Mitsubishi Electric RH-12FH Series Instruction Manual Download Page 13

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CONTENTS

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(3) J3 and J4 axis origin setting ............................................................................................................................. 5-123

5.6.3 ABS origin method ..................................................................................................................................................... 5-124

(1) Select the T/B ........................................................................................................................................................ 5-126

5.6.4 User origin method ..................................................................................................................................................... 5-128
5.6.5 Recording the origin data ........................................................................................................................................ 5-130

6Appendix ............................................................................................................................................................................ Appendix-131

Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-131

Summary of Contents for RH-12FH Series

Page 1: ...Mitsubishi Industrial Robot RH 3FH 6FH 12FH 20FH Series INSTRUCTIONMANUAL ROBOT ARM SETUP MAINTENANCE BFP A8865 AA ...

Page 2: ......

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: ...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 SSCNET III connector after disconnecting the SSCNET III cable If the cap is not attached dirt or dust may adhere to the connector pins resulting in deterioration connector properties and leading to malfunction Make sure there are no mistakes in the wiring Con...

Page 6: ... pins with the following numbers Crimping caulking is recommended to connect the ACIN terminals For single phase 1 and 3 For three phase 1 2 and 3 Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker 5 Connect this ACIN connector to the ACIN connector on the front of the controller 6 Connect the grounding cable to the PE terminal M4 screw 7 Connect t...

Page 7: ...cut distance may change Therefore when begin ning automatic operation moves at low speed at first and you should gather speed slowly with being careful of interference with peripheral equipment 2 It can be confirmed whether the specified position exist in the defined area by using the instruc tion command Zone It can utilize as one of the methods for collision evasion Refer to the detailed descrip...

Page 8: ...pection schedule was corrected 2013 07 18 BFP A8865 H Descriptions in 2 2 5 Connecting with the controller were modified The descriptions for the simple spanner for resin nuts of external wiring piping box option attachment were added Table 5 3 Cover fixing screw list was corrected Notes about antirust grease were added to 2 2 Installation 2013 09 19 BFP A8865 J Descriptions in 2 2 6 Connecting wi...

Page 9: ...65 S The value of the vertical direction translation force of RH 12 20FH series is corrected error 5 500 N 2016 04 06 BFP A8865 T 2 2 2 Transportation procedures and 3 1 Installing the solenoid valve set were sup plemented 2016 10 21 BFP A8865 U Timing belt type was changed 2017 05 23 BFP A8865 V Parameter settings when using a solenoid valve was added The J1 axis lubrication point of the RH 6FH s...

Page 10: ...e RH 3FH series RH 6FH series RH 12FH series RH 20FH 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 has been written to be accurate as much as possible Please interpret that items not described in this document cannot be perfo...

Page 11: ...es 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 t...

Page 12: ...3 4 Inspection maintenance and replacement of timing belt 5 87 1 Timing belt replacement period 5 87 2 RH 3FH series Inspecting Adjusting the J3 axis timing belt 5 88 3 RH 3FH series Replacing the J3 axis timing belt 5 89 4 RH 6FH 12FH 20FH series Inspecting Adjusting the J3 axis timing belt 5 92 5 RH 6FH 12FH 20FH series Replacing the J3 axis timing belt 5 93 6 RH 3FH 6FH 12FH 20FH series Inspect...

Page 13: ... the T B 5 126 5 6 4 User origin method 5 128 5 6 5 Recording the origin data 5 130 1 Confirming the origin data label 5 130 2 Confirming the origin data 5 130 3 Recording the origin data 5 130 4 Installing the battery cover 5 130 6Appendix Appendix 131 Appendix 1 Configuration flag Appendix 131 ...

Page 14: ...lained Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to auto matic operation and the maintenance and inspection p...

Page 15: ...ndling 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 these precautions to safely use the robot Precaution indicating cases where operator could be subject to injury or physical damage could occur if handling is mistaken Always observe thes...

Page 16: ...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 17: ...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 18: ...standards 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 th...

Page 19: ...xing plates 1 set For robot arm transportation 7 Fixing plates installation bolt 1 set 8 Installation bolt for machine cable M4 x12 4 pcs To fix to the back of robot arm base RH 6FH series 1 Robot arm 1 unit 2 Guarantee card 1 copy 3 Installation bolts M8 x 40 4 pcs For robot arm installation 4 Spring washer for installation bolts For M8 4 pcs 5 Plain washer for installation bolts For M8 4 pcs 6 G...

Page 20: ... 2 of the cardboard box off with both hands Fig 2 1 b 3 Remove the hexagon socket bolts 3 four positions which fix the robot Fig 2 1 c This completes the unpacking Note The robot must be transported without removing the fixing plate A and B Remove after installing When repackaging the robot in the wooden frame always use the fixing plate 上ブタａｂｃ引き抜くテープ固定台六角穴付ボルト４箇所ロボット本体固定具A 固定具B CAUTION ...

Page 21: ... prevent accidents do not hold the robot from the left right sides or hold covers that have no grips Be careful not to apply force to the shaft section J3 axis The shaft may be damaged and the overload error may occur at the time of movement When installing the fixing tool again place the robot in the posture where each axis shows the values listed in the table below The robot should keep vertical...

Page 22: ... transport 5 After installing the robot refer to Page 11 2 2 3 Installation procedures remove the wires the wire hooks the robot will stand by itself as shown in Fig 2 3 the self supporting plate transporting jig and fix ing plate 6 Always attach the self supporting plate fixing plate and transporting jig and follow the above procedures and methods to transport the robot for secondary transportati...

Page 23: ...the self supporting plate is not attached to the robot 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 ...

Page 24: ...withstand the arm reaction during operation and resistance against deformation and vibration caused by the static dynamic load of the robot arm and peripheral devices etc 6 After installing the robot remove the self supporting plate hanging jig and fixing plate 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 t...

Page 25: ... arm in the position where direct rays or the heat of lighting hits The skin tem perature of the robot arm may rise and the error may occur Item Unit Value RH 3FH series Tilt moment ML N m 240 Torsional moment MT N m 255 Horizontal direction translation force FH N 810 Vertical direction translation force FV N 380 RH 6FH series Tilt moment ML N m 1 640 Torsional moment MT N m 710 Horizontal directi...

Page 26: ...e to the robot arm and controller as possi ble and the length of the grounding wire should be short Fig 2 5 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 sec tion A remove it with a file etc 3 Connect the grounding cable to the grounding screw section Fig 2...

Page 27: ...ke 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 become...

Page 28: ...orrectly the robot will not operate correctly creating a dangerous situation Take 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 conne...

Page 29: ...ver b Feed the connector of robot side to the opening on the back of the robot base モータ電源ケーブルモータ信号ケーブルロボット本体コントローラ CN2 CN1 ネジ固定用 2本モータ信号 CN2 モータ電源 CN1 AMP1 AMP2 BRK Note 1 Although the picture is the CR751 D controller also the connec tion method is the same in the CR751 Q controller The cables are passed into the opening AMP1 AMP2 CN2 Cable clamp fixing plate The each boards are fixed in the...

Page 30: ...s completes connecting the machine cables 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 Take special care to the leading of the connection cable If the cable ...

Page 31: ...omer s connector 5 It is possible to use the optional hand internal wiring and piping set to feed the tool cable through the inside of the shaft Replace the connector of the hand input cable that is attached to the hand wiring and piping set and then connect Please reference Page 66 3 5 Hand internal wiring and piping set 6 After the optional hand wiring and piping set has been installed install t...

Page 32: ...ustomer 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 6 Feed the Ethernet cable through the hole that was created by removing the grommet 7 Feed the end of the Ethernet cable through the cable clamp and securely fasten the ADD cover with the lock nut 正常な状態折れた状態エアホー...

Page 33: ...caused if the robot is used under the condition that the packing is broken or stripped because oil mist etc will invade in the arm When ADD cover is installed please keep too much load from being applied to the cables and the air hoses If too much load is applied the cable will be broken and the hose is bent therefore robot and pneumatic drive equipment cannot operate normally When ADD cover is in...

Page 34: ...eed of J3 axis Minimum R of bending Operating angle of J4 axis RH 3FH φ11mm 50 or less 1 100mm sec 20mm 360deg RH 6FH φ18mm 50 or less 2 400mm sec 25mm 360deg RH 12FH φ18mm 50 or less 2 800mm sec 25mm 360deg RH 20FH φ21mm 50 or less 2 400mm sec 25mm 360deg Name Qty Usage and recommended product Expanding sleeve Moderate quantity Protecting the air hoses and cables and improving the twisting rigidi...

Page 35: ... using the hand input signal or the optional solenoid valve refer to Page 66 3 5 Hand internal wiring and piping set 8 The connected connectors are stored to the c portion Do not remove the cable ties which fixing connectors Fix the plate on the No 2 arm other cables and air hoses with cable ties In this way the internal cables and connectors do not touch the plate edge and others or break due to ...

Page 36: ... on the tool side is not processed troubles such as fuse blown by ground fault or short circuit may occur Check that the end of the cables has been processed before powering on the controller 12 Turn off the controller s power supply then install the No 2 arm cover U securely as before with fixing screws tightening torque 1 39 to 1 89 Nm When installing the cover check that no air hose or cable is...

Page 37: ... Fig 2 11 Installation of air hoses and cables inside the robot s shaft RH 3FH series Connect inside the No 2 arm cover U No 2 arm cover U Match up the peak of the air hose and cable with the top end of the fixing plate Expanding sleeve Approx 10mm Silicone grease application places Perform the operation of the J3 and J4 axes and check that no interference occurs J3 axis J4 axis Top end of the J3 ...

Page 38: ... Fig 2 12 Installation of air hoses and cables inside the robot s shaft RH 6FH series Connect inside the No 2 arm cover U No 2 arm cover U 2 12 c 8 Match up the peak of the air hose and cable with the top end of the fixing plate Expanding sleeve Approx 10mm 4 5 9 Silicone grease application places 10 a b 3 6 Top end of the J3 axis operat ing range 1 Perform the operation of the J3 and J4 axes and ...

Page 39: ... Fig 2 13 Installation of air hoses and cables inside the robot s shaft RH 12FH 20FH series Connect inside the No 2 arm cover U No 2 arm cover U 2 12 Match up the peak of the air hose and cable with the top end of the fixing plate Expanding sleeve Approx 10mm 4 5 9 Silicone grease application places 10 3 a b 6 c 8 11 Seal the outlet with the liquid gasket Only for clean oil mist specification Fixi...

Page 40: ... air purge Fig 2 14 Air purge 2 2 9 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 15 Vacuum Coupling for pres surization φ8 N...

Page 41: ...ning and therefore the following two points should be considered when deciding where to locate the ventilation duct s opening The opening should be facing downwards The opening should not be located in the vicinity of dust dirt or liquids etc Recommended cleanliness of surrounding area less than ISO class 5 Fig 2 16 Arrangement of the exhaust duct Note When using the optional electromagnetic valve...

Page 42: ...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 Please installing and removing so that stress does not start the cable with the connector itself 1 CR750 controller Explain the installation method of T B below 1 Check that the POWER power supply switch of the robot controller is OFF 2 Connects T B connector to the robot c...

Page 43: ...Installing and removing the T B CR751controller The installation of T B is finished A部ティーチングボックス T B T B接続用コネクタ A部詳細手回しロック 2箇所 Teaching pendant Details of the A section A Hand lock Two places T B connector If error C0150 occurs At the time of the first power supply injection error C0150 the serial number of the robot arm has not been set up occur the robot after purchase Parameter Please input t...

Page 44: ...lso 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 2 Turning ON the control power Confirm that there are no operators near the robot before turning the power ON 1 Turn the controller POWER switch ON The CR750 co...

Page 45: ...e menu selection screen will appear The following operations are carried out with the T B 下 ENABLE ランプ点灯上 DISABLE ＴＢ背面 Up Disable Down Enable Lighting MODE MANUAL AUTOMATIC Operating from the T B Always set the mode of the controller to MAMNUAL and then set the T B ENABLE switch to ENABLE When the T B is valid only operations from the T B are possible Operations from the controller or external s...

Page 46: ... 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 the...

Page 47: ...ss 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 curs...

Page 48: ... DATA D V S29 J1 06DTYY J2 2 HL9X J3 1CP55V J4 T6 MSY J5 J6 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 to...

Page 49: ... posi tion where the ABS marks align each other and check the displayed joint coordi nates of the position For the details of the ABS mark position and the joint coordinates refer to Page 110 5 6 Resetting the origin and Page 124 5 6 3 ABS origin method Confirm that the origin has been set If the origin has not been set will appear at the current position display on the teaching pendant the JOINT ...

Page 50: ...moves independently J4軸 J2軸 J1軸 J3軸 J1 axis J2 axis J3 axis J4 axis X X Y Y Z Z 直交座標系原点先端軸 Z Z X X Y Y C Base coordinate sys tem reference origin End axis 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 ...

Page 51: ...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 X X Y Y Z Z 直交座標系原点先端軸 Z Z X X Y Y J4軸 End axis J4 axis Base coordinate sys tem reference origin The axis moves straight along the base coordinate system At this time the end axis posture is not maintained Also the end axis posture cha...

Page 52: ...上下 Arc Vertical Radius 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 Also while maintaining the axis posture position the end axis posture changes ...

Page 53: ... work coordinate system Also while maintaining the end axis position the end axis posture changes When the controller software version is R5 F Q series S5 F D series or later jog operation around the work coordinates system is available EX T jog In this jog operation when the jog operation is performed for the posture elements the posture rotates on the Xw axis Yw axis or Zw axis of the work coord...

Page 54: ... OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUMBER of the controller 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 W...

Page 55: ...4 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 axis jog operation J3軸 J3 axis J4 axis jog operation J4軸回転 J4 axis 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 ...

Page 56: ... STATUS NUMBER of the controller Set the override to 10 here for confirmation work When the X J1 keys are pressed the robot will move along the X axis plus direction 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 pres...

Page 57: ...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 X Y Y Z Z Z Z X X Y Y C Changing the end axis posture The position of the end axis will not change When alarm No 5150 occurs If alarm No 5150 ORIGIN NOT SET occurs the origin has not...

Page 58: ...e override to 10 here for confirmation work When the X J1 keys are pressed the robot will move along the X axis plus direction of the tool coordinate system 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 of the tool coordinate system When the Y J2 keys are pressed move along the minus direction When t...

Page 59: ...carry out XYZ jog 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 Z Z X X Y Y C Changing the end axis posture The Position of the end axis will not change When alarm No 5150 occurs If alarm No 5150 ORIGIN NOT SET occurs the origi...

Page 60: ...bot will move along the X axis plus direction 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 Se...

Page 61: ...tion 2 48 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 Z Z X X Y Y X X Y Y Z Z J4 The Position of the end axis will not change Changing the end axis posture ...

Page 62: ... confirmation work Assuming that the current position 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 d...

Page 63: ...hen 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 X X Y Y Z Z C 半径上下円弧 Changing the flange surface posture Vertical Arc Radius The position of the end axis will not change ...

Page 64: ...stem teaching point The setting definition method of the work coordinates system is shown in the following 1 Select 6 ENHANCED screen on the MENU screen Zw Xw Yw Z Y X Robot coordinates system Work WY WO WX work coordinates Notes The figure is the example of RV 4F but other types are the same The jogging movement based on this work is possible Teaching point WO Work coordinates system origin WX Po...

Page 65: ...esponding to TEACH F1 The confirmation screen is displayed 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 WO X 0 00 Y 0 00 Z 0 00 123 W JUMP W GRID CLOSE WORK JUMP CHOOSE ONE OF THE WORK N...

Page 66: ...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 67: ...ys 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 will go down The cur...

Page 68: ...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 of the work coordi nates system ...

Page 69: ...the plus direction around the Z axis Zw of work coordinates system Ex T coordinates system When the C J6 keys are pressed the control point will rotate in the minus direction X X Y Y Z Z Z Z Xw Yw Zw Zw Xw Yw ツール長 Changing the end axis posture 1 Work jog mode The position of the control point does not change The end axis is rotated Work coordinates system Tool length Control point X X Y Y Z Z Xw Y...

Page 70: ...near movement is possible and then carry out XYZ jog 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 Tool length The default tool length is 0mm and the control point is the center of the end axis After installing the hand set the...

Page 71: ... 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 m Install to inside the No 2 arm cover U No 2 arm cover U Solenoid valve Fix to plate primary piping air hose φ6 P port Hand output signal connection con nectors GR1 GR2 Connect to the GR1 and GR2 conne...

Page 72: ... and port B Please refer to Table 3 1 and connect to the necessary ports Covers the unused solenoid valve joints with the plugs included Note 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 Silicon grease to apply to friction points is included with the product please refer to Page 66 3 5 Hand internal wiring and piping...

Page 73: ...he two air hoses connect the one marked AIR IN to the solenoid valve s P port and the one marked RETURN to the R port Note When connecting the RETURN air hose be sure to remove the dust cap attached at the RETURN joint 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 customer...

Page 74: ...late have some holes for fixing the cable hose with a cable tie Also anchor the cables to the plate by a cable tie to prevent the cable connectors from moving freely Otherwise the connectors may be damaged due to the impact of hitting devices near the connectors while the robot is under operating condition 7 Install securely the No 2 arm cover U as before with fixing screws tightening torque 1 39 ...

Page 75: ...he location shown in Fig 3 3 Pull out and check the connectors HC1 HC2 3 Connect the connector HC1 HC2 of optional cable with connector of robot arm side HC1 HC2 Connect with the same names Fix the connectors so that they will not move along with the robot movement Refer to Page 73 3 7 Connector protection when the option devices are installed 4 Pull the hand input cables out of the robot arm Refe...

Page 76: ...hown below 1 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 2 The hand output cable is stored in the location shown in Fig 3 4 Pull out and check the connectors GR1 GR2 3 Connect the connector GR1 GR2 of optional cable with connector of robot arm side GR1 GR2 Connect with the same names Fix the connectors so that they will not move along with the robot movement Refer...

Page 77: ...l stopper position Standard Change angle Note3 Note4 Note3 The changeable angle shown in Table 3 2 indicates the operation range by the software The mechanical stopper angle in the table shows the limit angle by the mechanical stopper Use caution when layout designing of the robot Note4 The changeable angle can be set independently on the side and side RH 3FH 6FH series J1 RH 3FH35 45 55 RH 6FH35 ...

Page 78: ... the controller 2 Set up the operating range changed into parameter MEJAR MEJAR J1 minus side J1 plus side Change the mechanical stopper origin position parameters If you have changed operating range on the J1 minus side change mechanical stopper origin position parame ters by the following step 1 Set MORG parameter to the angle which set mechanical stopper position MORG J1 mechanical stopper angl...

Page 79: ...he air hoses to the solenoid valve The diagram shows the connection to the optional solenoid valve as an example The air hoses can also be pulled out from the rear of the No 2 arm by using another option an external wiring and piping box For the details refer to Page 71 3 6 External Wiring and Piping Box For the connection to the optional solenoid valve connect the air hoses to the A and B ports o...

Page 80: ...2 Turn off the controller s power supply then install the No 2 arm cover U securely as before with fixing screws tightening torque 1 39 to 1 89 Nm When installing the cover check that no air hose or cable is pinched and no air hose is bent Note The installation surface of a clean and a oil mist specification covers is using sealing material In the event that the sealing material has been removed o...

Page 81: ...g installing the cover Fig 3 6 Installing the hand internal wiring and piping set RH 3FH Connect inside the No 2 arm cover U No 2 arm cover U Match up the peak of the air hose and cable with the top end of the fixing plate Expanding sleeve Approx 10mm Silicone grease application places Perform the operation of the J3 and J4 axes and check that no interference occurs J3 axis J4 axis Top end of the ...

Page 82: ...g installing the cover Fig 3 7 Installing the hand internal wiring and piping set RH 6FH Connect inside the No 2 arm cover U No 2 arm cover U 2 12 c 8 Match up the peak of the air hose and cable with the top end of the fixing plate Expanding sleeve Approx 10mm 4 5 9 Silicone grease application places 10 a b 3 6 Top end of the J3 axis operat ing range 1 Perform the operation of the J3 and J4 axes a...

Page 83: ...nstalling the cover Fig 3 8 Installing the hand internal wiring and piping set RH 12FH 20FH series Connect inside the No 2 arm cover U No 2 arm cover U 2 12 Match up the peak of the air hose and cable with the top end of the fixing plate Expanding sleeve Approx 10mm 4 5 9 Silicone grease application places 10 3 a b 6 c 8 11 Seal the outlet with the liquid gasket Only for clean oil mist specificati...

Page 84: ... No 2 arm a Coupling φ6 two couplings Coupling b φ6 two couplings Primary air supply to externally installed solenoid valve 2 Secondary piping air hose φ4 8 hoses RH 3FH 6FH φ6 8 hoses RH 12FH 20FH Air hose of the optional hand internal wiring and piping set or prepared by the customer b Coupling φ4 eight couplings Coupling φ6 eight couplings Taking in the secondary air from externally installed s...

Page 85: ...ng sure that the air hose and cables are not bent or trapped 6 Make sure that the wiring and piping lines on the No 2 arm avoid the side of the J2 reducer because gap is narrow it interfere with the No 2 arm cover U Fix the hoses and cables to the hole shown in section f of Fig 3 9 using cable tie There are 2 holes located left and right 7 If the cables and the air hoses have excess length please ...

Page 86: ...nectors for the hand input signals and the GR1 and GR2 connectors for the hand output signals insert the cables into the expanding sleeve 2 Connect the HC1 and HC2 connectors for the hand input signals and the GR1 and GR2 connectors for the hand output signals and cover the joint part with the expanding sleeve Fix the cables with cable ties at the both ends of the expanding sleeve Name Qty Recomme...

Page 87: ... 3 74 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 㻯㼍㼎㼘㼑㻌㼠㼕㼑㻴㼛㼘㼑㻯㼍㼎㼘㼑㻌㼠㼕㼑 ...

Page 88: ...ions 4 Basic operations The basic operations from creating the program to automatic operation are explained in section 4 Basic operations in the From Controller Setup to Maintenance manual Refer that manual as necessary ...

Page 89: ...on schedule Guideline for inspection period For one shift 10 Hr day 20 days month 3 months approx 600 Hr For two shifts 15 Hr day 20 days month 3 months approx 1 000 Hr Caution When using two lines the 3 month inspection 6 month inspection and yearly inspection must be carried out when half the time has passed 0 Hr Monthly inspection Monthly inspection 1 000 Hr Monthly inspection 3 month inspectio...

Page 90: ...cks 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 replace the part 8 Are there any cracks foreign contamination or obstacles on the bel lows For c...

Page 91: ...e off the old grease and supply the new grease 6 month inspection items 1 Has the dust accumulated into bellows For clean oil mist specification When environment with much dust Remove bellows and clean the inside Refer to Page 99 5 3 5 Replacing the bellows for how to remove bellows Yearly inspection items 1 Replace the backup battery in the robot arm Exchange it referring to Page 105 5 3 7 Replac...

Page 92: ...ual Always contact your dealer when parts are needed The origin of the machine system could deviate when this work is carried out Review of the position data and re teaching will be required 5 3 1 Robot arm structure The outline drawing of RH 3FH series is shown in Fig 5 2 and RH 6FH 12FH 20FH series is shown in Fig 5 3 Fig 5 2 Outline structure drawing of robot arm RH 3FH CAUTION J2軸モータ減速機減速機 J...

Page 93: ...ータ J4軸タイミングベルト1 J3軸タイミングベルト J4軸タイミングベルト2 ボールスプラインボールネジベース第1アーム第2アーム第2アームカバーD 第2アームカバーU No 2 arm cover U 11 Ball spline 7 J4 axis timing belt2 No 2 arm cover D 8 J3 axis motor No 2 arm Base 4 Reduction gears 6 J4 axis timing belt1 9 J3 axis timing belt 5 J4 axis motor 1 J1 axis motor 10 Ball screw No 1 arm 3 J2 axis motor 2 Reduction gears RH 6FH 12FH 20FH series ...

Page 94: ...tact dealer If the cover is used with the packing torn or peeled off oil mist and other substances may enter inside the arm and cause a malfunction 4 ADD cover lower side of back of base 3 No 2 arm cover B Back of No 2 arm cover 5 Battery cover 6 CONBOX cover upper side of back of base The type in the diagram is the RH 3FH however the cover is the same on the RH 6FH 12FH 20FH 1 No 2 arm cover U 2 ...

Page 95: ...and does not return to its original shape Moreover in the case of oil mist and clean specification models it is necessary to remove the bel lows Refer to Page 99 5 3 5 Replacing the bellows for details on how to remove bellows No Cover name Installation screw name Qty Note1 Note1 The fixing torque for each screw are 1 39 1 89Nm Remarks Common to RH 3FH 6FH 12FH 20FH series 1 No 2 arm cover U Truss...

Page 96: ...ing in line with form of the sticking surface Finally cut packing so that adjoining pieces have a 1mm overlap at the end b Apply liquid gasket to the cut edges Designated liquid gasket 1212 Maker Three Bond c Stick so that the gap may not be made to each other s packing Do not install the cover immediately after sticking packing Install the cover after the 6 hours pass after sticking packing for g...

Page 97: ...ample of sticking packing bad example Fig 5 7 Sticking the cord like packing Packing is stuck securely without sliding Sliding Some of the packings to be used are cord like Stick such packings by bending in line with the form Stick the packing Cord like packing Location at which packing is bent Location at which gasket is applied ...

Page 98: ...ッキンがずれているパッキンが重なっているパッキンの切断面が乱れているパッキンが斜めに切断されているガスケットを塗布していないパッキンが接触していないパッキンがずれているパッキンが重なっているパッキンの切断面が乱れているパッキンが斜めに切断されている Unsuitable overlap of packing A 1mm overlap 3 Stick the packing so that there is no gap between the adjacent pieces Gasket is not applied Ends of packing are not in contact with each other Displacement at the ends of packing Ends of packing overlap each other Cut ed...

Page 99: ...5Maintenance and Inspection Maintenance and inspection procedures 5 86 Fig 5 9 Example of order which tighten bolts 1 3 4 2 ...

Page 100: ... the sound wave type belt tension gauge in inspection and adjustment of the timing belt The recommendation gauge is shown below Please prepare by customer Refer to the Page 98 7 Timing belt tension for the tension adjustment value of the timing belt Maker Gates Unitta Asia Company Type U 505 Fig 5 10 Tension adjustment method of timing belt 1 Timing belt replacement period The timing belt life is ...

Page 101: ...sary install the No 2 arm cover U as before and finish the inspection 5 Lightly loosen J3 motor installation screws 2 Be careful not to overly loosen the screws 6 The nut which is fixing tension adjustment screw 1 is loosened turn tension adjustment screw 1 and adjust the tension of timing belt 4 When the screw is turned to the right the belt will be stretched and when turned to the left will loos...

Page 102: ...troller s power supply OFF 2 Refer to Page 81 Fig 5 4 Installing removing the cover and remove the No 2 arm cover U 3 Loosen the nut of tension adjustment screw 1 and loosen the tension adjustment screw 1 4 Remove two fixing screws 2 remove the J3 axis motor 3 remove the timing belt 4 from the timing pulley A 5 5 Timing pulley A 6 Timing pulley B Move the J3 axis to the position lowered about 30mm...

Page 103: ...nd piping set remove the fixing screws fixed to the top Remove the timing belt 4 from the timing belt removal space 9 created under the shaft fixing plate 8 by lift up 7 Shaft fixing screw four screws remove Also at the back left of the diagram 9 Timing belt removal space 4 Timing belt Remove from the timing belt removal space 9 to upward 8 Shaft fixing plate lift up 10 Shaft Ball screw spline 4 T...

Page 104: ...or 3 by tightening lightly the J3 axis motor fixing screw 2 two screws 9 Adjust the tension of J3 axis timing belt with referring to Page 88 2 RH 3FH series Inspecting Adjusting the J3 axis timing belt 10 Install No 2 arm cover U securely as before 11 Reset the origin of J3 and J4 axis with referring to the Page 110 5 6 Resetting the origin 12 When the maintenance forecast function is valid reset ...

Page 105: ...and finish the inspection 5 Lightly loosen J3 motor installation screws 2 Be careful not to overly loosen the screws 6 Loosen the tension adjustment screw 1 Adjusts by turning the tension adjustment screw 1 slowly and moving the J3 axis motor 3 little by little When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust tension to the above menti...

Page 106: ...otor 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 Adjust the tension of J3 axis timing belt with referring to Page 92 4 RH 6FH 12FH 20FH series Inspecting Adjusting the J3 axis timing belt 7 Install No 2 arm cover U securely as before 8 Reset the origin of J3 and J4 axis with referring to the Page 110 5 ...

Page 107: ...the accumulation data about the belt Reset by the dedicated screen or parameter MFBRST of RT ToolBox2 Refer to Instruction Manual RT ToolBox2 User s Manual for operation of RT2 and refer to Instruction Manual Detailed Explanation of Functions and Operations for the parameter This completes replacement of the J3 axis timing belt ...

Page 108: ...iming belt A 1 Fig 5 13 Inspecting Adjusting the J4 axis timing belt 1 Timing belt A Adjust next The No 2 arm bottom view Inside of the No 2 arm cover D 2 Timing belt B Adjust first Timing pulley D Timing belt B adjustment screw The No 2 arm upper view Inside of the No 2 arm cover U Shaft Push Push Timing pulley B Timing belt B adjustment screw Timing pulley A Timing pulley C Timing pulley A The R...

Page 109: ...careful not to overly loosen the screws 6 Loosen the nut of tension adjustment screw 4 for timing belt B Adjusts by turning the tension adjustment screw 4 slowly and moving the timing pulley C 5 little by little When the screw is turned to the right the belt will be stretched and when turned to the left will loosen Adjust tension to the above mentioned value Note Be careful if the belt is removed ...

Page 110: ...iated reset the origin Refer to Page 110 5 6 Resetting the origin 10 After adjustment fasten certainly the two J4 motor fixing fixing screws 7 And fasten certainly the nut of tension adjustment screw 8 Improper tightening may cause the belt to loosen with vibration 11 Install No 2 arm cover U and No 2 arm cover D securely as before and finish adjustment This completes adjustment of the J4 axis tim...

Page 111: ... 2 J4 shaft side 282 EV3GT 12 74 1 2 6 1 2 4 RH 6FH series J3 264 EV3GT 9 82 1 3 4 1 3 3 J4 motor side 315 EV3GT 6 64 1 0 3 1 0 2 J4 shaft side 363 EV3GT 12 95 1 5 6 1 5 4 RH 12FH series J3 288 EV3GT 12 71 1 1 6 1 1 4 J4 motor side 417 EV3GT 9 99 1 5 4 1 5 3 J4 shaft side 456 EV3GT 20 121 1 9 10 1 9 7 RH 20FH series J3 303 EV3GT 12 71 1 1 6 1 1 4 J4 motor side 417 EV3GT 9 99 1 5 4 1 5 3 J4 shaft s...

Page 112: ...sket 6 Install the No 2 arm cover D as before 7 Fix the bellows to shaft with adjusting the position of the bellows s bottom to 30mm from end of shaft Align two set screws M4 to the D cut surface and fix them securely 8 Fill the gap between the bellows fixing section and the shaft with a seal such as a liquid gasket 9 Sticks the attached ABS mark on the lower part of bellows Makes the J4 axis into...

Page 113: ...axis into the position of 0 degree by jog operation etc and match the ABS mark marking off line with ABS mark marking off line on the shaft In the condition that each other s ABS mark has matched fixes the bellows upper part 10 Fixes the fixing screw of the bellows stop ring as before and fixes the upper part of bellows securely The fixing screw should fix the bellows stop ring in the position use...

Page 114: ...ic Drive Systems Inc 24 000 Hr 12 g Battery cover 2 J2 axis reduction gears Grease nipple WB 610 Only addition 24 000 Hr 8 g No 2 arm cover U 3 Shaft ball screw spline Wipe the old grease and applies Multemp PS2 KYODO YUSHI CO LTD Every 2 000km movement 1 g Type B Type A There are two types of the position of J1 axis lubrication port one is inside of the battery cover type A and the other is on th...

Page 115: ...only the specified amount of grease Adding excess grease may cause grease to leak Use manual grease gun and inject grease with pressure 0 03Mpa or less Do not use the grease gun which derived by the factory air presser to avoid injecting by too high pressure A grease gun that fits the grease nipple is required Recommended grease gun KH 120 amount 140ml or KH 32 amount 200ml manufacture Yamada Corp...

Page 116: ... Refer to Page 81 Fig 5 4 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 Reference Page 99 5 3 5 Replacing the bellows and remove the bellows Replace the bellows in a place where there is no risk of contamination by dust and oil mist If it must be replaced in a dust filled area be sure to remove as much dus...

Page 117: ...e shaft ends or the nuts of the ball spline and the ball screw indi cated with the arrows below When the ball spline and the ball screw are moved with extra grease on them a large amount of grease is scattered inside the arm The grease may reach the timing belt inside the No 2 arm causing the timing belt to deteriorate early 10 Install the No 2 arm cover U as before Install the bellows as before i...

Page 118: ...d the controller simultaneously Table 5 6 The error about the battery The method of replacing the battery of robot arm is shown below 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 108 5 5 Maintenance parts If error 7500 or 112n occurs the program data and other data in the contro...

Page 119: ...ttery holder is located inside the battery cover 2 Remove the old battery from the holder and disconnect the lead connector 4 Insert the new battery into the holder and connect the lead connector Replace all batteries with new ones at the same time 5 All the batteries should be checked that it has been exchanged newly If the old battery is contained gener ating heat and damaging may occur 6 Instal...

Page 120: ... 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 19 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 121: ...he liquefied gasket is necessary for the place which uses two or more packings to connect A small amount RH 3FH series 4 Timing belt J3 axis 1 Mitsubishi Electric 5 J4 axis motor side 1 6 J4 axis shaft side 1 RH 6FH series 7 Timing belt J3 axis 1 Mitsubishi Electric 8 J4 axis motor side 1 9 J4 axis shaft side 1 RH 12FH series 10 Timing belt J3 axis 1 Mitsubishi Electric 11 J4 axis motor side 1 12 ...

Page 122: ...1 axis １ 6 J2 axis １ 7 Ball spline J3 axis general environment specification １ 8 J3 axis clean and oil mist specification １ 9 Ball screw J3 axis general environment clean and oil mist specification 1 10 Bellows J3 axis oil mist specification 1 11 J3 axis clean specification 1 12 Liquid gasket Bellows clean specification A small amount RH 20FH series 1 AC servo motor J1 axis 1 Mitsubishi Electric 2...

Page 123: ...of the position are correct For the details of the ABS mark position and the joint coordinates refer to Page 124 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 Use this method at the initial startup At the initial startup When the controller is replaced When the data...

Page 124: ...rposes the brakes must be released by two workers 1 J1 axis origin setting mechanical stopper 1 Press the 4 key on the menu screen and dis play the Origin Break selection screen 2 With both hands slowly move the J1 axis in minus direction and contact the axis against the mechanical stopper 3 Press the 1 key and display the Origin setting selection screen 4 Press the 2 key and display the Mechanica...

Page 125: ...E 123 ORIGIN MECH CHANGE TO ORIGIN OK No 123 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 b...

Page 126: ...the Origin setting selection screen 4 Press the 2 key and display the Mechanical stopper selection screen 5 Input 1 into the J2 axis Set 0 to other axes 6 Press the EXE key and display Confirmation screen 7 Press the F1 key and the origin position is set up MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 Ｊ2 ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 ...

Page 127: ... 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 axis of origin setting Do cursor movement into the parenthesis of each axis by the a...

Page 128: ...other robot 2 Press the 4 key on the menu screen and dis play the Origin Break selection screen 3 Press the 2 key and display the Break release selection screen 4 Release the brake of the J3 axis Input 1 into the J3 axis Set 0 to other axes 5 Confirm the axis for which the brakes are to be released 6 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released whi...

Page 129: ...xis contact to the mechanical stopper 9 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen 10 Press the 1 key and display the Origin setting selection screen 11 Press the 2 key and display the Mechanical stopper selection screen 12 Input 1 into the J3 and J4 axis Set 0 to other axes 13 Press the EXE key and display Confirmation screen CAUTION CAUTION 合いマーク ...

Page 130: ... 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 axis o...

Page 131: ...ection screen 3 Press the 2 key and display the Mechanical stopper selection screen 4 Input 1 into the J1 to J4 axis Set 0 to other axes 5 Press the EXE key and display Confirmation screen 6 Press the F1 key and the origin position is set up 7 Setting of the origin is completed 8 Refer to Page 130 5 6 5 Recording the origin data in this manual and record the origin data on the origin data seal The...

Page 132: ...on is carried out with the teaching pendant Set the mode of the controller to MANUAL and set the ENABLE switch on the teaching pendant to ENABLE to enable the teaching pendant The origin setting can be performed for the target axis only instead of for all axes Go to steps for the target axis to set the origin Do the following operations pressing down the enabling switch of T B lightly In the follo...

Page 133: ...the Origin setting selection screen 4 Press the 3 key and display the Tool selection screen 5 Input 1 into the J1 axis Set 0 to other axes 6 Press the EXE key and display Confirmation screen 7 Press the F1 key and the origin position is set up MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 Select ORIGIN BRK 第1アームピン穴原点治具 Jig Hole No 1 arm ORIGIN BRAKE 1 ORIGIN 2 BRAKE...

Page 134: ... 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 axis of origin setting Do cursor movement into the parenthesis of each axis by the a...

Page 135: ... degrees 3 Press the 1 key and display the Origin setting selection screen 4 Press the 3 key and display the Tool selection screen 5 Input 1 into the J2 axis Set 0 to other axes 6 Press the EXE key and display Confirmation screen 7 Press the F1 key and the origin position is set up MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 第1アーム原点治具ピン穴裏側第２アーム Hole bottom face ...

Page 136: ...tings are completed by the jig method TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 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...

Page 137: ...controller to MANUAL and set the ENABLE switch on the teaching pendant to ENABLE to enable the teaching pendant First set to the ABS mark arrow of the axis for which the origin is to be set with jog operation This can 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 mu...

Page 138: ...age 115 3 J3 and J4 axis origin setting mechani cal stopper Alignment mark Within 1mm Within 1mm side deviation The angles of each axis which sets up the ABS origin are shown below Model J1 axis J2 axis J3 axis J4 axis RH 3FH3515 0 degrees 103 5 degrees 383 4mm 0 degrees RH 3FH3512C 0 degrees 103 5 degrees 341 9mm 0 degrees RH 3FH4515 5515 0 degrees 0 degrees 383 4mm 0 degrees RH 3FH4512C 5512C 0 ...

Page 139: ...e F1 key and the origin position is set up The origin settings are completed by the ABS method 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 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 MENU 1 FILE EDIT 2 RUN 3...

Page 140: ... and Inspection When the ABS mark label of the axis other than the J4 axis is peeled off align the pinholes used to set the origin with the jig method The joint coordinates are the same between the ABS origin method and the jig method CAUTION ...

Page 141: ... 2 4 Confirming the operation 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 whi...

Page 142: ... 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 to ORIGIN USER CHANGE TO ORIGIN OK No 123 Yes ...

Page 143: ... Confirming the origin data label Remove the battery cover Refer to Page 81 5 3 2 Installing removing the cover and remove the battery cover 2 Confirming the origin data Confirm the value displayed on the teaching pendant s Origin Data Input screen Refer to Page 31 2 3 2 Setting the origin with the origin data input method 5 Inputting the origin data and display the Origin Data Input screen on the...

Page 144: ...es 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 The types of configuration flags are shown below 1 RIGHT LEFT Indicates the location of the end axis relative to the line that passes through both the rotational center of the J1 axis and the rotational center of the J2 axis Fig 6 1 Conf...

Page 145: ......

Page 146: ...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 Apr 2019 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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Mitsubishi Electric RH-12FH Series, Instruction Manual

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