Mitsubishi Electric MELFA RH-FRH-D, Installation Description

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Set up the robot arm Installation
3 - 22
RH-3/6/12/20FRH
The table below shows how to set up and fix the SCARA robots RH-3/6/12/20FRH.
The base area of the robot arm has been levelled by machine.
If the base area is too uneven then this may result in robot arm malfunctions.
Fix the robot arm above the assembly boreholes on the four outer edges of the base area using
the supplied Allen head screws.
Align the robot arm horizontally.
The average surface finish of the assembly surface should be Ra = 6.3 μm. If the surface is too
rough then this may result in deviations in the position of the robot arm.
To avoid position deviations, the peripheral equipment that the robot accesses as well as the robot
arm itself should be installed on a common assembly platform/area.
The base area must be designed so that no distortion can occur, even from the loads and
vibrations emanating from the robot itself.
Only remove the transport locks, suspensions and supporting brackets after setting up the robot arm.
High loads and strains occur on the base area when operating the robot at high speeds. Make
sure that the base area is suitable for the high forces and moments, as listed in Tab. 3-7.
Robot arm Fixture View from below
RH-3/6FRH
R002695E R002696E
RH-12/20FRH
R002695E R002697E
Tab. 3-6:
Set up the robot arm
㻞㻜
䠢
䠤
䠢
䠲
䠢
䠤
䠢
䠤
䠢
䠤
䠩
䠨
䠩
䠨
䠢
䠲
䠩
䠰
Fixing
screws (4)
M8 x 40 Allen screw
Snap ring
Washer
㻥㻞
㻥㻞
㻥㻜 㻔㻝㻞㻜㻕
㻝㻡㻜
㻢㻜
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㻡
㻾㼦㻞㻡
㻝㻤
㻜
㻝㻡㻜 㻝㻣㻠
㻞㻝㻞
㻝㻤
㻞
㻝㻢㻜
Installation side
(standard)
4-
∅
9 fixing boreholes
2-
∅
6 positioning boreholes
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䠢
䠤
䠢
䠲
䠢
䠤
䠢
䠤
䠢
䠤
䠩
䠨
䠩
䠨
䠢
䠲
䠩
䠰
Fixing
screws (4)
M12 x 45 Allen screw
Snap ring
Washer
㻝㻞
㻞
㻝㻞㻞
㻝㻞㻜
㻔㻝㻡㻤㻕
㻞㻜㻜
㻤㻜
㻾㼦
㻞㻡
㻾㼦㻞㻡
㻞㻠
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㻞㻜
㻜
㻞㻜
㻜
㻞㻠
㻞
㻞㻤㻜
㻞㻞
㻜
Installation side
(standard)
4-
∅
16 fixing boreholes
2-
∅
6 positioning boreholes