Mitsubishi Electric RH-12FH Series, Instruction Manual

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CONTENTS
i
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 .............................................................................................................................................................. 2-6
2.1 Confirming the product ......................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-7
2.2.1 Unpacking ............................................................................................................................................................................ 2-7
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
(1) RH-3FH/6FH series ................................................................................................................................................... 2-8
(2) RH-12FH/20FH series .............................................................................................................................................. 2-9
2.2.3 Installation procedures ................................................................................................................................................ 2-11
2.2.4 Grounding procedures .................................................................................................................................................. 2-13
(1) Grounding methods ................................................................................................................................................... 2-13
(2) Grounding procedures ............................................................................................................................................. 2-13
2.2.5 Connecting with the controller ................................................................................................................................ 2-14
(1) CR750 controller ....................................................................................................................................................... 2-14
(2) CR751 controller ....................................................................................................................................................... 2-16
2.2.6 Ethernet Cables .............................................................................................................................................................. 2-18
(1) No.2 arm ........................................................................................................................................................................ 2-18
(2) Base area ...................................................................................................................................................................... 2-19
2.2.7 Passing air hoses and cables through the shaft ............................................................................................... 2-21
(1) Specifications of internal air hoses and cables ............................................................................................ 2-21
(2) Customer prepared products ............................................................................................................................... 2-21
(3) Installation procedure .............................................................................................................................................. 2-22
(4) RH-3FH series ............................................................................................................................................................ 2-24
(5) RH-6FH series ............................................................................................................................................................ 2-25
(6) RH-12FH/20FH series ............................................................................................................................................ 2-26
2.2.8 About oil mist specification ....................................................................................................................................... 2-27
(1) Piping for pressurization inside robot arm ...................................................................................................... 2-27
2.2.9 About clean specification ........................................................................................................................................... 2-27
(1) Piping for suction inside robot arm .................................................................................................................... 2-27
(2) Arrangement of the ventilation duct ................................................................................................................. 2-28
2.3 Setting the origin ................................................................................................................................................................... 2-29
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-29
(1) CR750 controller ....................................................................................................................................................... 2-29
(2) CR751 controller ....................................................................................................................................................... 2-30
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-31
(1) Confirming the origin data ..................................................................................................................................... 2-31
(2) Turning ON the control power ............................................................................................................................. 2-31
(3) Preparing the T/B ..................................................................................................................................................... 2-32
(4) Selecting the origin setting method ................................................................................................................... 2-33
(5) Inputting the origin data ......................................................................................................................................... 2-34
(6) Installing the battery cover. .................................................................................................................................. 2-35
2.4 Confirming the operation .................................................................................................................................................... 2-36
(1) JOINT jog operation ................................................................................................................................................. 2-41
(2) XYZ jog operation ...................................................................................................................................................... 2-43
(3) TOOL jog operation .................................................................................................................................................. 2-45
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-47
(5) CYLNDER jog operation ......................................................................................................................................... 2-49
(6)
Work jog operation ......................................................................................................... 2-51
3 Installing the option devices ..................................................................................................................................................... 3-58
3.1 Installing the solenoid valve set ...................................................................................................................................... 3-58