Mitsubishi Electric MELFA RV-13FR Series Instruction Manual Download Page 1

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Mitsubishi Electric Industrial Robot

RV-FR Series

INSTRUCTION MANUAL

ROBOT ARM SETUP & MAINTENANCE

RV-2FR series
RV-4FR series
RV-7FR series
RV-13FR series
RV-20FR series

BFP-A3474-E

Summary of Contents for MELFA RV-13FR Series

Page 1: ...Mitsubishi Electric Industrial Robot RV FR Series INSTRUCTIONMANUAL ROBOT ARM SETUP MAINTENANCE RV 2FR series RV 4FR series RV 7FR series RV 13FR series RV 20FR series BFP A3474 E ...

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Page 3: ...s on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence Establish a set signaling method to the related operators for starting work and follow this method Signaling of operation start As a principle t...

Page 4: ...nd securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approach...

Page 5: ...omatically operate the robot regardless of whether the operation rights are enabled or not Do not remove the SSCNET III cable while power is supplied to the multiple CPU system or the servo amplifier Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo amplifier Eye discomfort may be felt if exposed to the light Reference S...

Page 6: ...ures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by customer Guarantee and maintenance of the equipment on the market usual office automation equipment cannot be performed To maintain the safety of the robot system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unaut...

Page 7: ...ective earth terminal on the controller and ground the other end 2 point grounding in order to comply with the requirements of EN 61800 5 1 for the touch cur rent of 3 5 mA AC or more 7 Connect the primary power cable to the primary side terminal of the earth leakage breaker Part name Specifications Remarks Earth leakage breaker The following is recommended product Prepared by customer Single phas...

Page 8: ...e added Transportation postures of robot were added 2018 09 01 BFP A3474 C Tension for new belt installation of J6 axis of RV 4FR series was corrected 2018 12 25 BFP A3474 D 5 6 3 ABS origin method was corrected Added further explanation of the ACIN cable 2020 01 24 BFP A3474 E Corrected the length of the installation screw used for installing the RV 4FR 7FR series elbow cover Table 5 5 Correction...

Page 9: ... Q RV 2FR series RV 4FR D R Q RV 4FRL D R Q RV 4FRJL D R Q RV 4FR series RV 7FR D R Q RV 7FRL D R Q RV 7FR series RV 7FRLL D R Q RV 13FR D R Q RV 13FRL D R Q RV 20FR D R Q RV 13FR series No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The details of this manual are subject to change without notice The information contained in this document...

Page 10: ...ssurization inside robot arm 2 23 2 2 8 About clean specification 2 23 1 Piping for suction inside robot arm 2 23 2 3 Confirming the operation 2 24 2 3 1 Installing the teaching pendant T B 2 25 1 Turning ON the control power 2 25 2 Preparing the T B 2 26 3 JOINT jog operation 2 30 4 XYZ jog operation 2 32 5 TOOL jog operation 2 34 6 3 axis XYZ jog operation 2 36 7 CYLNDER jog operation 2 38 8 Wor...

Page 11: ...rks 4 92 5 2 Inspection items 4 93 5 2 1 Daily inspection items 4 93 5 2 2 Periodic inspection 4 94 1 Inspection item 4 94 2 Schedule 4 95 5 3 Maintenance and inspection procedures 4 96 5 3 1 Robot arm structure 4 96 1 RV 2FR series 4 96 5 3 2 Installing removing the cover 4 100 1 RV 2FR series 4 100 2 RV 4FR 7FR series 4 102 3 RV 13FR series 4 104 5 3 3 Inspection replacement of timing belt 4 105...

Page 12: ...gin data 5 151 2 Selecting the origin setting method 5 152 3 Inputting the origin data 5 153 4 Installing the cover 5 154 5 6 2 Jig method 5 155 1 J1 axis origin setting jig 5 156 2 J2 axis origin setting jig 5 159 3 J3 axis origin setting jig 5 163 4 J4 axis origin setting 6 axis type robot only 5 167 5 Origin setting of J5 axis and J6 axis jig 5 170 5 6 3 ABS origin method 5 175 1 RV 2FR series ...

Page 13: ...unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Controller setup basic operation and maintenance Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to automatic operation and the maintenance and inspection procedures Detaile...

Page 14: ... Standalone type Controller Indicates the controller which controls the robot arm Symbol Precaution indicating cases where there is a risk of operator fatality or serious injury if handling is mistaken Always observe these precau tions to safely use the robot Precaution indicating cases where the operator could be subject to fatalities or serious injuries if handling is mistaken Always observe the...

Page 15: ...ng work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the oper...

Page 16: ...ould lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out...

Page 17: ...ards in Japan Do not remove the SSCNET III cable while power is supplied to the controller Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables Eye discomfort may be felt if exposed to the light Reference SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825 1 domestic standards in Japan Attach the cap to the SSC...

Page 18: ... Either 1 unit 2 Installation bolts Ｍ8 x 40 4 pcs For robot arm installation 3 Spring washer for installation bolts For M8 4 pcs 4 Plain washer for installation bolts For M8 4 pcs 5 Grease nipple WA 610 5 pc 6 Coupling front side φ4 4 pcs Supplied for the following internal wiring and piping specification SH01 7 Coupling back side φ4 4 pcs 8 Air hose φ4 4 pcs 9 Coupling front side φ4 2 pcs Supplie...

Page 19: ...k side φ4 2 pcs 11 Air hose φ4 2 pcs 12 Ferrite core E04SR301334 1 pc Supplied for the following internal wiring and piping specification SH02 SH03 SH04 13 Transporting jig 2 sets 14 Transporting jig installation bolt Ｍ8 x 25 4 pcs 15 Plain washer for suspension fitting installa tion bolt For M8 4 pcs 16 Eye bolt M10 4 pcs 17 Nut for eye bolt For M10 4 pcs 18 Fixing plate 1 set 19 Fixing plate ins...

Page 20: ...ose for port B φ4 x 85mm 2 pcs 10 Bulkhead coupling φ4 2 pcs Supplied for the following internal wiring and piping specification SH04 SH05 11 Conversion coupling φ6 to φ4 2 pcs 12 Air hose for port A φ4 x 50mm 1 pcs 13 Air hose for port B φ4 x 85mm 1 pcs 14 Ferrite core E04SR301334 1 pc Supplied for the following internal wiring and piping specification SH02 SH03 SH04 15 Transporting jig 2 sets 16...

Page 21: ... unpacking process is shown below 1 The cardboard box is toppled over horizontally slowly Take care so that a shock may not be given Fig 2 1 a 2 Using a knife etc slit the tape fixing the upper lid of the cardboard box 3 Pull out inner box horizontally with the handle Fig 2 1 b 4 Raise the inner box and the robot simultaneously Fig 2 1 c 5 Remove the robot from the inner box Fig 2 1 d Note Do not ...

Page 22: ...2 10 Installation 2Unpacking to Installation When repackaging the robot in the wooden frame always use the fixing plates CAUTION ...

Page 23: ...e the hexagon socket bolts 3 four positions connecting the sleeper and the base unit Fig 2 2 c Note Do not remove the fixing plate A B and C until installation finishes Always attach the fixing plates while transporting the robot When repackaging the robot in the wooden frame always use the fixing plates 上ブタａｂｃ引き抜くロボット本体テープフォークリフトの爪挿入口人手運搬用取っ手反対側にもあり CAUTION Always unpack the robot at a ...

Page 24: ...acking process is shown below 1 Using a knife etc slit the tape 1 fixing the upper lid 2 of the cardboard box Fig 2 3 a 2 Pull the upper lid 2 of the cardboard box off with both hands Fig 2 3 b 3 Remove the hexagon socket bolts 3 four positions connecting the sleeper and the base unit Fig 2 3 c 4 Unpacking is completed 上ブタａｂｃ引き抜くテープフォークリフトの爪挿入口ロボット本体 CAUTION Always unpack the robot at a fl...

Page 25: ...ondary transportation such as when changing the installation position If the arm is directly holded without using the specified fixing plates or if it is holded in the work posture the configuration devices could be damaged and the transportation workers will be subject to risk due to an inadequate center of gravity position To prevent accidents do not hold the robot from the front back sides or h...

Page 26: ...ion Table 2 2 Transportation posture RV 2FR series Axis RV 2FR RV 2FRL J1 0 J2Note1 Note1 The value is a reference value Release the brake and move the arm until it contact against the mechanical stopper 121 118 J3Note1 161 J4 0 J5 50 47 J6 0 ...

Page 27: ...a crane RV 13FR series Front Side Wire Note 1 Fixing plate Transporting jig Mass RV 4FR Approx 39kg RV 4FRL Approx 41kg RV 4FRJL Approx 39kg RV 7FR Approx 65kg RV 7FRL Approx 67kg Note The figure is the RV 4 F series The shape and installation screw of the suspension fitting of RV 7F series differ RV 4FR RV 7FR series Note 1 Use wires that are 1000 mm or more Front Side Fixing plate Transporting j...

Page 28: ...rectly suspended without using the specified transporting jigs or if it is suspended in the work posture the configuration devices could be damaged and the transportation workers will be subject to risk due to an inadequate center of gravity position To reattach the fixing plate and transporting jigs again set the axes of the robot to the positions according to Table 2 3 If it is difficult to foll...

Page 30: ...e installation surface must have sufficient strength to withstand the arm reaction during moving the robot at high speed Table 2 4 Strength of the installation side reference Please secure the maintenance space required for connection of the machine cable and exchange the backup battery in the rear side and also space for J1 axis belt in the right side And don t install the robot arm in the positi...

Page 31: ...t arm and controller as possible and the length of the grounding wire should be short Fig 2 8 Grounding methods 2 Grounding procedures 1 Prepare the grounding cable AWG 11 4 2mm2 or more and robot side installation screw and washer 2 If there is rust or paint on the grounding screw section A remove it with a file etc 3 Connect the grounding cable to the grounding screw section Fig 2 9 Connecting t...

Page 32: ... is shown The same connection method is also applicable to other models with the same shaped connector For RV 2FR series insert the connector until the connector edge is aligned with the CONBOX surface and tighten two bolts For RV 4FR 7FR series insert the connector until the line of the connector is aligned with the CONBOX surface and tighten two bolts Screw fixing torque 3 6 to 4 4 Nm Connecting...

Page 33: ... special care to the leading of the connection cable If the cable is pulled with force or bent excessively wires could break or the connector could be damaged Connect the machine cable at the place without the effect of the dust or oil mist Please keep the dust and oil mist from being applied to of the robot arm connector section in the condition that the machine cable is removed Since it becomes ...

Page 34: ...ld the connector part and pull out the cable Pulling the cable part may cause the cable to come off or break The machine cable connectors are dedicated for the controller side and robot arm side so take special care when connecting If connected incorrectly the connector pins could bend or break Thus even if connected correctly the robot will not operate correctly creating a dangerous situation Tak...

Page 35: ...air purge Fig 2 11 Air purge 2 2 8 About clean specification 1 Piping for suction inside robot arm In use of the robot of clean specification please connect the φ8 air hose to the coupling for suction of the robot body base portion VACUUM and suck the inside of the robot arm Refer to the separate Standard specifications manual for vacuum condition Fig 2 12 Vacuum Coupling for pressurization φ8 Not...

Page 36: ...he figure of the robot which indicated to the explanation page in each jog mode is an example The robot will move during this operation Make sure that there are no operators near the robot and that there are no obstacles such as tools in the robot operation range To immediately stop the robot release the deadman switch on the back of the T B The servo power will turn OFF and the robot will stop Th...

Page 37: ...power supply is OFF 2 Refer to Fig 2 13 and connect T B connector to the robot controller Use as the upper surface the lock lever and push in until there is sound 3 Pressing down the lock lever to lock the connector as shown below Fig 2 13 Installing the T B The installation of T B is finished 1 Turning ON the control power Confirm that there are no operators near the robot before turning the powe...

Page 38: ...op related operations such as an emergency stop can be performed regardless of the valid invalid setting How to choose the jog mode Press the JOG key the jog screen will be displayed and display the jog mode which can be chosen at the bottom of the screen Because these correspond to the function key of F1 F4 press the function key corresponding to the jog mode to wish And if the FUNCTION key is pr...

Page 39: ... independently The 5 axis type robot has no J4 axis 5 axis type 6 axis type X Y Z Z ＹＸツール長 X Y Z 制御点 While maintaining the flange surface posture the axis moves straight along the base coordinate system The 6 axis type robot maintains the flange surface posture Also while maintaining the flange surface position the flange surface posture changes Control point Tool length 5 axis type 6 axis ty...

Page 40: ... axis moves only in the X and Z axis directions of tool coordinate system Control point Tool length 5 axis type 6 axis type X Y Z Z ＹＸ J4軸 J5軸 J6軸ツール長制御点 Control point Tool length The axis moves straight along the base coordinate system At this time the flange surface posture is not maintained Also the flange surface posture changes The flange surface position does not change at this time It...

Page 41: ...5 axis type 6 axis type While maintaining the flange surface posture the axis moves straight along the work coordinate system Also while maintaining the flange surface position the flange surface posture changes Jog operation around the work coordinates system is available for the 6 axis type EX T jog In this jog operation when the jog operation is performed for the posture elements the posture ro...

Page 42: ...e OVRD key is pressed it will go down The current setting speed is displayed on screen upper right Set the override to 10 here for confirmation work When the X J1 keys are pressed the J1 axis will rotate in the plus direction When the X J1 keys are pressed rotate in the minus direction When the Y J2 keys are pressed the J2 axis will rotate in the plus direction When the Y J2 keys are pressed rotat...

Page 43: ...ion When the C J6 keys are pressed the J6 axis will rotate in the plus direction When the C J6 keys are pressed rotate in the minus direction 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軸回転 J3 axis jog operation J3 axis 5 axis type 6 axis type J4軸 J5軸 J6軸 SPACE J4 J5 and J6 axis jog operation...

Page 44: ...e minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction When the Y J2 keys are pressed move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction When the Z J3 keys are pressed move along the minus direction to Select XYZ jog mode Set jog speed Setting the speed XYZ jog mode CURRENT JOINT 100 M1 T0 ...

Page 45: ...nus direction 5 axis type there is no operation 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 The control point does not change Changing the flange surface posture X Y Z Z ＹＸツール長 X Y Z 制御点 SPACE X Y Z Z ＹＸツール長 Y Z 制御点...

Page 46: ...essed the robot will move along the Y axis plus direction of the tool coordinate system 6 axis type only When the Y J2 keys are pressed move along the minus direction 6 axis type only When the Z J3 keys are pressed the robot will move along the Z axis plus direction of the tool coordinate system When the Z J3 keys are pressed move along the minus direction Select TOOL jog mode Set jog speed Settin...

Page 47: ...direction When the C J6 keys are pressed the J6 axis will rotate in the plus direction When the C J6 keys are pressed rotate in the minus direction 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 X Z ツール長 Y SPACE Z ツール長 Y S...

Page 48: ...ection When the X J1 keys are pressed move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction When the Y J2 keys are pressed move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction When the Z J3 keys are pressed move along the minus direction Select XYZ456 jog mode Set jog speed Sett...

Page 49: ...ed the J5 axis will rotate in the plus direction At this time to maintain the flange s position other axes move simultaneously except J4 and J6 When the B J5 keys are pressed rotate in the minus direction When the C J6 keys are pressed the J6 axis will rotate in the plus direction When the C J6 keys are pressed rotate in the minus direction J4軸 J5軸 J6軸 SPACE Changing the flange surface posture The...

Page 50: ...ition is on an arc centering on the Z axis the robot moves along that arc When the X J1 keys are pressed the robot will expand in the radial direction When the X J1 keys are pressed contract in the radial direction When the Y J2 keys are pressed the robot will move along the arc in the plus direction When the Y J2 keys are pressed move in the minus direction When the Z J3 keys are pressed the robo...

Page 51: ... direction of the tool coordinate system When the B J5 keys are pressed rotate in the minus direction When the C J6 keys are pressed 6 axis type the Z axis will rotate in the plus direction 5 axis type There is no operation When the C J6 keys are pressed 6 axis type rotates in the minus direction 5 axis type There is no operation Changing the flange surface posture The flange position does not cha...

Page 52: ... and sets up the three points WO WX WY Fig 2 20 Setting of the work coordinates system teaching point The setting definition method of the work coordinates system is shown in the following Zw Xw Yw Z Y X Robot coordinates system Work WY WO WX work coordinates Notes The figure is the example of RV 4FR but other types are the same The jogging movement based on this work is possible Teaching point WO...

Page 53: ...n screen is displayed MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 EMHANCED 1 SQ DIRECT 2 WORK COORD CLOSE 123 The screen shows the coordinate value of the origin WO of the work coordinates number 1 EMHANCED 1 SQ DIRECT 2 WORK COORD CLOSE 123 WORK COORD WORK NUMBER 1 TEACHING POINT WO X 0 00 Y 0 00 Z 0 00 123 TEACH WX WY DEFINE WORK COORD WORK NUMBER 1 TEACHING POINT...

Page 54: ...d re teach the three points This work coordinate data is registered into parameter WKnCORD n means the work coordinates numbers 1 8 If the function key corresponding to CLOSE is pressed it will return to the previous screen 6 Finishing of setting the work coordinates Press the FUNCTION keys and display CLOSE function Press the function key corresponding to CLOSE Returns to the MENU screen WORK COO...

Page 55: ...will decrease Always confirm that the number of the target work coordinates system is displayed correctly Display of W1 W8 at the upper right of the screen If mistaken the robot will move in the direction which is not meant and will cause the damage and the personal injuries Whenever it presses the key of OVRD Upper arrow the override goes up Conversely if the OVRD Lower arrow key is pressed it wi...

Page 56: ... the robot will move along the Z axis Zw plus direction on the work coordinates system When the Z J3 keys are pressed Move along the minus direction When the X Y or Z keys are used the operation is the same in the WORK jog and the Ex T jog modes WORK jog operation mode Conventional WORK jog Ex T jog Parameters WKnJOGMD n is 1 to8 set ting 0 initial value 1 XYZ key operation Moves along each axis o...

Page 57: ...rdinate system When the B J5 keys are pressed rotate in the minus direction When the C J6 keys are pressed 6 axis type the Z axis will rotate in the plus direction of the work coordinate system 5 axis type There is no operation When the C J6 keys are pressed 6 axis type rotate in the minus direction 5 axis type There is no operation X Y Z Z ＹＸツール長 Xw Yw Zw X Y Z Z ＹＸツール長 Xw Yw Zw Zw Xw Yw Y...

Page 58: ...T coordinates system When the A J4 or the A J4 key is pressed the control point rotates around the Xw axis When the B J5 or the B J5 key is pressed the control point rotates around the Yw axis When the C J6 or the C J6 key is pressed the control point rotates around the Zw axis The Ex T jog cannot be used for the 5 axis type Work coordinates system Ex T coordinates system Control point Work coordi...

Page 59: ... the sink type or the source type for the solenoid valve and the logic of the hand input signal 1 Not set 0 Source type 1 Sink type 1 Hand condition HNDDAT is 0 to 8 Set the initial condition of the hand Specify with the tool coordinate system Weight size X size Y size Z center of gravity X center of gravity Y center of gravity Z Unit Kg mm The setting varies depending on the model Tool length The...

Page 60: ...xing stopper corresponding to the angle to change or setting value of a parameter Refer to Fig 3 1 for details of the installation positions of the stoppers Table 3 2 Changeable angle of J1 axis No Part name Qty Mass kg Remarks 1 Variable stopper block 1 0 5 2 Fixing stopper 2 3 Screw M5x20 6 Screw with a captive washer for installing the stoppers Operating range Parameter MEJAR setting value Mech...

Page 61: ... shown in Fig 3 1 Tighten screws firmly to fix the variable stopper block as well as the fixing stopper Tightening torque 9 5 Nm 4 Setting the parameter Specify the operating range to parameter MEJAR and the mechanical stopper angle to parameter MORG with appropriate values variable angles given in Table 3 8 by the following steps 1 Turn on the power supply 2 Set up the operating range changed int...

Page 62: ...on devices 2 Changeable angle The changeable angle of J2 axis is shown in Table 3 4 Refer to Table 3 4 to confirm the installation position of the stopper corresponding to the angle to change or setting value of a parameter Refer to Fig 3 2 for details of the installation position of the stoppers Table 3 4 Changeable angle of J2 axis No Part name Qty Mass Kg Remarks 1 Stopper A 1 0 1 2 Stopper B 1...

Page 63: ... a minus side both A and B stoppers are required to be installed 2 Refer to Fig 3 2 and install the required stopper to the installation position Tighten screws firmly to fix the stopper Tightening torque 4 6 Nm 4 Setting the parameter Specify the operating range to parameter MEJA and the mechanical stopper angle to parameter MORG with appropriate values variable angles given in Table 3 4 by the f...

Page 64: ...range change 1S DH 11J3 are shown below 1 Configuration The configuration parts of this option are shown in Table 3 5 Please confirm Table 3 5 Configuration devices 2 Changeable angle The changeable angle of J3 axis is shown in Table 3 6 Refer to Table 3 6 to confirm the setting value of a parameter Table 3 6 Changeable angle of J3 axis No Part name Qty Mass Kg Remarks 1 Stopper 1 0 1 2 Screw M4x1...

Page 65: ...alled to the robot arm The resin stopper right side must not remove 2 Install the stopper of the operating range change option Tighten screws firmly to fix the stopper Tightening torque 4 6 Nm 4 Setting the parameter Specify the operating range to parameter MEJAR with appropriate values variable angles given in Table 3 6 by the following steps 1 Turn on the power supply 2 Set up the operating rang...

Page 66: ...e operating range After changing the parameter turn off the controller power and turn on again And move the axis changed by joint jog operation to the limit of the operating range Confirm that the robot stops by limit over at the changed angle The changing of the J3 axis operating range is completed ...

Page 67: ...per plate 2 1 1 One piece each for side side 2 Fixing block A 2 One piece each for side side 3 Fixing block B 1 side 4 Fixing block C 1 side 5 Variable stopper block 2 One piece each for side side 6 Screw M10x20 2 Use for mechanical stopper screw A and B 7 Screw M6x25 2 For fixing 8 Screw M6x20 16 For fixing RV 7FR series 1 Stopper plate 2 1 1 One piece each for side side 2 Fixing block A 2 One pi...

Page 68: ... and 103 degree simultaneously cannot be used The other combination can be set up Parameter MEJAR setting value 240 30 73 103 146 minus side 240 30 73 103 146 Variable stopper block angle 33 76 106 149 Variable stopper block position Note1 d c d c Mechanical stopper screw B Note2 Use Disuse Note3 Parameter MEJAR setting value 240 30 73 103 146 Item Standard Changeable angle combination of side sid...

Page 69: ...6 5Nm Please confirm having surely fixed by correct torque before moving the robot Although the following shows the procedure installed to plus side minus side is the same also Fig 3 3 Installation image of J1axis operating range change option RV 4FR 7FR series Example In the RV 7FR series when limiting the side to 35 degree and the side to 141 degree install as following Variable stopper block In...

Page 70: ...and the screw of M10 by 26 5Nm Please confirm having surely fixed by correct torque before moving the robot Although the following shows the procedure installed to plus side minus side is the same also 1 Fix the Fixing block A 2 and the Fixing block B 3 to the robot arm as temporary Fix the Fixing block A 2 by using the two screws 8 and fix the Fixing block B 3 by using a screw 7 2 Install the Sto...

Page 71: ...crew A or B Install the necessary screw with referring to Table 3 8 and Table 3 9 4 Setting the parameter Specify the operating range to parameters MEJAR with appropriate values variable angles given in Table 3 8 or Table 3 9 by the following steps 1 Turn on the power supply 2 Set up the operating range changed into parameter MEJAR MEJAR J1 minus side J1 plus side Note Refer to the separate Instru...

Page 72: ...ks 1 Stopper Block J1 1 0 3 2 Resin Stopper B 2 One piece each for side side 3 Screw M12 20 2 Mechanical Stopper screw 4 Screw M10 40 2 For Stopper Block J1 fixing 5 Screw M4 12 4 For Resin Stopper B fixing Item Standard Changeable angle plus side 190 30 120 Mechanical Stopper screw position Note1 Note1 Symbol A D in the Table 3 11 is related with the symbol of Fig 3 4 Installation image of J1axis...

Page 73: ...5Nm and the screw of M12 by 26 5Nm Please confirm having surely fixed by correct torque before moving the robot Fig 3 4 Installation image of J1axis operating range change option RV 13FR series Example In the RV 13FR series when limiting side to 32 5 degree and side to 122 5 degree install the Mechanical Stopper screw in the position of A and C The installation position of Stopper Block J1 Back si...

Page 74: ...M4 by 15 7Nm and the screw of M10 by 26 5Nm and the screw of M12 by 26 5Nm Please confirm having surely fixed by correct torque before moving the robot Although the following shows the procedure installed to plus side minus side is the same also 1 Install 2 Resin Stopper B two pieces to the both sides of 1 Stopper Block J1 in with the two attached 5 screws and fix securely 2 Install 1 Stopper Bloc...

Page 75: ... Turn on the power supply and move the J1 axis by jog operation 4 Install the 3 Mechanical Stopper screw Install the 3 attached Mechanical Stopper screw to the needed point with referring to Table 3 11 and Fig 3 4 1 Stopper Block J1 2 Resin Stopper B Mechanical Stopper screw B Mechanical Stopper screw A 1 Stopper Block J1 2 Resin Stopper B Mechanical Stopper screw D Mechanical Stopper screw C Back...

Page 76: ...ing range changed into parameter MEJAR MEJAR J1 minus side J1 plus side Note Refer to the separate Instruction manual Detailed Explanation of Functions and Operations for the details of the setting method 5 Check the operating range After changing the parameter turn off the controller power and turn on again And move the axis changed by joint jog operation to the limit of the operating range Confi...

Page 77: ...ith the enclosed screw 1 M3 x 25 2 screws 2 Connect the primary air supply air hose φ6 prepared by customer to the quick joint P port 2 of the solenoid valve 㻳㻾㻝㻳㻾㻞㻳㻾㻠㻳㻾㻟㻖㻝㻕㻌㻼㼘㼑㼍㼟㼑㻌㼜㼞㼑㼜㼍㼞㼑㻌㼎㼥㻌㼠㼔㼑㻌㼏㼡㼟㼠㼛㼙㼑㼞㻌㼠㼔㼑㻌㼜㼚㼑㼡㼙㼍㼠㼕㼏㻌㼔㼛㼟㼑㻌㼠㼛㻌㼏㼛㼚㼚㼑㼏㼠㻌㼠㼔㼑㻌㼟㼛㼘㼑㼚㼛㼕㼐㻌㼢㼍㼘㼢㼑㻌㼟㼑㼠㻚㻳㻾㻝㻌㼠㼛㻌㻳㻾㻠㻴㼍㼚㼐㻌㼛㼡㼠㼜㼡㼠㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻔㼏㼛㼚㼚㼑㼏㼠㻌㼠㼛㻌㻨㼎㻪㻕㻯㼛㼚㼚㼑㼏㼠㼛㼞㻌㼍㼞㼞㼍㼚㼓㼑㼙㼑㼚㼠㻔㻵㼚㼟㼕㼐㼑㻌㼠㼔㼑㻌㻯㻻㻺㻮㻻㼄㻌㼏㼛㼢㼑㼞㻕㻭㻵㻾㻌㻵㻺㻌㻝㻌㼠㼛㻌㻠㻿㼑㼏㼛㼚㼐㼍㼞㼥㻌㼜㼕㼜㼕㼚㼓㻌㼜㼚㼑㼡㼙㼍...

Page 78: ... No 2 solenoid valve 6 Connect the AIR IN 4 mark secondary coupler to the B port 8 of the No 2 solenoid valve 6 4 Refer to Page 100 5 3 2 Installing removing the cover and remove the CONBOX cover Connect the GR1 plug from the No 1 solenoid valve 3 to the GR1 connector on the back of the robot arm Connect the GR2 plug from the No 1 solenoid valve 3 to the GR2 connector on the back of the robot arm ...

Page 79: ...s and install the solenoid valve set properly 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 Explanation section for each type of robot RV 4FR 7FR series ...

Page 80: ...ition to use as shown in the figure Install the attached coupling for front side φ4 front side in the screw hole which removed the plug Turn the solenoid valve set over and install the back side coupling in the same way Coupling front side φ4 Coupling back side φ4 φ4 air hose The numbers of attached couplings and air hoses depends on the robot specifications In the shown example four sets of coupl...

Page 81: ...r U M4 ｘ 12 four screws Thermal conductive sheet After the cover is removed take care not to damage the thermal conductive sheet or timing belt CAUTION Timing belt Forearm top φ4 air hose for secondary piping first fourth A total of four only internal wiring and piping specification AIR IN φ6 white Connector GR1 GR2 RETURN φ6 black Do not cut the cable tie that bundles the cables inside the arm Do...

Page 82: ... a normality Align the φ4 secondary piping air hoses from No 1 to No 4 on the No 2 arm cover side as shown in the figure Apply the scale to the arm lower end on the No 2 arm cover L side and measure the length then mark and cut the hose Cut the air hose vertically in the lengthwise direction of the air hose with a dedicated cutter If the cut end is not vertical it causes air leakage CAUTION 1 2 3 ...

Page 83: ...Length of an air hose is unsuitable please cut again and adjust Cutting dimension guide Rubber sheet Union band AIR IN white A mm φ6 primary piping air hose RETURN black B mm Cutting dimension guide A B Unit mm Robot Dimension A AIR IN Dimension B RETURN RV 4FR 60 35 RV 4FRL 4FRJL 7FR 7FRL 7FRLL series 70 45 Take sufficient care to prevent for eign matters cut chips of air hoses etc from entering ...

Page 84: ...ace Refer to the numbers for piping to the tool As an example of the tools Table 3 12 shows the relation between hand condition and coupling port number φ4 air hose for secondary piping Enlarged view of the φ4 air hose connection area Couplings on the back side of the solenoid valve Push the φ4 secondary piping air hoses firmly to the base of couplings as shown in the figure Table 3 12 Solenoid va...

Page 85: ...is not right store as shown in a figure b Connects the hand output cable inside the forearm GR1 and GR2 to the connectors of the solenoid valve set Note In the solenoid valve set of one set or two sets connects only connector GR1 c Store the connected connectors in the positions shown in the figure below Solenoid valve set Wiring position Connect with the same names GR1 connector At the center of ...

Page 86: ...RETURN black as cross the solenoid valve to improve workability Push in Connection and adjustment of the elbow couplings When connecting the RETURN air hose be sure to remove the dust cap attached at the RETURN coupling on the robot base section If the cap is not removed exhaust air pressure will increase and the solenoid valve may not operate properly By connecting the exhaust air hose φ6 custome...

Page 87: ... of robot Top of robot The solenoid valve is installed to the shaded area To prevent cables from being pinched push the cables into the forearm and avoid placing any cable on the shaded area Push in the φ4 secondary piping air hose No 4 with a finger from the No 2 arm cover L side or No 2 arm cover U side Draw the hose around the motor upper surface to prevent it from being bent Forearm top Visual...

Page 88: ...ustomer with solenoid valve port A and B standard internal wiring and piping specification common When you use the standard specification robot please prepare the air hoses for connection Table 3 13 shows the relation between hand condition and port number The installing of the solenoid valve set is completed Solenoid valve set Keep the air hoses from interfering with the moving parts of timing be...

Page 89: ... Remove bolts nuts and seal washers that were fixed on the optional solenoid valve set To do this remove the bolts attached the position to use as shown in the figure b Attach a bulkhead coupling to the hole The bulkhead couplings are one of the attachments of robot arm Remove one of lock nuts width across flats 11mm from a bulkhead coupling and attach the bulkhead cou pling to the hole c Fasten f...

Page 90: ...of the sole noid valve set and connects RETURN black to R port coupling of the solenoid valve set The AIR IN white air hose is connected with the AIR IN coupling of the robot arm base rear and the RETURN black air hose is connected with the RETURN coupling Because the long length air hoses are equipped please cut and connect it to the suitable length If that is not right the air hose breaks within...

Page 91: ...connect to the coupling on the back side of solenoid valve set The number indicated on the air hoses inside of the wrist is same as the air hoses pulled out of the mechanical interface so make it the reference at the piping to the tool Table 3 14 shows the rela tion between hand condition and port number Connector GR1 Connector GR2 P port coupling R port coupling Connect to the coupling Air hose i...

Page 92: ... fixing screws Tightening torque 1 39 1 89N m Confirms that the air hose has not broken by removing the No 2 arm cover L 6 Connect the tool prepared by the customer with solenoid valve port A and B standard internal wiring and piping specification common Install plugs to the port A B couplings that are not used for the solenoid valve set Please prepare the air hoses and plugs to use by customer Ta...

Page 93: ...the cable clamp box Uses either one in the cable clamp of both ends a Loosens the threaded cap of the cable clamp and removes the plug Use either one place of both ends b Pass the customer wiring side of cable from inner side Pass the cable with little by little and fix the cable securely by tightening the threaded cap as shown in the following figure 3 Connects the connector inside the forearm OP...

Page 94: ...Reserved Black A4 HC4 Reserved Red B1 HC5 White B2 HC6 Gray B3 HC7 Pink B4 HC8 The figure is the example to which the J4 axis was moved to upside down position by jog operation For 6 axis type robot When you install the cable clamp box be careful to not put the cable between the cable clamp box and arm If the cable is inserted it will become the cause that the cable be broken CAUTION Fixing screws...

Page 95: ...e installation procedure of the hand output cable is shown below Turn the controller s power OFF before this installing operation 1 Loosen the fixing screws four M4x12 screws of No 2 arm cover U and remove the cover 2 Loosen the fixing screws three M4x16 screws of cable clamp box under forearm and remove it For the 6 axis type robot move the J4 axis in advance to the upside down position by jog op...

Page 96: ...and GR2 to the connector of the hand output cable Connect with the same names 5 Feed the hand output cable through the cable clamp box Loosens the threaded cap of the cable clamp and removes the plug of the cable clamp box Tip Pass the cable with little by little and pulls out the needed length and fix the cable securely by tightening the threaded cap Hand output cable Feeds through between the mo...

Page 97: ...nd output 5 Brown A4 GR2 Hand output 2 White A4 GR6 Hand output 6 Blue B1 GR3 Hand output 3 Gray B1 GR7 Hand output 7 Black B2 GR4 Hand output 4 Pink B2 GR8 Hand output 8 B3 Reserved B3 Reserved B4 Reserved B4 Reserved When you install the cable clamp box be careful to not put the cable between the cable clamp box and arm If the cable is inserted it will become the cause that the cable be broken C...

Page 98: ...Installing removing the cover for removing installing the cover Note Although the robot s figure described to each page is RV 4FR series the method is the same on other robot series Pairing recomm endation Option type Cable length mm Note1 Note1 The length from the cable clamp box to the connector Wiring cable for the connection to each equipment Hand input signal Note2 Note2 Although the connecto...

Page 99: ...at the cable etc may not be inserted 4 Connects the cable pulled out to the tool or sensor etc which customer will use The Outlet and cable names of each cables are shown in Table 3 18 You can fix the cable by using the screw holes on the robot arm refer to separate Standard Specifications Manual Note Although the connector is attached to the customer wiring side of the hand input cable it can use...

Page 100: ... And confirms that the tool the sensor etc operate correctly The installing of the forearm external wiring set is completed Color Signal name Connector HC Note1 Note1 Shows the pin number of the connector previously attached to the customer wiring side Connector type 1 1827864 6 Pin type 1827570 2 Maker Tyco Electronics Color Signal name Connector HC Note1 Purple HC1 A1 Red HC5 B1 Brown HC2 A2 Whi...

Page 101: ...le etc may not be inserted 5 Connects the cable of base external wiring set to the multifunctional electric hand force sensor interface etc which customer will use The outlet and cable names of each cables are shown in Table 3 20 Table 3 20 Cable to pull out and outlet Base external wiring set Cable to pull out Robot side connection connector Grounding process Installation of ferrite core Outlet N...

Page 102: ...ring set 1F HA01S 01 1F HA02S 01 1 1 Grounding process Skins the sheath and grounds the metal braid section to the grounding terminal of customer preparation Note Do not damage the shield line Note Grounding points for the multifunctional electric hand controller and the robot arm should be as far away as possible from each other Metal braid section Sheath Sheath 20 to 30mm Communication cable Gro...

Page 103: ... 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 ...

Page 104: ...the robot operation of 15 hours per day for 20 days per month When the robot operates for 8 hours per day the operating hours per month become about a half of the one under the above condition Then the monthly inspection is required every two months To check the periodic inspection schedule and calculate the operating hours refer to Page 95 2 Schedule 1 Daily inspection Inspection works to be perf...

Page 105: ...tween the robot and controller securely connected Visual Securely connect 6 Are there any cracks foreign contamination or obstacles on the robot and controller cover Replace with a new part or take remedial measures 7 Is there any abnormality in the pneumatic system Are there any air leaks drain clogging or hose damage Is the air source normal Visual Drain the drainage and remedy the air leaks rep...

Page 106: ... a heavy load it is recommended to be inspected every 6 months 1 800hr Is the friction at the timing belt teeth severe If the teeth are missing or severe friction is found replace the timing belt Is the timing belt tension value more than the guideline value Does any position mismatch occur When the tension value becomes less than the guideline value the timing belt must be replaced Battery replac...

Page 107: ...x 500 hr Inspection schedule Type of periodic inspection works Note2 Note2 The item marked with the circle is to be performed According to the guideline of the operating hours perform the inspection to check the items described in Table 5 3 15 hours per day 8 hours per day Monthly inspection 6 month inspection 2 year inspection Battery replacement Lubrication 300hr 1 month 2 months Every year Note...

Page 108: ...o the reduction gears 6 via the timing belt 5 to rotate the J2 axis Non excitation magnetic brakes are mounted in the J2 axis motor 3 The rotation of the J3 axis motor 7 arranged in the No 1 arm is conveyed to the reduction gears 9 via the timing belt 8 to rotate the J3 axis Non excitation magnetic brakes are mounted in the J3 axis motor 4 The rotation of the J4 axis motor 10 arranged in the elbow...

Page 109: ... 4 J2 axis motor 7 J3 axis motor 10 J4 axis motor 20 Gear 13 J5 axis motor 14 Timing belt 16 Reduction gears 18 J6 axis motor 3 Reduction gears 21 Reduction gears 2 Timing belt 11 Timing belt 17 J5 axis brake Base No 1 Arm Elbow No 2 Arm 19 Timing belt 15 J5 axis timing belt for brake 22 J6 axis timing belt for brake 23 J6 axis brake Note 22 J6 axis brake timing belt and 23 J6 axis brake are only ...

Page 110: ...ing belt 11 to rotate the J4 axis Since RV 4FRJL is 5 axis type robot they have no J4 axis 5 The rotation of the J5 axis motor 13 arranged in the No 2 arm is conveyed to the reduction gears 16 via the timing belt 14 to rotate the J5 axis 6 The rotation of the J6 axis motor 18 arranged in the No 2 arm is conveyed to the reduction gears 21 via the timing belt 19 and gear 20 to rotate the J6 axis Fig...

Page 111: ...iming belt 8 to rotate the J4 axis 5 The rotation of the J5 axis motor 10 arranged in the No 2 arm is conveyed to the reduction gears 12 via the timing belt 11 to rotate the J5 axis 6 The rotation of the J6 axis motor 13 arranged in the No 2 arm is conveyed to the reduction gears 16 via the timing belt 14 and gear 15 to rotate the J6 axis Fig 5 3 Outline structure of robot arm RV 13FR series 4 Red...

Page 112: ...screw Note1 Note1 The tightening torque of each screws are shown below M3 screw 0 608 to 0 824Nm Qty Remarks 1 Battery cover Bind screw M3 1 2 J1 motor cover Bind screw M3 1 3 No 1 arm cover R Bind screw M3 1 4 No 1 arm cover L Low head safety socket M3 1 Nickel plated screw 5 Elbow cover B Bind screw M3 1 6 Elbow cover R Bind screw M3 1 7 No 2 arm cover L Bind screw M3 1 8 No 2 arm cover R Bind s...

Page 113: ...s posture some covers are hard to be removed In such a case change the robot s posture by performing jog operation to remove the covers 4 When reattaching the covers after a maintenance inspection proceed in the reverse order of their removal Tightening the screw with the torque shown in Table 5 4 ...

Page 114: ...ection specification has seal washer M4 6 No 1 arm cover L Hexagon socket head cap screw M4 x 12 5 For RV 4FR 7FR series 6 For RV 4FRL 4FRJL 7FRL series 7 No 1 arm cover R Hexagon socket head cap screw M4 x 12 5 For RV 4FR 7FR series 6 For RV 4FRL 4FRJL 7FRL series 8 No 1 arm cover U Hexagon socket head cap screw M4 x 8 4 For RV 4FR 7FR series 6 For RV 4FRL 4FRJL 7FRL series 9 Wrist cover Low head...

Page 115: ... the robot s posture some covers are hard to be removed In such a case change the robot s posture by performing jog operation to remove the covers 4 When removing the wrist cover move the J5 axis to the position of 90 degrees by jog operation 5 When reattaching the covers after a maintenance inspection proceed in the reverse order of their removal Tightening the screw with the torque shown in Tabl...

Page 116: ...ble 5 6 No Cover names Installation screws Note1 Note1 The tightening torque of each screws are shown below M3 screw 0 608 0 824 N m M4 screw 1 39 1 89 N m Qty Remarks 1 No 2 arm cover U Hexagon socket head cap screw M4 x 12 4 2 No 2 arm cover Hexagon socket head cap screw M4 x 12 5 one side Fix five screws on one side 3 Elbow cover Hexagon socket head cap screw M4 x 12 7 4 Cable clamp box Hexagon...

Page 117: ... the robot working conditions elongation will occur gradually over a long time The tension must be confirmed during the periodic inspection Please prepare the sound wave type belt tension gauge in inspection of the timing belt Refer to the Page 135 15 Timing belt tension for the tension of the timing belt The recommendation gauge is shown below Manufacture Gates Unitta Asia Company Type U 508 Fig ...

Page 118: ...occur Wear chips may accumulate in the cover after approx 300 hr of operating the robot but this is not a fault When the belt is replaced the machine system origin may deviate After the replace ment ensure to reset the origin Damage condition Appearance Cause Gear tooth crack Overload Backside crack Deterioration of rubber due heat to or ozone Worn teeth Overload Excessive or insufficient tension ...

Page 119: ... operation at measuring target axis for a few minutes then measure the ten sion of the belt Fig 5 8 Timing belt tension measurement The procedure is shown below 1 Turn on the controller s power supply 2 Rotate the timing pulley A to one direction in jog operation while visually checking its position and measure the belt tension at every 90 degrees four times in total for one turn of the timing pul...

Page 120: ...lfunction of the relevant parts To ask for replacement of the timing belt contact the dealer Timing belt replacement of the J1 axis removes the bottom plate in the robot arm bottom and replace the belt from the robot s bottom For this reason it is necessary to remove the robot arm from the installation surface and to place it sideways Remove the machine cable or piping etc corresponding to the usa...

Page 121: ...belt 2 When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust the belt tension slack to within the range as shown in Page 135 15 Timing belt tension Before the tension measurement rotate the timing pulley at least three times in each direction so that the timing belt fits in the pulley Check the tension measurement method in Page 107 2 Timin...

Page 122: ...ghtly loosen the two idler installation screws 1 Do not loosen too much 5 Loosen the nut fixing tension adjustment screw 3 Loosen the tension adjustment screw 3 and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys 4 and 5 and install 8 Turn tension adjustment scre...

Page 123: ... position 12 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox3 Refer to RT ToolBox3 RT ToolBox3 mini User s Manual for operation of RT3 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter ...

Page 124: ...n screws 1 Do not loosen too much 5 Loosen the nut fixing tension adjustment screw 3 Loosen the tension adjustment screw 3 and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys 4 and 5 and install 8 Turn tension adjustment screw 3 and adjust the tension of timing b...

Page 125: ...cast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox3 Refer to RT ToolBox3 RT ToolBox3 mini User s Manual for operation of RT3 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter ...

Page 126: ...4 Lightly loosen the two motor plate fixing screws 1 Do not loosen too much 5 Loosen the nut fixing tension adjustment screw 3 Loosen the tension adjustment screw 3 and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 7 Align the new timing belt with the marks on the timing pulleys 4 and 5 and install 8 Turn tension adjustment ...

Page 127: ... position 12 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox3 Refer to RT ToolBox3 RT ToolBox3 mini User s Manual for operation of RT3 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter ...

Page 128: ...If the timing pulley A 4 and B 5 position relation deviates the position could deviate 3 Make marks on the timing belt 2 and timing pulleys 4 and 5 with a felt tip pen as shown in Fig 5 14 so that the engagement of the timing belt 2 and timing pulleys 4 and 5 does not deviate 4 Lightly loosen the three motor plate fixing screws 1 Do not loosen too much 5 Loosen the nut fixing tension adjustment sc...

Page 129: ...ghtening can cause the belt to loosen with vibration 10 Install the No 2 arm cover R securely as before 11 Refer to Page 150 5 6 Resetting the origin and reset the origin position 12 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox3 Refer to RT ToolBox3 RT ToolBox3 mini User s Manual for opera...

Page 130: ...ion measurement and confirm the belt tension 4 Install the No 2 arm cover R and L securely as before and finish inspection Replacing the J5 axis brake timing belt 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 1 Refer to Page 100 5 3 2 Installing re...

Page 131: ...ten the two motor installation screws 1 M4 screw tightening torque is 4 51 Nm Tension is automatically adjusted by the work of the spring Improper tightening can cause the belt to loosen with vibration 7 Install J5 axis timing belt with reference to above Replacing the J5 axis timing belt and adjust tension ...

Page 132: ...a felt tip pen as shown in Fig 5 16 so that the engagement of the timing belt 2 and timing pulleys 4 and 5 does not deviate 4 Lightly loosen the three motor plate fixing screws 1 Do not loosen too much 5 Loosen the nut fixing tension adjustment screw 3 Loosen the tension adjustment screw 3 and remove the old belt 6 Copy the marks onto the new timing belt Make sure that both belts are tense when ma...

Page 133: ...rigin and reset the origin position 12 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox3 Refer to RT ToolBox3 RT ToolBox3 mini User s Manual for operation of RT3 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter ...

Page 134: ...sion measurement and confirm the belt tension 4 Install the No 2 arm cover R and L securely as before and finish inspection Replacing the J6 axis brake timing belt 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 1 Refer to Page 100 5 3 2 Installing r...

Page 135: ...ten the two motor installation screws 1 M4 screw tightening torque is 4 51 Nm Tension is automatically adjusted by the work of the spring Improper tightening can cause the belt to loosen with vibration 7 Install J6 axis timing belt with reference to above Replacing the J6 axis timing belt and adjust tension ...

Page 136: ...he tension adjustment screw 3 3 Remove the three motor plate fixing screws 1 and remove the timing belt 2 from the timing pulley A 4 4 Remove the J1 axis motor and remove the timing belt 2 5 Install the new timing belt to the timing pulley B 5 and timing pulley A 4 and install the J1 axis motor to the original position by the motor plate fixing screws 1 6 Lightly loosen the three motor plate fixin...

Page 137: ... fits in the pulley Check the tension measurement method in Page 107 2 Timing belt tension measurement If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 11 Install the J1 motor cover securely as before 12 Refer to Page 150 5 6 Resetting the ori...

Page 138: ... before replacing the timing belts hit the J3 axis against mechanical stopper with releasing brake 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 1 Refer to Page 100 5 3 2 Installing removing the cover and remove the No 1 arm cover L and No 1 arm co...

Page 139: ...lace it 12 Install the No 1 arm cover L and No 1 arm cover U securely as before 13 Refer to Page 150 5 6 Resetting the origin and reset the origin position 14 When the maintenance forecast function is valid reset the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox3 Refer to RT ToolBox3 RT ToolBox3 mini User s Manual for operation of RT3 and refer to...

Page 140: ... in the pulley Check the tension measurement method in Page 107 2 Timing belt tension measurement If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 9 After adjustment fastens the fixing nut of tension adjustment screw 3 and certainly fixes tens...

Page 141: ...n or wear caused by movement of the cables Do not wipe off the silicon grease 3 Visually confirm that the symptoms indicated in Page 106 1 Timing belt replacement period have not occurred with the timing belt 4 Refer to Page 107 2 Timing belt tension measurement and confirm the belt tension 5 Install the cable guide A B and C securely as before 6 Install the elbow cover and No 1 arm cover R secure...

Page 142: ...remove the elbow cover 2 Visually confirm that the symptoms indicated in Page 106 1 Timing belt replacement period have not occurred with the timing belt 3 Refer to Page 107 2 Timing belt tension measurement and confirm the belt tension 4 Install the elbow cover securely as before and finish inspection Replacing the J4 axis timing belt For replacement of the timing belt check the serial numbers of...

Page 143: ...ction Replacing the J5 axis timing belt If the timing belt of the J5 axis is removed the forearm will drop by the self weight faces in the downward And if the positional relation between the timing pulley A 4 and B 5 deviated it will become the cause of the position deviation For the safety before replacing the timing belt move the J3 axis so that it may face in the downward by jog operation It is...

Page 144: ... Before the tension measurement rotate the timing pulley at least three times in each direction so that the timing belt fits in the pulley Check the tension measurement method in Page 107 2 Timing belt tension measurement If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine s...

Page 145: ...the J6 axis timing belt 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 1 Refer to Page 100 5 3 2 Installing removing the cover and remove the No 2 arm cover L 2 Make sure that the pulleys do not move while replacing the belt If the pulley A 4 and B ...

Page 146: ...ent method in Page 107 2 Timing belt tension measurement If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 9 After adjustment fastens the fixing nut of tension adjustment screw 3 and certainly fixes tension adjustment screw 3 Moreover also fast...

Page 147: ...6 to 32 15 J2 324 3GT 6 2 5 6 88 26 to 32 15 J3 324 3GT 6 2 5 6 106 26 to 32 15 J4 186 3GT 4 2 5 4 52 18 to 22 10 J5 336 3GT 4 2 5 4 131 18 to 22 10 J5 brake 174 3GT 4 2 5 4 42 Note1 10 J6 345 3GT 4 2 5 4 131 18 to 22 10 J6 brake 174 3GT 4 2 5 4 42 Note1 10 RV 4FR series J1 315 EV3GT 12 2 5 12 85 5 79 7 to 97 4 30 J3 369 EV3GT 6 2 5 6 118 4 39 2 to 47 9 15 J4Note2 Note2 RV 4FRJL 5 axis type robot ...

Page 148: ...are shown in Table 5 9 Table 5 9 Amount of movement of each axis during the tension measurement Model Amount of movement J1 axis J2 axis J3 axis J4 axis J5 axis J6 axis RV 2FR series 0 8 0 4 0 8 1 1 1 1 1 8 RV 4FR series 1 1 0 9 0 6 1 4 Note1 Note1 RV 4FRJL 5 axis type robot has no J4 axis 1 6 1 8 RV 7FR 1 1 1 1 1 1 0 8 1 1 1 8 RV 7FRL 0 9 0 9 0 9 0 8 1 1 1 8 RV 7FRLL 1 9 1 1 1 8 RV 13FR 13FRL 0 9...

Page 149: ...iling method Lubrication oil maker Lubrication interval Lubrication amount Cover to remove 1 J1 axis reduction gears Grease nipple WA 610 Grease Harmonic grease SK 1A Harmonic Drive Systems Inc 6 000Hr 3ml 2 8g J1 motor cover 2 J2 axis reduction gears 2 5ml 2 3g No1 Arm cover plate 3 J3 axis reduction gears 2 5ml 2 3g 4 J4 axis reduction gears 0 5ml 0 5g Elbow cover B 5 J5 axis reduction gears 0 5...

Page 150: ...ipple Securely tighten the grease nipple by 4 7 Nm to 6 3 Nm 5 Insert the grease shown in Table 5 10 using a grease gun from the lubrication grease nipple 6 J5 axis lubrication port 5 the J6 axis lubrication port 6 reduction gears and the J6 axis lubrication port 7 gear should remove the grease nipple and should install the original bolt Securely tighten the bolt by 4 7 Nm to 6 3 Nm 7 Replace the ...

Page 151: ...ach place are shown in Table 5 11 Refer to the Page 100 5 3 2 Installing removing the cover for the method of removing and installing the cover Fig 5 28 Lubrication positions RV 4FR 7FR series 2 J2 axis lubrication port 3 J3 axis lubrication port 6 J6 axis lubrication port Reduction gears 7 J6 axis lubrication port Gear 1 J1 axis lubrication port 4 J4 axis lubrication port 5 J5 axis lubrication po...

Page 152: ...ears Grease nipple WA 610 4B No 2 Harmonic Drive Systems Inc 24 000Hr 12g J1 motor cover 2 J2 axis reduction gears 12g 3 J3 axis reduction gears 8g No 1 arm cover L 4 J4 axis reduction gears 4g 5 J5 axis reduction gears 2g 6 J6 axis reduction gears 2g 7 J6 axis gears 1 3g Wrist cover RV 7FRLL 1 J1 axis reduction gears Grease nipple WA 110 VIGO GREASE Nabtesco Co Ltd 20 000Hr 255g Shoulder cover 2 ...

Page 153: ...duction gears and J6 axis lubrication port 7 gear RV 4FRJL does not use the J4 axis lubrication port 4 Securely tighten the grease nipple by 4 7 N m to 6 3 N m RV 7FR series Remove the following screws and install the attached grease nipples J4 axis lubrication port 4 J5 axis lubrication port 5 J6 axis lubrication port 6 reduction gears and J6 axis lubrication port 7 gear Securely tighten the grea...

Page 154: ...6 by 7 1 N m to 8 5 N m If the screw is tightened with lower higher torque or not winded a sealing tape it may cause grease to leak 8 Replace the covers with the removal procedure in reverse 9 If the maintenance forecast function is enable please reset the accumulated data about grease Carries out the resetting operation by RT ToolBox3 option or parameter MFGRST Refer to separate RT ToolBox3 RT To...

Page 155: ... Refer to the separate Instruction manual Controller setup basic operation and maintenance about controller s battery About the purchase of the battery refers to Page 147 5 5 Maintenance parts If error 7500 or 112n n indicates the axis number occurs the program data and other data in the controller is lost and it becomes necessary to load the data such as program and origin data again If error 745...

Page 156: ...RV 2FR series Fig 5 30 Replacing the battery RV 2FR series 1 Turn the controller control power OFF 2 Remove the battery cover referring to Page 100 5 3 2 Installing removing the cover 3 Check that the capacitor is fully charged Press the button on the DQ006 circuit board and check that the LED on the same circuit board turns on Replace the battery within 15 minutes after checking that the LED turn...

Page 157: ... on when the button is pressed the capacitor needs to be charged Turn on the controller and charge the capacitor for approximately 30 minutes 4 Replaces the backup battery one by one The battery holder is located inside the CONBOX cover Remove the old battery from the holder and disconnect the lead connector 5 Insert the new battery into the holder and connect the lead connector Replace all batter...

Page 158: ... carried out before the total amount of servo on time reaches the specified time 24 000 hours for the robot arm and 36 000 hours for the controller See Fig 5 32 However the degree of the equipment s wear and deterioration presumably varies depending on their operat ing conditions Especially for operation with high load and frequency the maintenance cycle may be shorter For details on the part sele...

Page 159: ... 4Lubrication 10 Lithium battery MR BAT6V1 Base section 4 5 3 5Replacing the backup battery RV 4FR 7FR series 11 Timing belt J1 axis 1 5 3 3Inspection replacement of timing belt Mitsubishi Electric 12 J3 axis 1 13 J4 axis 1 14 J5 axis 1 15 J6 axis 1 16 Grease Reduction gears of each axis A small amount 5 3 4Lubrication 17 Lithium battery MR BAT6V1 Base section 4 5 3 5Replacing the backup battery R...

Page 160: ...axis 1 33 J4 J5 axis 2 34 J6 axis 1 RV 7FR Standard arm type 35 Reduction gears J1 J2 axis 2 Mitsubishi Electric 36 J3 axis 1 37 J4 axis 1 38 J5 axis 1 39 J6 axis 1 RV 7FRL Long arm type 40 Reduction gears J1 axis 1 Mitsubishi Electric 41 J2 J3 axis 2 42 J4 axis 1 43 J5 axis 1 44 J6 axis 1 RV 7FRLL Long arm type 45 AC servo motor J1 J2 axis 2 Mitsubishi Electric 46 J3 axis 1 47 J4 axis 1 48 J5 axi...

Page 161: ...ce and Inspection Maintenance parts 5 149 RV 13FLR Long arm type 67 Reduction gears J1 axis 1 Mitsubishi Electric 68 J2 axis 1 69 J3 axis 1 70 J4 axis 1 71 J5 axis 1 72 J6 axis 1 No Names Usage place Q ty Supplier ...

Page 162: ...e position are correct For the details of the ABS mark position and the joint coordinates refer to Page 175 5 6 3 ABS origin method No Method Explanation Cases when setting the origin is required Remarks 1 Origin data input method The origin data set as the default is input from the T B When the data is lost due to flat battery of the robot controller when C7500 occurs The setting method is explai...

Page 163: ...hod before shipment Note that the 5 axis type robot does not have the J4 axis The origin data to input is found on also the robot examination report sheet Always install remove the cover with the controller control power turned OFF Failure to do so could lead to physical damage or personal injury should the robot start moving due to incorrect operations Model Cover RV 2FR series J1 motor cover RV ...

Page 164: ...GIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 ORIGIN DATA D J1 J2 J3 J4 J5 J6 J7 J8 CLOSE 123 Selecting a menu The menu can be selected with one of the following methods A Press the numeral key for the No of the item to be selected B Using the and keys etc move the cursor to the item to be selected and then press ...

Page 165: ... the key five times will be set Press the key once and advance the cursor Press the key twice input and press the PQRS key four times input S Press the CHARACTER key and set to the numeral input mode Condition that 123 was displayed under the screen Press the 2 key input 2 and press the 9 key input 9 V S29 will appear at the D data on the teaching pendant screen 3 Press the key and move the cursor...

Page 166: ... J1 06DTYY J2 2 HL9X J3 1CP55V J4 T6 MSY J5 Z21J Z J6 A12 Z0 J7 J8 CLOSE ABC ORIGIN DATA CHANGE TO ORIGIN OK No 123 Yes Moving the cursor Press the and keys Inputting characters Press the CHARACTER key and set to the character input mode Condition that ABC was displayed under the screen The displayed character is scrolled each time at pressing the key How to input symbols The symbol is allocated t...

Page 167: ...e brake and jog feeding The following describes the positioning by releasing the brake After the positioning set the origin with the origin setting operation In the following procedure the brake is released for the axis with brake to move the arm with both hands When the brake is released the arm may fall by its own weight depending on the posture of the robot To ensure safety take appropriate mea...

Page 168: ...firm the axis for which the brakes are to be released 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 Select ORIGIN BRK Select BRAKE ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 BRAKE J1 0 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL select axis SPACE B...

Page 169: ... to the origin brake screen 8 Press the 1 key and display the Origin setting selection screen 9 Press the 3 key and display the Tool selection screen Pinhole J1 Pinhole J1 RV 13FR series RV 4FR 7FR series Diagram of the robot viewed from the top Pinhole J1 RV 2FR series Diagram of the robot viewed from the top Diagram of the robot viewed from the top Complete brake release BRAKE J1 1 J2 0 J3 0 J4 ...

Page 170: ...1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL COMPLETED Release the brake Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are re...

Page 171: ...akes are to be released 5 One worker must securely support the upper arm with both hands 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 the RV 13FR series brake is released in an off and on way because to drop J2 axis slowly MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORI...

Page 172: ...nd fasten 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 arm When the brakes are released the robot arm could drop by its own weight depending on the posture Robot model Position RV 2FR series Around 90 RV 4FR series Around 107 RV 7FR 13FR series Around 0 Pinhole J2 RV 4FR series Pinhole J2 RV ...

Page 173: ... released the arm may fall by its own weight depending on the posture of the robot To ensure safety take appropriate measures such as supporting the axis to avoid the free fall If F1 key or enable switch of T B is released the brakes will be work immediately CAUTION CAUTION ...

Page 174: ...BRAKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 SPACE TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 0 1 ORIGIN TOOL CHANGE TO ORIGIN OK No 123 Yes TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 0 COMPLETED 1 Release the brake Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 i...

Page 175: ...akes are to be released 5 One worker must securely support the upper arm with both hands 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 the RV 13FR series brake is released in an off and on way because to drop J2 axis slowly MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORI...

Page 176: ...n the pinhole of the No 1 arm and the pinhole at the elbow Feed through the J3 axis origin jig φ6 into the aligned pinholes and fasten Robot model Position RV 2FR 4FR series Around 90 RV 7FR series Around 115 RV 13FR series Around 90 RV 4FR series RV 7FR series Pinhole J3 Pinhole J3 RV 13FR series Pinhole J3 RV 2FR series Pinhole J3 ...

Page 177: ...ey and display the Tool selec tion screen 11 Input 1 into the J3 axis Set 0 to other axes 12 Press the EXE key and display Confirmation screen 13 Press the F1 key and the origin position is set up 14 Setting of the origin is completed 15 Refer to Page 182 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal CAUTION CAUTION BRAKE J1 0 J2 0 J3 0 J4 0 J5 0...

Page 178: ...kes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately Select the axis of origin setting Do cursor movement into the parenthesis of each axis by the arrow key The origin is set only for the axis for which a 1 is displayed on the screen If the origin is not ...

Page 179: ... the J4 axis Input 1 into the J4 axis Set 0 to other axes 4 Confirm the axis for which the brakes are to be released 5 One worker must securely support the upper arm with both hands 6 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORIGIN ...

Page 180: ...ork the brake Press the F4 key and return to the origin brake screen 9 Press the 1 key and display the Origin setting selection screen 10 Press the 3 key and display the Tool selec tion screen Robot model Position RV 2FR series Around 50 RV 4FR 7FR 13FR series Around 0 Pinhole J4 axis RV 2FR series Pinhole J4 axis RV 4FR 7FR 13FR series BRAKE J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 1...

Page 181: ...1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL COMPLETED 1 0 Release the brake Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes ar...

Page 182: ...ow key move the cursor to the J5 axis and press the 1 key Set 0 to other axes 5 Confirm the axis for which the brakes are to be released 6 The one person needs to support the list part securely with both hands 7 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key Robot model Cover RV 2FR series No 2 arm cover R RV 4FR 7FR 13FR serie...

Page 183: ...weight depending on the posture of the robot To ensure safety take appropriate measures such as supporting the axis to avoid the free fall If the F1 key or the enabling switch of T B is detached the brake will work immediately 9 Detach the F1 key and work the brake Next set the J6 axis posture Robot model Position RV 2FR series Around 75 RV 4FR 7FR 13FR series Around 90 Pinhole J5 ピン穴 J5軸 RV 2FR s...

Page 184: ...o the J6 axis and press the 1 key Set 0 to other axes Robot model Bolt RV 2FR 4FR 7FR series M5 2 pcs RV 13FR series M6 2 pcs Bolt customer preparation ABS mark J6 axis Bolt customer preparation ABS mark RV 2FR series RV 4FR 7FR 13FR series The J6 axis dose not have a mechani cal stopper When setting the origin position do not rotate the axis more than the motion range 200 deg CAUTION The J6 axis ...

Page 185: ... F4 key and return to the origin brake screen 16 Press the 1 key and display the Origin setting selection screen 17 Press the 3 key and display the Tool selection screen 18 Press the Arrow key move the cursor and set 1 to the J5 axis and J6 axis Set 0 to other axes 19 Press the EXE key and display Confirmation screen BRAKE J1 0 J2 0 J3 0 J4 0 J5 0 J6 1 J7 0 J8 0 CLOSE 123 REL SPACE ORIGIN BRAKE 1 ...

Page 186: ...Yes Release the brake Do cursor movement into the parenthesis of each axis by the arrow key The brakes can be released only for the axis for which a 1 is displayed on the screen If the brakes are not to be released press the 0 key and display a 0 If the F1 key on the teaching pendant or the enabling switch is detached while the brakes are released the brakes will be work immediately Select the axi...

Page 187: ...be set for all axes simultaneously or each axis independently To align the ABS marks view the robot from the front The deviation between the end points of the two triangular marks must be 1 mm or less The positions where the ABS mark is attached are shown in below Refer to Page 24 2 3 Confirming the operation for details on the jog operation 1 RV 2FR series Fig 5 36 ABS mark attachment positions R...

Page 188: ...㼕㼒㼕㼏㼍㼠㼕㼛㼚㻿㼠㼍㼚㼐㼍㼞㼐㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻭㻮㻿㻌㼙㼍㼞㼗㻶㻡㻌㼍㼤㼕㼟㻶㻟㻌㼍㼤㼕㼟㻶㻞㻌㼍㼤㼕㼟㻶㻝㻌㼍㼤㼕㼟㻶㻠㻌㼍㼤㼕㼟㻶㻢㻌㼍㼤㼕㼟㻶㻢㻌㼍㼤㼕㼟ＡＢＳマークの設定範囲 1mm以内 1mm以内プラス側ずれ量マイナス側ずれ量ＡＢＳマーク拡大図 Note Not used for RV 4FRJL 5 axis type robot The angles of each axis which sets up the ABS origin are shown below Model J1 axis J2 axis J3 axis J4 axis J5 axis J6 axis RV 4FR series 0 degrees 107 degrees 90 degrees 0 degrees 90 degrees 0 degrees ABS m...

Page 189: ...㼕㼛㼚㻯㼘㼑㼍㼚㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻻㼕㼘㼙㼕㼟㼠㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻙㻿㻴㼤㼤㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻿㼠㼍㼚㼐㼍㼞㼐㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻶㻡㻌㼍㼤㼕㼟㻶㻢㻌㼍㼤㼕㼟㻿㼠㼍㼚㼐㼍㼞㼐㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚ＡＢＳマーク拡大図ＡＢＳマークの設定範囲 1mm以内 1mm以内プラス側ずれ量マイナス側ずれ量 The angles of each axis which sets up the ABS origin are shown below Model J1 axis J2 axis J3 axis J4 axis J5 axis J6 axis RV 7FR series 0 degrees 0 degrees 115 degrees 0 degrees 90 degrees 0 degrees ABS mark Within 1mm ...

Page 190: ...㼒㼕㼏㼍㼠㼕㼛㼚㻻㼕㼘㼙㼕㼟㼠㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻯㼘㼑㼍㼚㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻻㼕㼘㼙㼕㼟㼠㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻿㼠㼍㼚㼐㼍㼞㼐㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻭㻮㻿㻌㼙㼍㼞㼗㻭㼂㼕㼑㼣㻌㻭㻌㻔㻶㻡㻌㼍㼤㼕㼟㻘㻌㻶㻢㻌㼍㼤㼕㼟㻕㻿㼠㼍㼚㼐㼍㼞㼐㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚 The angles of each axis which sets up the ABS origin are shown below J1 axis 0 degrees J2 axis 0 degrees J3 axis 90 degrees J4 axis 0 degrees J5 axis 90 degrees J6 axis 0 degrees ＡＢＳマーク拡大図ＡＢＳマークの設定範囲 1mm以内 1mm以内プラス側ずれ量マイナス側ずれ量 ABS mark With...

Page 191: ...ings are completed After setting the origin when the joint coordinates of the ABS mark position deviate from the coordinates of the ABS origin by 1 5 or more align the end points of the ABS marks and set the origin using the ABS origin method again When the ABS mark label of the axis other than the J6 axis is peeled off align the pinholes used to set the origin with the jig method The joint coordi...

Page 192: ...ration for details on the jog operation Choose the user origin position as the position where it doesn t move by the gravity This position is left as a guideline to position all axes with jog operation when setting the origin again with this method 2 Enter the JOINT jog mode and display the joint coordinates on the teaching pendant screen Record the value of the axis for which the origin is to be ...

Page 193: ...to origin setting Press the EXE key and display Confirmation screen 9 Press the F1 key and the origin position is set up The origin settings are completed by the user origin method USER J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL ORIGIN USER CHANGE TO ORIGIN OK No 123 Yes ...

Page 194: ...nstalling removing the cover and remove the cover 2 Confirming the origin data Confirm the value displayed on the teaching pendant s Origin Data Input screen Refer to Page 151 5 6 1 Setting the origin with the origin data input method 3 Inputting the origin data and display the Origin Data Input screen on the teaching pendant display screen 3 Recording the origin data Write the origin data display...

Page 195: ...y system separated from the primary power supply of the robot to supply AC power to the 24V DC power supply Note For using the CR800 R Q controller it is necessary to turn on the primary power supply of the robot CPU system PLC But do not turn on the primary power supply of the CR800 R Q controller 㼀㼛㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼜㼛㼣㼑㼞㻌㼟㼡㼜㼜㼘㼥㻌㼟㼥㼟㼠㼑㼙㻱㼄㼀㻝㻭㻯㻾㻤㻜㻜㻌㼏㼛㼚㼠㼞㼛㼘㼘㼑㼞㻯㻺㻡㻝㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻱㼄㼀㻝㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻞㻠㼂㻌㻰㻯㻌㼛㼡㼠㼜...

Page 196: ... will occur Note For using the R800 R Q controller turn ON the 24V DC power supply then the robot CPU system power on 4 Release the brake using the teaching pendant For the brake release operation using the teaching pendant refer to Explanation of operation methods in the separate volume Instruction Manual Detailed Explanations of Functions and Operations ...

Page 197: ...he plane through the J1 axis vertical to the ground 5 axis type robot P is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground 6 axis type robot Fig 6 1 Configuration flag RIGHT LEFT 2 ABOVE BELOW P is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis Fig 6 2 Configuration flag ABOVE BELOW 㻾㻵㻳㻴㼀㻡㻙㼍㼤㼕㼟㻌㼠㼥㼜㼑㻢㻙...

Page 198: ...s means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis Fig 6 3 Configuration flag NONFLIP FLIP 㻲㻸㻵㻼㻺㻻㻺㻌㻲㻸㻵㻼㻶㻠㻌㼍㼤㼕㼟㻶㻢㻌㼍㼤㼕㼟㻌㼒㼘㼍㼚㼓㼑㻌㼟㼡㼞㼒㼍㼏㼑 FL1 Flag 1 B0000 0000 1 0 NONFLIP FLIP Note B is shows the binary The illustration is an example ...

Page 199: ......

Page 200: ...ADA 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 Jan 2020 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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Mitsubishi Electric MELFA RV-13FR Series, Instruction Manual

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