: 3-Axis Xyz Jog Operation
2 Unpacking to Installation (4) 3-axis XYZ jog operation Select XYZ456 jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "XYZ456" in jog mode is +0.00 +0.00 displayed on the screen. - Page 61 2 Unpacking to Installation Changing the end axis posture ＋Z ＋Z －X －Y ＋Y － ＋ －X ＋X －Y ＋Y －Z ＋X －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.
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Page 62: Cylnder Jog Operation
2 Unpacking to Installation jog operation CYLNDER Select cylindrical jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen. - Page 63 2 Unpacking to Installation Changing the flange surface posture Vertical 上下 ＋Z Radius 半径 －X 円弧 － ＋ －Y ＋Y ＋X －Z *The position of the end axis will not change. ・ When the [+C (J6)] keys are pressed, the Z axis will rotate in the plus direction. When the [-C (J6)] keys are pressed, rotates in the minus direction.
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Page 64: Work Jog Operation
2 Unpacking to Installation (6) Work jog operation Setting of the work coordinates system is necessary. By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching operations get easier. When jog operation, select by which work coordinates the robot moves The setting method of the work coordinates system using T/B (R32TB) is shown in the following. - Page 65 2 Unpacking to Installation 2) Press the [2] keys in the menu screen and select "2. WORK COORD." <EMHANCED> <WORK COORD> WORK NUMBER (1) TEACHING POINT (WO) 1.SQ DIRECT 2.WORK COORD. X: 0.00 Y: 0.00 Z: 0.00 123 TEACH ...
- Page 66 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> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) TEACHING POINT (WO)
- Page 67 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> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) WORK COORDINATES DATA X: 214.12...
- Page 68 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.
- Page 69 2 Unpacking to Installation Changing the end axis posture <1> Work jog mode ＋Z Tool length －X －Y Control point ＋Y － ＋ ＋X －Z * The position of the control point does not change. Work coordinates system The end axis is rotated. ・...
- Page 70 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section Page 41, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.
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Page 71: Installing The Option Devices
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. 3-1 Fig. 3-2. 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 81, "5.3.2 Installing/removing the cover"... - Page 72 3Installing the option devices 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.
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Page 73: Rh-12Fh/20Fh Series
3Installing the option devices (2) RH-12FH/20FH series No. 2 arm cover U Items for customer to prepare ・ A hexagon wrench (M4 screws) ・ Air hose for secondary piping (φ6) Install to inside the No. 2 arm For the elbow coupling addition cover U KJL06-99 *SUS street elbow (SMC Corp.) -
Page 74: Hand Number And Solenoid Valve Ports (Common To Rh-Fh Series)
3Installing the option devices 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 (φ6). The optional hand curl tube, the hand internal wiring and piping set, or the air hose prepared by customer can all be used, however when pulling the tip of the air hose out from the shaft please be sure to use the optional hand internal wiring and piping set. -
Page 75: Installing The Hand Input Cable
3Installing the option devices 3.2 Installing the hand input cable Fig. 3-3 shows the hand input cable’s storage location on the robot. Please use the optional external wiring and piping box to pull the hand input cable out externally. After connecting the hand input cable connector, reference Page 71, "3.6 External Wiring and Piping Box", and pull it out from the... -
Page 76: Installing The Hand Output Cable
3Installing the option devices 3.3 Installing the hand output cable Fig. 3-4 shows the hand output cable’s storage location on the robot. Please use the optional external wiring and piping box to pull the hand output cable out externally. After connect - ing the hand output cable connector, reference Page 71, "3.6 External Wiring and Piping Box", and pull it out from... -
Page 77: Changing The Operating Range
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. -
Page 78: The Change Method Of The Operating Range
3Installing the option devices (2) The change method of the operating range ■ 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 Fig. -
Page 79: Hand Internal Wiring And Piping Set
(1) Installation procedure The installation procedure is shown below. Refer to the installation diagram shown from the next section, and perform the installation correctly. Installation diagram of RH-3FH series is shown in Fig. 3-6, and RH-6FH series is shown in Fig. - Page 80 3Installing the option devices CAUTION 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.
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Page 81: Rh-3Fh Series
3Installing the option devices (2) RH-3FH series Refer to Page 66, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3- are correspond to the same numbers in "(1)Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"... -
Page 82: Rh-6Fh Series
3Installing the option devices (3) RH-6FH series Refer to Page 66, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3- are correspond to the same numbers in "(1)Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"... -
Page 83: Rh-12Fh/20Fh Series
3Installing the option devices (4) RH-12FH/20FH series Refer to Page 66, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3- are correspond to the same numbers in "(1)Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"... -
Page 84: External Wiring And Piping Box
3Installing 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. - Page 85 3Installing the option devices Fig. 3-9 shows the installation procedure for the external wiring and piping box. The procedure is the same in RH- 3FH/6FH/12FH/20FH. Remove the No. 2 arm cover B and install this option using the same screw holes. The installation procedure is shown below.
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Page 86: Connector Protection When The Option Devices Are Installed
3Installing the option devices 3.7 Connector protection when the option devices are installed The connectors for the hand input and output cables are stored inside the No. 2 arm so that they do not rub against peripheral parts under the vibrations generated by the robot movement. When an option device is installed, the stored connectors are pulled out for connection to the option device. - Page 87 3Installing the option devices 3) Arrange the expanding sleeve in a ring-like shape and fix it with a cable tie. 4) Store the expanding sleeve in the position shown in the figure below. 5) Fix the expanding sleeve with a cable tie using a hole on the metal plate. Connector protection is completed.
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Page 88: Basic Operations
4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic operations" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary. 4-75... -
Page 89: Maintenance And Inspection
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. -
Page 90: Inspection Items
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. -
Page 91: Periodic Inspection
5Maintenance and Inspection 5.2.2 Periodic inspection Carry out periodic inspection with the procedures given in Table 5-2. Table 5-2 ： Periodic inspection items (details) Procedure Inspection item (details) Remedies Monthly inspection items Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts. -
Page 92: Maintenance And Inspection Procedures
The origin of the machine system could deviate when this work is carried out. "Review of the position data" and "re-teaching" will be required. 5.3.1 Robot arm structure The outline drawing of RH-3FH series is shown in Fig. 5-2, and RH-6FH/12FH/20FH series is shown in Fig. - Page 93 5Maintenance and Inspection <RH-6FH/12FH/20FH series> <8> J3 axis motor No.2 arm cover U ⑧J3軸モータ 第2アームカバーU <10>Ball screw ⑩ボールネジ <3> J2 axis motor ③J2軸モータ <11>Ball spline ⑪ボールスプライン <4>Reduction gears ④減速機 <5> J4 axis motor ⑤J4軸モータ <9>J3 axis timing belt ⑨J3軸タイミングベルト No.1 arm 第1アーム...
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Page 94: Installing/Removing The Cover
5Maintenance and Inspection 5.3.2 Installing/removing the cover <1> No.2 arm cover U <3> No.2 arm cover B (Back of No.2 arm cover) <2> No.2 arm cover D <6> CONBOX cover (upper side of back of base) <5> Battery cover Note) The cover on the top face of the No.1 arm is... - Page 95 5Maintenance and Inspection Table 5-3 ： Cover fixing screw list Note1) Cover name Remarks Installation screw name: Qty. Common to RH-3FH/6FH/12FH/20FH series No.2 arm cover U Truss head screw, M4 x 10: 6 RH-3FH/6FH series Truss head screw, M4 x 10: 8 RH-12FH series, RH-20FH85** series Truss head screw, M4 x 10: 10 RH-20FH100** series...
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Page 96: Packing Replacement Procedure
5Maintenance and Inspection 5.3.3 Packing Replacement Procedure The packing gets deteriorated with the passage of time and must be replaced as required. Table 5-4 provides guidelines for replacing the packing. Replace the packing in accordance with the instructions given below. If the packing is not replaced in a timely manner, water or oil will be allowed to intrude the robot, possibly making it inoperative. - Page 97 5Maintenance and Inspection Packing is stuck securely without sliding. Fig.5-5 ： Example of sticking packing (good example) Sliding. Fig.5-6 ： Example of sticking packing (bad example) Some of the packings to be used are cord-like. Stick such packings by bending in line with the form. Location at which gasket Location at which is applied.
- Page 98 5Maintenance and Inspection A 1mm overlap [2] Apply liquid gasket to the cut edges. [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.
- Page 99 5Maintenance and Inspection Fig.5-9 ： Example of order which tighten bolts Maintenance and inspection procedures 5-86...
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Page 100: Inspection, Maintenance And Replacement Of Timing Belt
5 Maintenance and Inspection 5.3.4 Inspection, maintenance and replacement of timing belt This robot uses a timing belt for the drive conveyance system of the J5 axis. Compared to gears and chains, the timing 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. -
Page 101: Rh-3Fh Series: Inspecting/Adjusting The J3 Axis Timing Belt
5 Maintenance and Inspection (2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt The section related to J3 axis timing belt of RH-3FH series and adjustment is shown in Fig. 5-11. The picture is the image which removed the No.2 arm cover. -
Page 102: Rh-3Fh Series: Replacing The J3 Axis Timing Belt
5 Maintenance and Inspection (3) RH-3FH series: Replacing the J3 axis timing belt The procedure for replacing the J3 axis timing belt on the RH-3FH series is shown below. The diagram shows an image of the removed No. 2 arm cover U. - Page 103 5 Maintenance and Inspection 5) Remove the timing belt <4> from the shaft to upward. Remove the fixing screw <7> of shaft fixing plates and lift up the shaft fixing plate <8>. When using the optional hand internal wiring and piping set remove the fixing screws fixed to the top. Remove the timing belt <4>...
- Page 104 8) Install the J3 axis motor <3> by tightening lightly the J3 axis motor fixing screw <2> (two screws) 9) Adjust the tension of J3 axis timing belt with referring to Page 88, "(2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt".
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Page 105: Rh-6Fh/12Fh/20Fh Series: Inspecting/Adjusting The J3 Axis Timing Belt
5 Maintenance and Inspection (4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt The section related to J3 axis timing belt of RH-6FH/12FH/20FH is shown in Fig. 5-12. The picture is the image which removed the No.2 arm cover. *The RH-12FH/20FH series is also equivalent <3>... -
Page 106: Rh-6Fh/12Fh/20Fh Series: Replacing The J3 Axis Timing Belt
5 Maintenance and Inspection (5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt The procedure for replacing the J3 axis timing belt on the RH-6FH/12FH/20FH series is shown below. The diagram shows an image of the removed No. 2 arm cover U. After replacing the J3 axis timing belt the resetting the origin of J3 and J4 axis is necessary. - Page 107 5 Maintenance and Inspection 9) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the dedicated screen or parameter MFBRST of RT ToolBox2. Refer to "Instruction Manual/RT ToolBox2 User's Manual" for operation of RT2 and refer to "Instruction Manual/Detailed Explanation of Functions and Operations"...
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Page 108: Rh-3Fh/6Fh/12Fh/20Fh Series: Inspecting/Adjusting The J4 Axis Timing Belt
5 Maintenance and Inspection (6) RH-3FH/6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt As shown in Fig. 5-13, the J4 axis timing belt consists of two timing belts: timing belt A <1> and timing belt B <2>. When adjusting the timing belts, first adjust timing belt B <2> and then proceed to adjust timing belt A <1>. <The No.2 arm bottom view (Inside of the No.2 arm cover D)>... - Page 109 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 81 "Fig. 5-4: Installing/removing the cover", and remove the No.2 arm cover U and No.2 cover D.
- Page 110 5 Maintenance and Inspection 8) Next, adjusts the tension of the timing belt A <1>. Lightly loosen two J4 motor fixing screws <7> (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 <8>...
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Page 111: Timing Belt Tension
New belt Used belt Span ： Axis Belt type s (mm) Slack ： d Pressing force ： f Slack ： d Pressing force ： f RH-3FH series 309-EV3GT-6 J4(motor side) 336-EV3GT-6 J4(shaft side) 282-EV3GT-12 RH-6FH series 264-EV3GT-9 J4(motor side) 315-EV3GT-6... -
Page 112: Replacing The Bellows
5 Maintenance and Inspection 5.3.5 Replacing the bellows With reference to , exchanges the bellows. Replacement method of bellows is shown below. Fig. 5-15 CAUTION Replace the bellows in a place where there is no risk of contamination by dust and oil mist. -
Page 113: Oil Mist Specification
5 Maintenance and Inspection (2) Oil mist specification 1) Previously, move the J3 axis to upper end position by jog operation. This position is necessary to set the ABS mark (marking-off line) of J4 axis after. 2) Turn off the controller's power supply. 3) Remove the four screws (M3x8) which fix the lower part of bellows to the frange. -
Page 114: Lubrication
There are two types of the position of J1 axis lubrication port, one is inside of the battery cover (type A) and the other is on the front of the base section (type B). Model Type Remarks RH-3FH series Type A RH-6FH series Type A/Type B Check that where the J1 axis lubrication port is located on the robot arm. -
Page 115: Lubrication Method To The J1, J2 Axis
5 Maintenance and Inspection Lubrication oil Lubrication Lubrication Cover to Parts to be lubricated Lubrication method Default charge amount amount interval remove (maker) guide RH-6FH series J1 axis reduction Grease nipple <1> 24,000 Hr 12 g Note1) WA-610(Only addition) gears 4B No.2 (Harmonic Drive Systems Inc.) Grease nipple... -
Page 116: Lubrication Method To The Shaft
Lower end of the J3 axis Lower end of the J3 axis RH-3FH series RH-6FH/12FH/20FH series 4) Power on the controller and move the J3 axis to the top end with a jog operation. Then shut off the control - ler's power supply again. - Page 117 RH-3FH series RH-6FH/12FH/20FH series 7) Turn on the controller's power supply. Move the J3 axis up and down for several times using the jog opera - tion to distribute the grease inside the ball spline nut and the ball screw nut.
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Page 118: Replacing The Backup Battery
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. -
Page 119: Replacing The Battery (Robot Arm)
5 Maintenance and Inspection (1) Replacing the battery (robot arm) 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. -
Page 120: About Overhaul
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. -
Page 121: Maintenance Parts
Mitsubishi Electric Lithium battery Inside the battery cover Note1) Liquefied gasket A small Packing amount RH-3FH series Timing belt J3 axis J4 axis motor side Mitsubishi Electric J4 axis shaft side RH-6FH series Timing belt J3 axis J4 axis motor side... - Page 122 Reduction gears J1 axis １ J2 axis １ Ball spline J3 axis １ Mitsubishi Electric (general environment specification) J3 axis (clean and oil mist specification) １ Ball screw J3 axis (general environment, clean and oil mist specification) Bellows J3 axis (oil mist specification)
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Page 123: Resetting The Origin
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. -
Page 124: Mechanical Stopper Method
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"... - Page 125 5 Maintenance and Inspection <ORIGIN> MECH 5) Input "1" into the J1 axis. Set "0" to other axes. 6) Press the [EXE] key, and display Confirmation SPACE screen. CLOSE <ORIGIN> MECH 7) Press the [F1] key , and the origin position is set CHANGE TO ORIGIN.
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Page 126: J2 Axis Origin Setting (Mechanical Stopper)
5 Maintenance and Inspection (2) J2 axis origin setting (mechanical stopper) <MENU> 1) Press the [4] key on the menu screen, and dis - play the Origin/Break selection screen. 1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 123 CLOSE 2) With both hands, slowly move the J2 axis in + (plus) direction , and contact the axis against the mechanical stopper. - Page 127 5 Maintenance and Inspection 8) Setting of the origin is completed. <ORIGIN> MECH COMPLETED 9) Refer to Page 130, "5.6.5 Recording the origin data" in this manual, and record the origin data on the origin data seal. CLOSE ◇◆◇ Release the brake ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key.
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Page 128: J3 And J4 Axis Origin Setting (Mechanical Stopper)
(3) J3 and J4 axis origin setting (mechanical stopper) Always perform origin setting of the J3 axis and the J4 axis simultaneously. In the RH-3FH series, if the wiring and piping is passed in the shaft, remove the No.2 arm cover U and operate the origin setting. - Page 129 5 Maintenance and Inspection 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. CAUTION If [F1] key or enable switch of T/B is released, the brakes will be work immediately.
- Page 130 5 Maintenance and Inspection <ORIGIN> MECH 14) Press the [F1] key, and the origin position is set up. CHANGE TO ORIGIN. OK? 15) When No.2 arm cover U was removed, installs as before. 16) Setting of the origin is completed. <ORIGIN>...
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Page 131: All Axis Origin Setting
5 Maintenance and Inspection (4) All axis origin setting 1) Refer to the paragraphs from Page 111, "(1) J1 axis origin setting (mechanical stopper)" Page 115, "(3) J3 and J4 axis origin setting (mechanical stopper)" above for the description of how to adjust the origins of the J1 to J4 axes. -
Page 132: Jig Method
5 Maintenance and Inspection 5.6.2 Jig method This method is using the origin setting tool. If the origin setting tool is required, please ask nearby dealer. The reference figure of the origin setting tool is shown in Fig. 5-20. RZ6.3 Fig.5-20 ：... -
Page 133: J1 Axis Origin Setting
5 Maintenance and Inspection (1) J1 axis origin setting <MENU> 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 123 CLOSE Select ORIGIN/BRK 2) Move the J1 axis slowly toward the front using both hands. - Page 134 5 Maintenance and Inspection <TOOL> 8) Setting of the origin is completed. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 9) Refer to Page 130, "5.6.5 Recording the origin J7:( )J8:( data" in this manual, and record the origin data CLOSE REL. on the origin data seal.
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Page 135: J2 Axis Origin Setting
5 Maintenance and Inspection (2) J2 axis origin setting <MENU> 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 123 CLOSE No.2 arm 2) Slowly rotate the J2 axis 0 degree with both 第２アーム... -
Page 136: J3 And J4 Axis Origin Setting
5 Maintenance and Inspection <TOOL> 8) Setting of the origin is completed. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 9) Refer to Page 130, "5.6.5 Recording the origin J7:( )J8:( data" in this manual, and record the origin data on the origin data seal. REL. -
Page 137: Abs Origin Method
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. - Page 138 5 Maintenance and Inspection 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 115, "(3) J3 and J4 axis origin setting (mechani - stopper)".
- Page 139 5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Select the T/B <MENU> 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Break selection screen. 3.PARAM.
- Page 140 5 Maintenance and Inspection 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 5-127...
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Page 141: User Origin Method
5 Maintenance and Inspection 5.6.4 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 110, "Table 5-9 ： Origin setting method". The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant. - Page 142 5 Maintenance and Inspection <USER> 8) Input "1" into the axis to origin setting. Press J1:( )J2:( )J3:( the [EXE] key, and display Confirmation screen. J4:( )J5:( )J6:( J7:( )J8:( REL. CLOSE → 9) Press the [F1] key, and the origin position is set <ORIGIN>...
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Page 143: Recording The Origin Data
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). -
Page 144: 6Appendix
6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2). - Page 146 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. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 Apr., 2019 MEE Printed in Japan on recycled paper.