Page 1 Mitsubishi Electric Industrial Robot RH-FRH Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE RH-3FRH series RH-6FRH series RH-12FRH series RH-20FRH series RH-3FRHR series BFP-A3472-C...
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 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
Page 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. Controller rear Single phase ACIN cable connection AC200V Groove for main <1>...
Page 8 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. Collision detection function is valid condition for both of automatic and jog operation at shipping in RH-3FRHR series.
Page 9 Revision history Date of Point Instruction Manual No. Revision Details 2017-04-27 BFP-A3472 ・ First print 2018-03-01 BFP-A3472-A ・ Descriptions of CR800-Q controller were added. ・ Mechanical stopper position in Fig 3-16 were corrected. 2018-12-25 BFP-A3472-B ・ ”5.6.3 ABS origin method” was corrected. ・...
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) 2017-2019 MITSUBISHI ELECTRIC CORPORATION...
Page 11: Table Of Contents
CONTENTS Page 1 Before starting use .......................... 1-1 1.1 Using the instruction manuals ....................1-1 1.1.1 The details of each instruction manuals ................1-1 1.1.2 Symbols used in instruction manual ..................1-2 1.2 Safety Precautions ........................1-3 1.2.1 Precautions given in the separate Safety Manual ..............1-4 2 Unpacking to Installation ................................
Page 12 CONTENTS Page 3.1 Installing the solenoid valve set (RH-3FRH/6FRH/12FRH/20FRH series) ..........3-59 (1) RH-3FRH/6FRH series ............................3-59 (2) RH-12FRH/20FRH series ............................3-61 (3) Hand number and solenoid valve ports (common to floor installation type robot) ....... 3-62 3.2 Installing the solenoid valve set (RH-3FRHR series) ..................... 3-63 3.3 Installation of hand tube (RH-3FRHR series) ......................
Page 13 CONTENTS Page (10) RH-3FRHR series: Inspection of J3 axis timing belt ................4-122 (11) RH-3FRHR series: Inspection of J4 axis timing belt ................4-123 (12) Timing belt tension .............................. 4-125 (13) Amount of movement of each axis during the timing belt tension measurement ....4-126 5.3.5 Replacing the bellows ..............................
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 in instruction manuals. If using other T/B, such as R56TB, 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 compatible type...
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.
Page 19: Unpacking To Installation
2Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1. Confirm the parts. Users who have purchased optional products should refer to the separate "Standard Specifications". Table 2-1 ：...
Page 20: Installation
2Unpacking to Installation 2.2 Installation DANGER Install the robot with a safety fence or enclosure around it. Otherwise, operators may be injured due to unintended access to the robot. 2.2.1 Unpacking (1) RH-3FRH/6FRH/12FRH/20FRH series <2> Upper lid Pull out ②上ブタ引き抜く...
Page 21: Rh-3Frhr Series
2Unpacking to Installation (2) RH-3FRHR series <3> Packing <2> Upper cover <1> Tape material (two) (Cardboard) Packing box <6> Tape (two) Cut the tape Remove the upper cover. Remove the packing material. Robot-arm base section <5> Packing material <4>hanging tools (Two places) Open the vinyl.
Page 22: Transportation Procedures
2Unpacking to Installation 2.2.2 Transportation procedures (1) RH-3FRH/6FRH series Mass RH-3FRH35** series: Approx. 31kg RH-3FRH45** series: Approx. 32kg No.2 arm RH-3FRH55** series: Approx. 33kg RH-6FRH35** series: Approx. 39kg RH-6FRH45** series: Approx. 40kg RH-6FRH55** series: Approx. 41kg No.1 arm 注意　 CAUTION VORSICHT <3>...
Page 23 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 24: Rh-12Frh/20Frh Series
2Unpacking to Installation (2) RH-12FRH/20FRH series Mass RH-12FRH55** series: Approx. 65kg RH-12FRH70** series: Approx. 67kg Note 1) RH-12FRH85** series: Approx. 69kg Wire No.2 arm RH-20FRH85** series: Approx. 75kg RH-20FRH100** series: Approx. 77kg Wire hook Note 1) Use wires that are 1300 mm or more. Eye bolt Transport - ing jig...
Page 25 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 26: Rh-3Frhr Series
2Unpacking to Installation (3) RH-3FRHR series Mass RH-3FRHR3515: Approx. 24kg RH-3FRHR3512C/3512W: Approx. 28kg <4> Transporting jig (two places) <7> Fixing plate Note) Install Hoisting Transport <9> Installation bolt, Nut <8> Installation stage (four places) *The grease for preventing rust is applied at the tip of the shaft (J3 axis) in general-purpose environ - ment robot.
Page 27 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 28: Installation Procedures
2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. (1) RH-3FRH/6FRH/12FRH/20FRH series ＦＶＭＴ 4-M8x40 (RH-3FRH/6FRH series) 4-M12x45 (RH-12FRH/20FRH series) 4-M8×40 (Four positions) (4箇所) Spring washer バネ座金 Plain washer 平座金ＦＭ...
Page 29 2Unpacking to Installation 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.
Page 30: Rh-3Frhr Series
2Unpacking to Installation (2) RH-3FRHR series Note1) General environment type: 180mm Clean/waterproof specification: 200mm Note2) The interference of installation bolt and No.1 arm may occur depending on the size of installation stage. Take care against interference of installation bolt, such as inserting the installation bolt from the bottom.
Page 31 2Unpacking to Installation 7) If you use a clean specification or a waterproof specification robot, always install T-slot cover (attachment) after installing the robot. Table 2-6 ： Magnitude of each reaction force Unit Value Item Tilt moment N ･ m Torsional moment N ･...
Page 32: Grounding Procedures
2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-8, but the dedicated grounding (Fig. 2-8 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"...
Page 33: Connecting With The Controller
2Unpacking to Installation 2.2.5 Connecting with the controller Robot arm (Base section rear) RH-3FRH/6FRH/ RH-3FRHR series 12FRH/20FRH series Controller rear Fig.2-10 ： Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"...
Page 34 2Unpacking to Installation 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. CAUTION The machine cable connectors are dedicated for the controller side and robot arm side, so take special care when connecting.
Page 35: Connection Of Controller And Machine Cable
2Unpacking to Installation (2) Connection of controller and machine cable 1) Make sure that the power of the controller is turned OFF. 2) Connect the controller side connector of the machine cable to CN1 connector on the rear side of the con - troller.
Page 36: Ethernet Cables (Rh-3Frh/6Frh/12Frh/20Frh Series)
2Unpacking to Installation 2.2.6 Ethernet Cables (RH-3FRH/6FRH/12FRH/20FRH series) 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 37: Base Area
2Unpacking to Installation CAUTION 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.
Page 38 2Unpacking to Installation 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.
Page 39: Ethernet Cables (Rh-3Frhr Series)
2Unpacking to Installation 2.2.7 Ethernet Cables (RH-3FRHR series) As spare wiring four pairs of cab tire cables (AWG#27(0.1mm ), Total is eight cores both) are preinstalled between the base section and the No.2 arm rear section. Customer can utilize it. The cable clamp (customer preparation) is necessary to use.
Page 40: Base Area
2Unpacking to Installation CAUTION When No.2 arm cover is installed, please keep too much load from being applied to the cables inside the robot, and the air hoses. If too much load is added, the breaking of a wire and the air hose break, and the robot cannot operate normally.
Page 41 2Unpacking to Installation 3) Remove the base cover B (L). 4) Confirm spare wiring (ADD). Since spare wiring is bundled in the cable tie, if length is necessary, cut the cable tie. 5) Remove the grommet on the base. 6) Install the connector after letting the cable for spare wiring connection of customer preparation pass to the cable clamp.
Page 42: Passing Air Hoses And Cables Through The Shaft (Rh-3Frh/6Frh/12Frh/20Frh Series)
2Unpacking to Installation 2.2.8 Passing air hoses and cables through the shaft (RH-3FRH/6FRH/12FRH/20FRH series) 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 43: Installation Procedure
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.
Page 44: Rh-3Frh Series
2Unpacking to Installation (4) RH-3FRH series Refer to Page 30, "(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 101, "5.3.2 Installing/removing the cover"...
Page 45: Rh-6Frh Series
2Unpacking to Installation (5) RH-6FRH series Refer to Page 30, "(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 101, "5.3.2 Installing/removing the cover"...
Page 46: Rh-12Frh/20Frh Series
2Unpacking to Installation (6) RH-12FRH/20FRH series Refer to Page 30, "(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 101, "5.3.2 Installing/removing the cover"...
Page 47: About Oil Mist Specification
2Unpacking to Installation 2.2.9 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 48: 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. 2-20). 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 49: Confirming The Operation
2 Unpacking to Installation 2.3 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, the Work jog that moves along the work coordinate system, and the CYLNDER jog that moves along the circular arc.
Page 50: Installing The Teaching Pendant (T/B)
2 Unpacking to Installation 2.3.1 Installing the teaching pendant (T/B) Installing the T/B, with turning off the controller power. 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.
Page 51: Preparing The T/B
2 Unpacking to Installation (2) Preparing the T/B Next, prepare to use the T/B 1) Set the mode of the controller to "MANUAL". 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. 上：DISABLE Disable Down: Enable...
Page 52 2 Unpacking to Installation * Each axis moves independently. Fig.2-22 ： JOINT jog operation * While maintaining the end axis posture, the axis moves straight along the base coordinate system. Also, while maintaining the end axis position, the end axis posture changes.. Fig.2-23 ：...
Page 53 2 Unpacking to Installation * While maintaining the end axis posture, the axis moves straight along the tool coordinate system. Also, while maintaining the end axis position, the end axis posture changes Fig.2-24 ： TOOL jog operation * The axis moves straight along the base coordinate system. At this time, the end axis posture is not maintained.
Page 54 2 Unpacking to Installation * 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.
Page 55: Joint Jog Operation
2 Unpacking to Installation (3) 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 56 2 Unpacking to Installation ・ 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. ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area.
Page 57: Xyz Jog Operation
2 Unpacking to Installation (4) 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 58 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the end axis posture *The position of the end axis will not change.
Page 59: Tool Jog Operation
2 Unpacking to Installation (5) 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 60 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 42, "(3) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.
Page 61: 3-Axis Xyz Jog Operation
2 Unpacking to Installation (6) 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 62 2 Unpacking to Installation Changing the end axis posture *The Position of the end axis will not change. ・ When the[+C (J6)] keys are pressed, the J4-axis will rotate in the plus direction. When the[-C (J6)] keys are pressed, rotate in the minus direction. Confirming the operation 2-49...
Page 63: 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 64 2 Unpacking to Installation *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. Confirming the operation 2-51...
Page 65: Work Jog Operation
2 Unpacking to Installation (8) 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 66 2 Unpacking to Installation 1) Select "6.ENHANCED" screen on the <MENU> screen. <MENU>　　　 <EMHANCED>　　　 1.FILE/EDIT 2.RUN 1.SQ DIRECT 2.WORK COORD. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 　 123 CLOSE 2) Press the [2] keys in the menu screen and select "2. WORK COORD." <EMHANCED>　　...
Page 67 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 68 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 69 2 Unpacking to Installation The WORK jog operation and the Ex-T jog operation can be switched by setting the parameters WK1- JOGMD 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- 0 (initial value)
Page 70 2 Unpacking to Installation Changing the end axis posture <1> Work jog mode * The position of the control point does not change. The end axis is rotated. ・ When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate system. When the[-C (J6)] keys are pressed, rotate in the minus direction.
Page 71: Setting The Hand Parameters
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 42, "(3) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.
Page 72: Installing The Option Devices
3Installing the option devices 3 Installing the option devices 3.1 Installing the solenoid valve set (RH-3FRH/6FRH/12FRH/20FRH series) The installation summary of the solenoid valve is shown below. 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 101, "5.3.2 Installing/removing the cover"...
Page 73 3Installing the option devices 2) Fix the solenoid valve to the plate in the position indicated in Fig. 3-1. Place it so that the solenoid valve's primary piping connection joints (P, R ports) are located on the right hand side, and fix it securely using the M4 screws included (tightening torque: 1.39 to 1.89N ・...
Page 74: Rh-12Frh/20Frh Series
3Installing the option devices (2) RH-12FRH/20FRH 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 75: Hand Number And Solenoid Valve Ports (Common To Floor Installation Type Robot)
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 76: Installing The Solenoid Valve Set (Rh-3Frhr Series)
3Installing the option devices 3.2 Installing the solenoid valve set (RH-3FRHR series) Installation summary of the solenoid valve set of general environment specification (RH-3FRHR3515) is shown in Fig. 3-3 and is shown in Fig. 3-4 about clean/waterproof specification (RH-3FRHR3512C/3512W). <General environment type (RH-3FRHR3515)> <6>...
Page 77 3Installing the option devices <7> P port <Clean/waterproof type (RH-3FRHR3512C/3512W)> <6> R port B port ４６８３５７１ A port <1> Solenoid valve set <4> Hand output cable GR1,GR2 Solenoid valve set installation position 2-M5 Screw (for fixing) 10mm <12>...
Page 78 3Installing the option devices It is necessary to set the parameters (HIOTYPE, HANDYPE) in accordance with solenoid valve type (sink type/ source type) and output signal before using the solenoid valve set. Refer to the separate volume, "Instruction Manual/Detailed Explanations of Functions and Operations" for how to set parameters.
Page 79 3Installing the option devices *1） Screw (2-M5) and nut for T slots Nylon clamp Solenoid valve set (option) Air hose for secondary piping Air hose for secondary piping (customer preparation) (customer preparation) *1) Fixing the air hose (customer preparation) using the T slot by nylon clamp etc. Fig.3-6 ：...
Page 80 3Installing the option devices Table 3-2 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports Hand Hand port Solenoid valve port Solenoid valve used OPEN Hand 1 st row CLOSE OPEN Hand 2 nd row CLOSE OPEN Hand 3 rd row CLOSE...
Page 81: Installation Of Hand Tube (Rh-3Frhr Series)
3Installing the option devices 3.3 Installation of hand tube (RH-3FRHR series) The installation procedure of the hand tube is as follows. In use of solenoid valve set and hand input cable optional, please operate with referring to the Page 63, "3.2 Installing the solenoid valve set (RH-3FRHR series)" and the Page 72, "3.4 Installing the hand input cable"...
Page 82 3Installing the option devices 1) To protect the fixing place of the hand tube, roll the attached rubber sheet. If using the hand input cable, roll together. The hand tube and the hand input cable having the mark at the position which rolls the rubber sheet. The hand tube is the four places, a), b), c), and d) sequentially from the union side.
Page 83 3Installing the option devices 4) Install the union (φ 4 to φ3) side of the tube to secondary piping coupling (φ4 x 4 place) <2> on the No.2 arm inside motor cover <1>. The number of 1 to 4 is printed to the marking tube of the hand tube. Connect together with the number of coupling on 2nd arm.
Page 84 3Installing the option devices * On the clean/waterproof specifications seal the aperture of shaft end by liquefied gasket. Enlargement Hand flange Metal plate for tool Nylon clamp side fixing Union (φ 4 to φ3) Rubber sheet Tool Fig.3-10 ： Tool side fixing image of hand tube (example) Installation of hand tube (RH-3FRHR series) 3-71...
Page 85: Installing The Hand Input Cable
3Installing the option devices 3.4 Installing the hand input cable (1) RH-3FRH/6FRH/12FRH/20FRH series Fig. 3-11 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 89, "3.8 External Wiring and Piping Box (RH-3FRH/6FRH/12FRH/ 20FRH...
Page 86: Rh-3Frhr Series
3Installing the option devices (2) RH-3FRHR series The installation procedure of the hand input cable is as follows. In use of solenoid valve set and hand tube optional, please operate with referring to the Page 63, "3.2 Installing the solenoid valve set (RH-3FRHR series)" and the Page 68, "3.3 Installation of hand tube (RH-3FRHR series)"...
Page 87 3Installing the option devices 9) At the tool side of customer preparation should roll the rubber sheet (attachments) in the same way, and fix it by cable tie etc (attachments) with maintaining this adjustment position. Fixing like the fixing method shown in Fig.
Page 88: Installing The Hand Output Cable
3Installing the option devices 3.5 Installing the hand output cable (1) RH-3FRH/6FRH/12FRH/20FRH series Fig. 3-13 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 89, "3.8 External Wiring and Piping Box (RH-3FRH/6FRH/ 12FRH/20FRH...
Page 89: Rh-3Frhr Series
3Installing the option devices (2) RH-3FRHR series The installation procedure of the hand output cable is as follows. Please operate with referring to the Page 59, "3.1 Installing the solenoid valve set (RH-3FRH/6FRH/12FRH/20FRH series)" and the Page 75, "3.5 Installing the hand output cable"...
Page 90 3Installing the option devices Note : Please see the hand output cable from the arm cover A (2) <4> side, and store it outside the bracket. If the cable enters within the bracket, it will rub to the timing belt and will become the cause of breaking down. Bracket Cable should be stored in View from A...
Page 91: Changing The Operating Range
3Installing the option devices 3.6 Changing the operating range (1) RH-3FRH/6FRH/12FRH/20FRH series 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 92: The Change Method Of The Operating Range
3Installing the option devices (3) 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 3-3 Fig.
Page 93: Rh-3Frhr Series
3Installing the option devices (4) RH-3FRHR series The operating range change optional installing method is shown below. The jog operation is necessary for this option installing. Installing this option after installing the robot and completing origin setting. The procedure is shown below. Note) Be sure to install the operating range change optional according to the procedure.
Page 94 3Installing the option devices Note : This operation is necessary for position adjustment of the mechanism stopper. Although it is not alteration visible especially, performs sure. Because to move correctly, move at 10% or less speed. a) First, move to +130 degree or more. <CURRENT>...
Page 95: Operating Range Change Of J2 Axis
3Installing the option devices 3.6.2 Operating range change of J2 axis Upper face of No.1 arm Ａ Arm cover A <1> side Fixing with the Pin cover The hole for operating range change original fixing optional insertion (plus side) screw Fixing screw Note) The hole for operating range change...
Page 96 3Installing the option devices b) Next, move within -125 to -130 degree. <CURRENT> JOINT 100% M1 T0 B* +0.00 J2: -130.00 Within -125 to -130 degree J3: -560.00 +0.00 3-XYZ CYLNDR TOOL ⇒ c) Finally stop within -5 to +5 degree. (Position adjustment of the mechanism stopper is completed now) <CURRENT>...
Page 97: Hand Internal Wiring And Piping Set (Rh-3Frh/6Frh/12Frh/20Frh Series)
3Installing the option devices 3.7 Hand internal wiring and piping set (RH-3FRH/6FRH/12FRH/20FRH series) 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 101, "5.3.2 Installing/removing the cover"for removing/ installing the cover.
Page 98 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.
Page 99: Rh-3Frh Series
3Installing the option devices (2) RH-3FRH series Refer to Page 84, "(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 101, "5.3.2 Installing/removing the cover"...
Page 100: Rh-6Frh Series
3Installing the option devices (3) RH-6FRH series Refer to Page 84, "(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 101, "5.3.2 Installing/removing the cover"...
Page 101: Rh-12Frh/20Frh Series
3Installing the option devices (4) RH-12FRH/20FRH series Refer to Page 84, "(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 101, "5.3.2 Installing/removing the cover"...
Page 102: External Wiring And Piping Box (Rh-3Frh/6Frh/12Frh/20Frh Series)
3Installing the option devices 3.8 External Wiring and Piping Box (RH-3FRH/6FRH/12FRH/20FRH series) 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 103 3Installing the option devices Fig. 3-22 shows the installation procedure for the external wiring and piping box. The procedure is the same in RH-3FRH/6FRH/12FRH/20FRH. Remove the No. 2 arm cover B and install this option using the same screw holes. The installation procedure is shown below. Turn the controller’s power OFF before this operation.
Page 104: Connector Protection When The Option Devices Are Installed
3Installing the option devices 3.9 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 105 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.
Page 106: 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 "Controller setup, basic operation, and maintenance" manual. Refer that manual as necessary. 3-93...
Page 107: 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 Type of inspection and maintenance works Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.
Page 108: 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 shows the procedure and inspection items.
Page 109: Periodic Inspection
5Maintenance and Inspection 5.2.2 Periodic inspection The inspection items and timings for the robot arm are shown below. (1) Inspection item Carry out periodic inspection given in Table 5-3. Table 5-3 ： Periodic inspection items (details) Inspection item (details) Remedies Monthly inspection Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.
Page 110: Schedule
5Maintenance and Inspection (2) Schedule The following shows the schedule for the periodic inspection works. Perform the periodic inspection works as appropriate according to the following table. Note2) Inspection schedule Type of periodic inspection works Operating time Note1) 15 hours per 8 hours per Monthly 6-month...
Page 111: Maintenance And Inspection Procedures
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.
Page 112: Rh-6Frh/12Frh/20Frh Series
5Maintenance and Inspection (2) RH-6FRH/12FRH/20FRH series 1) The J1 axis is rotated by the J1 axis motor <1> and the reduction gears <2> in the base. Brakes are not mounted in the J1 axis motor <1>. 2) The J2 axis is rotated by the J2 axis motor <3> and the reduction gears <4> in the No. 2 arm. Brakes are not mounted in the J2 axis motor <3>.
Page 113: Rh-3Frhr Series
5Maintenance and Inspection (3) RH-3FRHR series 1) The rotation of the J1 axis motor <1> arranged in the base is conveyed to the reduction gears <3> via the timing belt <2> to rotate the J1 axis. Brakes are not mounted in the J1 axis motor. 2) The rotation of the J2 axis motor <4>...
Page 114: Installing/Removing The Cover
5Maintenance and Inspection 5.3.2 Installing/removing the cover (1) RH-3FRH/6FRH/12FRH/20FRH series Note) The type in the diagram is the RH-3FRH series, however the cover is the same on the RH- 6FRH/12FRH/20FRH series. <1> No.2 arm cover U <3> No.2 arm cover B (Back of No.2 arm cover) <2>...
Page 115 5Maintenance and Inspection Table 5-4 ： Cover name and installation screw list (RH-3FRH/6FRH/12FRH/20FRH series) Note1) Cover name Qty. Remarks Installation screw name <1> No.2 arm cover U Truss head screw, M4 x 10 RH-3FRH/6FRH series Truss head screw, M4 x 10 RH-12FRH series, RH-20FRH85** series Truss head screw, M4 x 10 RH-20FRH100** series...
Page 116: Rh-3Frhr Series
5Maintenance and Inspection (2) RH-3FRHR series <3> No.1 Arm cover A <1> Base cover B (L) <4> Arm cover A (1) <2> Base cover B (R) <7> Motor cover J3 <9> Arm cover A (3) <5> No.1 Arm cover B <6>...
Page 117 5Maintenance and Inspection Note1) Cover name Installation screw name Qty. Remarks Clean/Waterproof specification <1> Base cover B (L) SUS hexagon socket screw, M4×10 With seal washer. <2> Base cover B (R) SUS hexagon socket screw, M4×10 With seal washer. <3> No.1 Arm cover A SUS hexagon socket screw, M4×10 With seal washer.
Page 118: 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 5-6 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 119 5Maintenance and Inspection Packing is stuck securely without sliding. Fig.5-6 ： Example of sticking packing (good example) Sliding. Fig.5-7 ： 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 120 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 121 5Maintenance and Inspection Fig.5-10 ： Example of order which tighten bolts Maintenance and inspection procedures 4-108...
Page 122: Inspection Replacement Of Timing Belt
5 Maintenance and Inspection 5.3.4 Inspection replacement of timing belt This robot uses a timing belt for the drive conveyance system. 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 adjustment are inade - quate, the life could drop and noise could be generated.
Page 123: Timing Belt Replacement Period
5 Maintenance and Inspection (1) Timing belt replacement period The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if the following symptoms occur, replace the belt. 1) The belt tension value becomes less than the guideline value. 2) A position mismatch or gear teeth skipping occurs.
Page 124: Timing Belt Tension Measurement
5 Maintenance and Inspection (2) Timing belt tension measurement Rotate the timing pulley A to one direction while visually checking its position, and measure the belt tension at every 90 degrees, four times in total. The average of the four measurements is used as the timing belt tension value.
Page 125: Rh-3Frh Series: Inspecting The J3 Axis Timing Belt
5 Maintenance and Inspection (3) RH-3FRH series: Inspecting the J3 axis timing belt The section related to J3 axis timing belt of RH-3FRH series is shown in Fig. 5-13. The picture is the image which removed the No.2 arm cover. <2>...
Page 126: Rh-3Frh Series: Replacing The J3 Axis Timing Belt
5 Maintenance and Inspection (4) RH-3FRH series: Replacing the J3 axis timing belt CAUTION It is possible for the customer to replace the timing belt, but precise adjustment is needed to prevent malfunction of the relevant parts. To ask for replacement of the timing belt, contact the dealer.
Page 127 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 128 5 Maintenance and Inspection 6) Remove the timing belt <4> from the top of the shaft If using the optional hand internal wiring and piping set, temporarily remove the hand input cable connector <11> and air hoses <12> of solenoid valve side. And remove the timing belt to upward. Remove to upward <4>...
Page 129: Rh-6Frh/12Frh/20Frh Series: Inspecting The J3 Axis Timing Belt
5 Maintenance and Inspection (5) RH-6FRH/12FRH/20FRH series: Inspecting the J3 axis timing belt The section related to J3 axis timing belt of RH-6FRH/12FRH/20FRH is shown in Fig. 5-14. The picture is the image which removed the No.2 arm cover. *The RH-12FRH/20FRH series is also equivalent although the figure is RH-6FRH.
Page 130: Rh-6Frh/12Frh/20Frh Series: Replacing The J3 Axis Timing Belt
5 Maintenance and Inspection (6) RH-6FRH/12FRH/20FRH series: Replacing the J3 axis timing belt CAUTION It is possible for the customer to replace the timing belt, but precise adjustment is needed to prevent malfunction of the relevant parts. To ask for replacement of the timing belt, contact the dealer.
Page 131 5 Maintenance and Inspection 5) Install surely the new belt to the timing pulley A <5> and timing pulley B <6>, and fix the J3 axis motor <3> with J3 axis motor fixing screw <2>. Confirms having related the timing belt <4> to the timing pulley A <5> and the timing pulley B <6> securely. 6) Lightly loosen J3 motor installation screws <2>...
Page 132: Rh-3Frh/6Frh/12Frh/20Frh Series: Inspecting The J4 Axis Timing Belt
5 Maintenance and Inspection (7) RH-3FRH/6FRH/12FRH/20FRH series: Inspecting the J4 axis timing belt As shown in Fig. 5-15, 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 133: Rh-3Frhr Series: Inspection Of J1 Axis Timing Belt
5 Maintenance and Inspection (8) RH-3FRHR series: Inspection of J1 axis timing belt The reference figure at inspection of the timing belt is shown in Fig. 5-16. Upper face in base Inside of the base Base cover B (R) side <3>...
Page 134: Rh-3Frhr Series: Inspection Of J2 Axis Timing Belt
5 Maintenance and Inspection (9) RH-3FRHR series: Inspection of J2 axis timing belt The reference figure at inspection of the timing belt is shown in Fig. 5-17. Upper face of No.1 arm <1> Timing belt <3> Timing pulley B <2> Timing pulley A No.1 arm cover B side Inside of the No.1 arm Note) The figure shows the timing belt structure section in the No.1 arm portion.
Page 135: Rh-3Frhr Series: Inspection Of J3 Axis Timing Belt
5 Maintenance and Inspection (10) RH-3FRHR series: Inspection of J3 axis timing belt The reference figure at inspection of the timing belt is shown in Fig. 5-18. Upper face of No.2 arm <1> Timing belt No.2 arm Arm cover A(3) side <2>...
Page 136: Rh-3Frhr Series: Inspection Of J4 Axis Timing Belt
5 Maintenance and Inspection (11) RH-3FRHR series: Inspection of J4 axis timing belt The reference figure at inspection of the timing belt is shown in Fig. 5-19. There are the two belts of the motor side and the shaft side, in the J4 axis. Perform inspection of two belts simultaneously.
Page 137 5 Maintenance and Inspection 3) Refer to Page 111, "(2) Timing belt tension measurement", and confirm the belt tension. For replacement of the timing belt, check the serial numbers of the robot arm and the controller and contact the dealer. 4) Install the No.2 arm cover and the belt pulley cover J4 securely as before and finish inspection.
Page 138: Timing Belt Tension
5 Maintenance and Inspection (12) Timing belt tension The following table shows the preset values of the sonic belt tension gauge, the tension value for new belt installation, and the tension value as the replacement guideline. Table 5-8 ： Belt tension Preset value Tension for new belt Replacement guideline...
Page 139: Amount Of Movement Of Each Axis During The Timing Belt Tension Measurement
5 Maintenance and Inspection (13) Amount of movement of each axis during the timing belt tension measurement The amount of movement of each axis when the timing pulley A is rotated 90 degrees are shown in Table 5-9. Table 5-9 ： Amount of movement of each axis during the tension measurement Amount of movement Model J4 axis...
Page 140: Replacing The Bellows
5 Maintenance and Inspection 5.3.5 Replacing the bellows The following shows how to replace the bellows of the clean, oil mist, or waterproof specification robot. To replace the bellows, refer to the relevant page for each specification. CAUTION Replace the bellows in a place where there is no risk of contamination by dust and oil mist.
Page 141 5 Maintenance and Inspection ■ 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 142: Rh-3Frhr Series
5 Maintenance and Inspection (2) RH-3FRHR series ■ Clean/waterproof specification 1) Turn off the controller's power supply. 2) Refer to Page 101, "5.3.2 Installing/removing the cover", and remove the belt pulley cover J4. 3) Loosen the two fixing (M4) screws of bellows, and remove the bellows to downward together with belt pulley cover J4.
Page 143: Lubrication
5 Maintenance and Inspection 5.3.6 Lubrication (1) RH-3FRH/6FRH/12FRH/20FRH series ■ Lubrication position and specifications <4>Ball screw section application RH-6FRH/12FRH/20FRH Ball screw nut <2>J2 axis lubri - cation port Inside of No.2 arm cover U <RH-6FRH series> <RH-3FRH/12FRH/20FRH series> <3>Shaft section application RH-3FRH: ball screw spline RH-6FRH/12FRH/20FRH: ball spline Ball spline nut...
Page 144 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-12FRH/20FRH series Grease nipple <1> J1 axis reduction gears 24,000 Hr 16 g Battery cover WA-610(Only addition) 4B No.2 (Harmonic Drive Systems Inc.) Grease nipple...
Page 145 5 Maintenance and Inspection ■ Lubrication method to the shaft 1) Move the J3 axis to the bottom end with a jog operation and shut off the controller's power supply. 2) Refer to Page 101 "Fig. 5.3.2: Installing/removing the cover", remove the No. 2 arm cover U. The bellows must be removed in the case of the oil mist and clean specifications.
Page 146 5 Maintenance and Inspection 6) Apply the specified amount of grease to the shaft. Fill the shaft grooves with the grease. Also, apply the grease lightly to the areas other than the grooves on the shaft surface to prevent rusting. Grease Grease application...
Page 147: Rh-3Frhr Series
5 Maintenance and Inspection (2) RH-3FRHR series ■ Lubrication position and specifications <1> J1 axis lubrication port Note) <1> J1 axis lubrication port 　 <2> J2 axis lubrica - tion port Note) <2> J2 axis lubrication port 　 <3> Shaft lubrication Note) With the grease nipple cover (yellow) Fig.5-24 ：...
Page 148 5 Maintenance and Inspection ■ Lubrication method to the J1, J2 axis 1) The positions of lubrication ports are shown in the Fig. 5-24. Move the robot to the posture in which it can supply the grease easy. 2) Refer to Page 101, "5.3.2 Installing/removing the cover", and remove the covers necessary.
Page 149: 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 CR800-Q controller uses a backup battery to save the program, etc. These batteries are installed when the robot is shipped from the factory, but as these are consumable parts, they must be replaced periodically by the customer.
Page 150: Replacing The Battery Of The Robot Arm
5 Maintenance and Inspection (1) Replacing the battery of the robot arm CAUTION The battery circuit board connection cable is used to supply power from the backup battery to the encoder. The cable must be connected while replacing the battery or operating usually.
Page 151 5 Maintenance and Inspection Refer to Page 142, "5.6 Resetting the origin" and reset the origin using the ABS origin method. The CR800-D controller requires time setup. Refer to the separate "Instruction Manual/Detailed Expla - nation of Functions and Operations" for details on the operation methods. ■...
Page 152: 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 153: Maintenance Parts
Q'ty Description Supplier RH-3FRH/6FRH/12FRH/20FRH series common Grease Reduction gears of each axis A small "5.3.6Lubrication" amount Shaft A small amount Mitsubishi Electric Lithium battery Base section "5.3.7Replacing the backup (MR-BAT6V1) battery" Note1) Liquefied gasket A small "5.3.3Packing Replacement Packing amount Procedure"...
Page 154 J1 axis J2 axis J3 axis J4 axis Reduction gears J1 axis J2 axis Mitsubishi Electric Ball spline J3 axis (general environment specification) J3 axis (clean/oil mist specification) Ball screw J3 axis (general environment/clean/oil mist specification) Bellows J3 axis (oil mist specification)
Page 155: 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. The origin is set so that the robot can be used with a high accuracy. Setting is required if the motor is replaced or an encoder error occurs. The origin setting methods and when each origin setting method is required are shown in Table 5-15.
Page 156: Setting The Origin With The Origin Data Input Method
5 Maintenance and Inspection 5.6.1 Setting the origin with the origin data input method (1) Confirming the origin data The origin data to be input is noted in the origin data sheet. (See Fig. 5-28.) ● Origin data history table (Origin Data History) Serial No.ES804008 Date Default .
Page 157: Selecting The Origin Setting Method
5 Maintenance and Inspection (2) 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 158: Inputting The Origin Data
5 Maintenance and Inspection (3) Inputting the origin data Origin data label T/B screen Input the value confirmed in section Page 143, "(1) (D,J1,J2,J3,J4,J5,J6,J7,J8) Confirming the origin data". The correspondence of the origin data label value and axis <ORIGIN> DATA D:(■...
Page 159: Installing The Cover
5 Maintenance and Inspection <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>...
Page 160: 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. 5-30. <RH-3FRH/6FRH/12FRH/20FRH series> RZ6.3 <RH-3FRHR series>...
Page 161: 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 　　　　　　　　　 <RH-3FRH/6FRH/12FRH/20FRH series>...
Page 162 5 Maintenance and Inspection 5) Input "1" into the J1 axis. Set "0" to other axes. <TOOL> J1:( )J2:( )J3:( 6) Press the [EXE] key, and display Confirmation J4:( )J5:( )J6:( J7:( )J8:( screen. SPACE REL. CLOSE <ORIGIN> TOOL 7) Press the [F1] key, and the origin position is set CHANGE TO ORIGIN.
Page 163: 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 <RH-3FRH/6FRH/12FRH/20FRH series> 2) Move the J2 axis slowly with both hands to the position around ±0°.
Page 164 5 Maintenance and Inspection 5) Input "1" into the J2 axis. Set "0" to other axes. <TOOL> J1:( )J2:( )J3:( J4:( )J5:( )J6:( 6) Press the [EXE] key, and display Confirmation J7:( )J8:( screen. SPACE REL. CLOSE 7) Press the [F1] key, and the origin position is set <ORIGIN>...
Page 165: J3 And J4 Axis Origin Setting
5 Maintenance and Inspection (3) J3 and J4 axis origin setting Always perform origin setting of the J3 axis and the J4 axis simultaneously. In the RH-3FRH series, if the wiring and piping is passed in the shaft, remove the No.2 arm cover U and operate the origin setting.
Page 166 5 Maintenance and Inspection <RH-3FRH/6FRH/12FRH/20FRH series> 6) Pressing the [F1] key is kept with the enabling switch of T/B pressed down. The brake is released while pressing the key. Note) In RH-3FRH/6FRH/12FRH/20FRH series, the brake of the axis shown below repeats release/lock at the interval in each about 200ms for dropping the J3 axis slowly.
Page 167 5 Maintenance and Inspection <RH-3FRH/6FRH/12FRH/20FRH series> 8) Hold the J4 axis with your hand and rotate it slowly to match the alignment marks. Move the J4 axis with maintaining the condition that the releasing brake of the J3 axis and the J3 axis contact to the mechanical stopper.
Page 168 5 Maintenance and Inspection TOOL <ORIGIN> MECH 12) Input "1" into the J3 and J4 axis. Set "0" to other axes. 13) Press the [EXE] key, and display Confirmation SPACE CLOSE screen. TOOL <ORIGIN> MECH 14) Press the [F1] key, and the origin position is set up.
Page 169: 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 170: Rh-3Frh/6Frh/12Frh/20Frh Series
5 Maintenance and Inspection (1) RH-3FRH/6FRH/12FRH/20FRH series Note) There is no alignment mark of the J3 axis. The posture to be set is the same with the jig method. Refer to Page 152, "(3) J3 and J4 axis origin setting". Alignment mark ＡＢＳマーク拡大図...
Page 171: Rh-3Frhr Series
5 Maintenance and Inspection (2) RH-3FRHR series Alignment mark ＡＢＳマーク拡大図 1mm以内 Within 1mm Within 1mm 1mm以内 (+ side deviation) (- side deviation) (プラス側ずれ量) (マイナス側ずれ量) Setting range of alignment mark ＡＢＳマークの設定範囲 Note) There is no alignment mark of the J3 axis. The posture to be set is the same with the jig method.
Page 172: Origin Setting Procedure
5 Maintenance and Inspection (3) Origin setting procedure Do the following operations with pressing the enabling switch of T/B lightly. <MENU>　　　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM.
Page 173: 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 142, "Table 5-15 ： 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 174 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>...
Page 175: Recording The Origin Data
5 Maintenance and Inspection 5.6.5 Recording the origin data Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is enclosed with the following cover. Robot model Cover RH-3FRH/6FRH/12FRH/20FRH series Battery cover RH-3FRHR series Base cover B (L) The teaching pendant operation method and the cover removal method for confirming the origin data is the same as the methods for setting the origin with the origin data input method.
Page 176: How To Release The Brake In An Emergency
5 Maintenance and Inspection 5.7 How to release the brake in an emergency The following describes how to release the brake using the emergency power supply in an emergency. Using an emergency power supply system separated from the primary power supply of the robot prevents the robot from moving accidentally during the brake release operation, which contributes to enhancing customer safety.
Page 177 5 Maintenance and Inspection 3) When the 24V DC power supply is turned on, the controller starts and then errors (H0712, H0090, H0212) will occur. [Note] For using the R800-R/Q controller, turn ON the 24V DC power supply, then the robot CPU system power on.
Page 178: 6Appendix
6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the 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 180 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.

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Mitsubishi Electric RH-FRH Series Instruction Manual

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