Mitsubishi Electric RH-12FRH Series Instruction Manual Download Page 106

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4Basic operations

4 Basic operations

The basic operations from creating the program to automatic operation are explained in section "4. Basic
operations" in the "Controller setup, basic operation, and maintenance" manual. Refer that manual as necessary.

Summary of Contents for RH-12FRH Series

Page 1: ...Mitsubishi Electric Industrial Robot RH FRH Series INSTRUCTIONMANUAL ROBOT ARM SETUP MAINTENANCE RH 3FRH series RH 6FRH series RH 12FRH series RH 20FRH series RH 3FRHR series BFP A3472 C ...

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: ...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: ...6 Connect one end of the grounding cable to the PE protective 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 ...

Page 8: ...on function Take care also of the following items 1 The robot s locus of movement may change with specified speed Especially as for the corner section short 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 posit...

Page 9: ...ions of CR800 Q controller were added Mechanical stopper position in Fig 3 16 were corrected 2018 12 25 BFP A3472 B 5 6 3 ABS origin method was corrected Added further explanation of the ACIN cable 2019 04 19 BFP A3472 C Installation dimensions in Fig 2 6 was corrected Timing belt tension of RH 3FRHR series in Table 5 8 was corrected ...

Page 10: ... in RH 3FRHR This document explains for the following robot type Robot type On floor type RH 3FRH series RH 6FRH series RH 12FRH series RH 20FRH series Hanging type RH 3FRHR 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 b...

Page 11: ... 22 2 2 6 Ethernet Cables RH 3FRH 6FRH 12FRH 20FRH series 2 23 1 No 2 arm 2 23 2 Base area 2 24 2 2 7 Ethernet Cables RH 3FRHR series 2 26 1 No 2 arm section 2 26 2 Base area 2 27 2 2 8 Passing air hoses and cables through the shaft RH 3FRH 6FRH 12FRH 20FRH series 2 29 1 Specifications of internal air hoses and cables 2 29 2 Customer prepared products 2 29 3 Installation procedure 2 30 4 RH 3FRH s...

Page 12: ...RH 12FRH 20FRH series 3 89 3 9 Connector protection when the option devices are installed 3 91 4 Basic operations 3 93 5 Maintenance and Inspection 4 94 5 1 Type of inspection and maintenance works 4 94 5 2 Inspection items 4 95 5 2 1 Daily inspection items 4 95 5 2 2 Periodic inspection 4 96 1 Inspection item 4 96 2 Schedule 4 97 5 3 Maintenance and inspection procedures 4 98 5 3 1 Robot arm stru...

Page 13: ... origin 5 142 5 6 1 Setting the origin with the origin data input method 5 143 1 Confirming the origin data 5 143 2 Selecting the origin setting method 5 144 3 Inputting the origin data 5 145 4 Installing the cover 5 146 5 6 2 Jig method 4 147 1 J1 axis origin setting 4 148 2 J2 axis origin setting 4 150 3 J3 and J4 axis origin setting 4 152 5 6 3 ABS origin method 5 156 1 RH 3FRH 6FRH 12FRH 20FRH...

Page 14: ...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 15: ... 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 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: ...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 19: ...xing plates installation bolt 1 set 7 Installation bolt for machine cable M4 x12 4 pcs To fix to the back of robot arm base RH 6FRH series 1 Robot arm 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 1 pc 6 Fixing plates 1 set For robot arm transportatio...

Page 20: ...fe etc slit the tape 1 fixing the upper lid 2 of the cardboard box Fig 2 1 a 2 Pull the upper lid 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 The unpacking is completed Note The robot must be transported without removing the fixing plate A and B Remove after installing When repackaging the robot in the wooden...

Page 21: ...packing the robot with hoisting Utilize the hanging tools two places 4 of the robot arm Please unpack near the installation place 5 Packing material Cut the tape Hang the hook of the crane Completion Robot arm base section 2 Upper cover Remove the upper cover Remove the packing material Open the vinyl Hoist with crane and remove the packing material 4 hanging tools Two places 1 Tape two Packing bo...

Page 22: ...position To 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 Table 2 2 The robot should keep ver...

Page 23: ...lates or the like Otherwise applying an excessive power on the joints by external forces may cause a malfunction Do not apply an excessive load to the robot arm while fixing it Otherwise the robot arm may be damaged Table 2 2 Transportation posture RH 3FRH 6FRH series Axis RH 3FRH35 RH 3FRH45 RH 3FRH55 RH 6FRH35 RH 6FRH45 RH 6FRH55 Ｊ 1 49 5 deg 25 deg 17 deg 57 5 deg 28 deg 19 deg Ｊ 2 139 5 deg 11...

Page 24: ...orting jig 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 When transporting a robot always attach four wires To reattach the fixing plate again set the axes of the robot to the positions according to Table 2 3 The robot should keep vertical not be horizontal ...

Page 25: ... the joints by external forces may cause a malfunction Do not apply an excessive load to the robot arm while fixing it Otherwise the robot arm may be damaged Table 2 3 Transportation posture RH 12FRH 20FRH series Axis RH 12FRH55 RH 12FRH70 RH 12FRH85 RH 20FRH85 RH 20FRH100 J1 37 5 21 4 15 1 21 0 J2 127 5 111 4 105 1 111 0 J3Note1 Note1 The bottom surface of the shaft will interfere with the floor ...

Page 26: ... and fixing screws and transporting jigs 4 are needed at secondary transportation Please keep them with care 4 Always attach the fixing plate and transporting jig and follow the above procedures and methods to transport the robot for secondary transportation such as when changing the installation position If the arm is directly suspended without using the specified transporting jig or if it is sus...

Page 27: ...tes or the like Otherwise applying an excessive power on the joints by external forces may cause a malfunction Do not apply an excessive load to the robot arm while fixing it Otherwise the robot arm may be damaged Table 2 4 Transportation posture RH 3FRHR series Axis RH 3FRHR3515 RH 3FRHR3512C 3512W Ｊ 1 0 deg Ｊ 2 0 deg Ｊ 3 Note1 Note1 Because if the J3 axis is lowered the shaft juts danger be sure...

Page 28: ...vent the position of the devices and jigs subject to robot work from deviating 5 The installation surface must have sufficient strength to 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...

Page 29: ...ble and replacement of the backup battery in front of or behind the robot base And don t install the robot 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 3FRH series Tilt moment ML N m 240 Torsional moment MT N m 255 Horizontal direction translation force FH N 810 Vertical direction trans...

Page 30: ...and vibration caused by the static dynamic load of the robot arm and peripheral devices etc 6 If you operate the robot at a high speed reaction forces are applied to the installation stand by the robot s operation Make sure that the installation stand on which the robot is placed has sufficient strength and rigidity Table 2 5 shows the maximum reaction force design values that may be applied to an...

Page 31: ...ce space necessary at rear for connection of the machine cable and at side for replacement of the backup battery And don t install the robot arm in the position where direct rays or the heat of lighting hits The skin temperature of the robot arm may rise and the error may occur Item Unit Value Tilt moment ML N m 380 Torsional moment MT N m 410 Horizontal direction translation force FH N 920 Vertic...

Page 32: ... 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 the grounding cable 㻾㼛㼎㼛...

Page 33: ...2 Connect the machine cable to CN1 connector on the robot arm Note RH 6FRH series is shown The same connection method is also applicable to other models with the same shaped connector Insert the connector until the connector edge is aligned with the CONBOX surface and tighten two bolts Screw fixing torque 3 6 to 4 4 Nm Connecting the machine cable is completed Controller rear Robot arm Base sectio...

Page 34: ... 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 35: ...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 36: ...band used to coil the Ethernet cable 4 Connect the cable on the customer supplied tool When using as spare wiring please remove the LAN connectors and replace with customer 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 p...

Page 37: ...done there is a risk that the level of cleanliness will be reduced 2 Base area Fig 2 12 Pull out the Ethernet cable Base side 1 Loosen the two screws and remove the ADD cover located at the back of the robot base 2 Pull out the Ethernet cable that is stored inside the cover coiled and stored CAUTION 正常な状態折れた状態エアホース Normal condition abnormal condition Air hose CAUTION CAUTION ADDカバーケーブルクランプロックナ...

Page 38: ... cables and the air hose Please confirm not having broken or not having stripped the packing when installing or removing the cover Contact to the dealer if packing is broken or has stripped Failure will be 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 bein...

Page 39: ...the No 2 arm cover 3 Confirm spare wiring ADD 4 Remove either one grommet on the No 2 arm cover 5 Install the connector after letting the cable for spare wiring connection of customer preparation pass to the cable clamp 6 Fixing the cable clamp securely to the hole which removed the grommet 7 Connect the cable for spare wiring connection to the spare wiring 8 Install the No 2 arm cover as before B...

Page 40: ...D coiled preinstalled in the robot arm has connector The spare wiring ADD prein stalled in the robot arm has connector Please prepare the following of the customer The cable calls the cable for spare wiring connection below Connector The cable clamp for fixing the cable for spare wiring connection OA W1608 Product by OHM ELECTRIC CO LTD The cable is AWG 27 0 1mm2 Refer to the standard specificatio...

Page 41: ...while installing or removing the cover If you find that the packing is torn or separated contact the dealer If you keep using the robot with the torn or separated packing oil mist or the like may get into the robot resulting in malfunction of the robot When base cover B R is installed please keep too much load from being applied to the cables inside the robot and the air hoses If too much load is ...

Page 42: ... and recommended product Expanding sleeve Moderate quantity Protecting the air hoses and cables and improving the twisting rigidity Recommended expanding sleeve EXP 13 PT manufactured by Kitagawa Industries Co Ltd Cushion rubber Moderate quantity Protecting the bent portion and the fixed portion of the twisted end Recommended cushion rubber silicon rubber thickness of 1mm dimensions of 30mm 80mm C...

Page 43: ...n Refer to Page 91 3 9 Connector protection when the option devices are installed 9 Carry out piping and wiring on the tool side Fix the air hoses and the cables which are pulled out from the shaft lower end to the hand side Check again that the highest point of the curved section of the air hoses and the cables reaches the height of the fixing plate upper end and then fix the air hoses and the ca...

Page 44: ... Fig 2 15 Installation of air hoses and cables inside the robot s shaft RH 3FRH 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 45: ... Fig 2 16 Installation of air hoses and cables inside the robot s shaft RH 6FRH 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 46: ... Fig 2 17 Installation of air hoses and cables inside the robot s shaft RH 12FRH 20FRH 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 Fi...

Page 47: ... 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 19 Vacuum Coupling for pres surization φ8 Note Although the figure is RH 6FRH the position of the cou pling is th...

Page 48: ... the robot through the ventilation duct s opening 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 20 Arrangement of the exhaust duct Note ...

Page 49: ...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 50: ...power supply is OFF 2 Refer to Fig 2 21 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 21 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 51: ...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 52: ...㼍㼤㼕㼟㻶㻟㻌㼍㼤㼕㼟 Each axis moves independently 㻗㻙㻗㻙㻗㼆㻗㼆㻗㼆㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㻗㼆㻙㼅㻗㼅㻙㼄㻗㼄㻙㼆㻙㼆㻙㼆㻙㼄㻙㼅㻗㼅㻗㼄㻙㼆㻯㻯㻱㼚㼐㻌㼍㼤㼕㼟㻱㼚㼐㻌㼍㼤㼕㼟㻮㼍㼟㼑㻌㼏㼛㼛㼞㼐㼕㼚㼍㼠㼑㻌㼟㼥㼟㼠㼑㼙㻌㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼛㼞㼕㼓㼕㼚㻮㼍㼟㼑㻌㼏㼛㼛㼞㼐㼕㼚㼍㼠㼑㻌㼟㼥㼟㼠㼑㼙㻌㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼛㼞㼕㼓㼕㼚 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 53: ...he end axis posture the axis moves straight along the tool coordinate system Also while maintaining the end axis position the end axis posture changes 㻗㻙㻗㻙㻗㼆㻗㼆㻗㼆㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㻗㼆㻙㼅㻗㼅㻙㼄㻗㼄㻙㼆㻙㼆㻙㼆㻙㼄㻙㼅㻗㼅㻗㼄㻙㼆㻶㻠㻌㼍㼤㼕㼟㻶㻠㻌㼍㼤㼕㼟㻱㼚㼐㻌㼍㼤㼕㼟㻱㼚㼐㻌㼍㼤㼕㼟㻮㼍㼟㼑㻌㼏㼛㼛㼞㼐㼕㼚㼍㼠㼑㻌㼟㼥㼟㼠㼑㼙㻌㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼛㼞㼕㼓㼕㼚㻮㼍㼟㼑㻌㼏㼛㼛㼞㼐㼕㼚㼍㼠㼑㻌㼟㼥㼟㼠㼑㼙㻌㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼛㼞㼕㼓㼕㼚 The axis moves straight along the base coordinate s...

Page 54: ...xis posture position the end axis posture changes 㻗㻙㻗㻙㻗㼄㼣㻗㼅㼣㻗㼆㼣㻙㼆㼣㻙㼄㼣㻙㼅㼣㻗㼆㻗㼆㻗㼆㻙㼆㼀㼛㼛㼘㻌㼘㼑㼚㼓㼠㼔㼀㼛㼛㼘㻌㼘㼑㼚㼓㼠㼔㻯㼛㼚㼠㼞㼛㼘㻌㼜㼛㼕㼚㼠㼃㼛㼞㼗㻌㼏㼛㼛㼞㼐㼕㼚㼍㼠㼑㻌㼟㼥㼟㼠㼑㼙㻯㼛㼚㼠㼞㼛㼘㻌㼜㼛㼕㼚㼠㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㻗㼆㻙㼆㻙㼆㻙㼆 While maintaining the end axis posture the axis moves straight along the work coordinate system Also while maintaining the end axis position the end axis posture changes Jog operation around the ...

Page 55: ...se Whenever it presses the key of OVRD the override goes up Conversely if the 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 Select joint jog mode Set jog speed S...

Page 56: ...the J4 axis will rotate in the plus direction When the A J4 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 㻗㻙㻗㻙㻶㻟㻌㼍㼤㼕㼟㻶㻟㻌㼍㼤㼕㼟 J3 axis jog operation 㻗㻙㻗㻙㻶㻠㻌㼍㼤㼕㼟㻶㻠㻌㼍㼤㼕㼟 J4 axis jog operation If the buzzer of T B sounds and the robot does not m...

Page 57: ...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 to Select XYZ jog mode Set jog speed Setting the speed XYZ jog...

Page 58: ... to the counter direction Changing the end axis posture 㻗㻙㻗㻙㻗㼆㻗㼆㻗㼆㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㻗㼆㻙㼅㻗㼅㻙㼄㻗㼄㻙㼆㻙㼆㻙㼆㻙㼄㻙㼅㻗㼅㻗㼄㻙㼆㻯㻯 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 been set correctly Reconfirm the value input for the origin data Tool length The default tool length is 0mm and the control point i...

Page 59: ...ride 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 the Z J...

Page 60: ... If the buzzer of T B sounds and the robot does not move If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction Changing the end axis posture 㻗㻙㻗㻙㻗㼆㻗㼆㻙㼅㻗㼅㻙㼄㻗㼄㻙㼆㻙㼄㻙㼅㻗㼅㻗㼄㻙㼆㻯㻯 The Position of the end axis will not change When alarm No 5150 occurs If alarm No 5150 ORIGIN NOT SET...

Page 61: ...tion 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 Settin...

Page 62: ...ressed the J4 axis will rotate in the plus direction When the C J6 keys are pressed rotate in the minus direction 㻗㻙㻗㻙㻗㼆㻗㼆㻗㼆㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㻗㼆㻙㼅㻗㼅㻙㼄㻗㼄㻙㼆㻙㼆㻙㼆㻙㼄㻙㼅㻗㼅㻗㼄㻙㼆㻶㻠㻌㼍㼤㼕㼟㻶㻠㻌㼍㼤㼕㼟 The Position of the end axis will not change Changing the end axis posture ...

Page 63: ...t 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 direction When the Z J3 keys are...

Page 64: ...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 㻗㻙㻗㻙㻗㼆㻗㼆㼂㼑㼞㼠㼕㼏㼍㼘㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㼂㼑㼞㼠㼕㼏㼍㼘㻾㼍㼐㼕㼡㼟㻙㼆㻙㼆㻾㼍㼐㼕㼡㼟㻭㼞㼏㻭㼞㼏㻯㻯 The position of the end axis will not change ...

Page 65: ... and sets up the three points WO WX WY Fig 2 28 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 66: ...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 67: ...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 68: ...ill 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 wil...

Page 69: ...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 Same as the conventional WORK jog C key operation With the control point position maintained the d...

Page 70: ... keys are pressed the control point will rotate in the minus direction 㻗㻙㻗㻙㻗㼄㼣㻗㼅㼣㻗㼆㼣㻙㼆㼣㻙㼄㼣㻙㼅㼣㻗㼆㻗㼆㻗㼆㻙㼆㼀㼛㼛㼘㻌㼘㼑㼚㼓㼠㼔㼀㼛㼛㼘㻌㼘㼑㼚㼓㼠㼔㻯㼛㼚㼠㼞㼛㼘㻌㼜㼛㼕㼚㼠㼃㼛㼞㼗㻌㼏㼛㼛㼞㼐㼕㼚㼍㼠㼑㻌㼟㼥㼟㼠㼑㼙㻯㼛㼚㼠㼞㼛㼘㻌㼜㼛㼕㼚㼠㻙㼄㻙㼅㻗㼅㻙㼅㻗㼅㻗㼄㻙㼄㻗㼄㻗㼆㻙㼆㻙㼆㻙㼆 The position of the control point does not change The end axis is rotated Changing the end axis posture 1 Work jog mode 㻗㼆㻗㼆㼀㼛㼛㼘㻌㼘㼑㼚㼓㼠㼔㼀㼛㼛㼘㻌㼘㼑㼚㼓㼠㼔㻯㼛㼚㼠㼞㼛㼘㻌㼜㼛㼕㼚㼠㻙㼄㻙㼅㻗㼅㻙...

Page 71: ...Z center of gravity X center of gravity Y center of gravity Z Unit Kg mm The setting varies depending on the model When the robot is in the transportation posture There are directions from which linear movement is not possible from the transportation posture In this case the robot will not move Refer to section Page 42 3 JOINT jog operation and move the robot to a position where linear movement is...

Page 72: ...d below 1 Remove the screws fixing the No 2 arm cover U and remove the No 2 arm cover U 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 connec tors of the robot side Fixing screws M4 x 30 two screws left and right included in the solenoid valve set Item...

Page 73: ...aft please be sure to use the optional hand internal wiring and piping set Connect the air hoses to solenoid valve port A 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 gr...

Page 74: ... connect them Of the 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 ai...

Page 75: ... cable tie and fix it to the plate The plate 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 wi...

Page 76: ... tube optional Secondary piping air hose Customer preparation hose φ4 x 4 Primary piping air hose Customer preparation Customer preparation hose φ6 x 2 Solenoid valve 2 Grommet 3 place General environment type makes notch in one near a solenoid valve １ 2 ３４５６７８ハンド出力ケーブル GR1 GR2 グロメット No 2アームカバーハンド出力ケーブル電磁弁セット側ロボット本体側電磁弁へ No 2ｱｰﾑ内で接続 GR1 GR2 切込を入れケーブルを通す 3 No2 Arm cover bottom 1 Solenoi...

Page 77: ...0mm Clean waterproof type RH 3FRHR3512C 3512W 7 P port 6 R port 1 Solenoid valve set Solenoid valve set installation position 2 M5 Screw for fixing 12 Arm coverA 2 3 No2 Arm cover bottom 8 RETURN coupling 9 AIR OUT coupling 10 11 Primary piping air hose φ6 x 2 Secondary piping air coupling φ4 x 4 Secondary piping air hose Customer preparation Customer preparation hose φ4 x 4 Hand output signal con...

Page 78: ... side in No 2 arm Connect the same connector names Note Please see the hand output cable from the arm cover A 2 12 side and store it outside the bracket If the cable enters within the bracket it will rub to the timing belt and will become the cause of breaking down Fig 3 5 Storing of the hand output cable 6 Install the No 2 arm cover 3 and the arm cover A 2 12 as before Be careful not to catch any...

Page 79: ...ple The connection correspondence after installation is as shown in Table 3 2 1 Nylon clamp Screw 2 M5 and nut for T slots Air hose for secondary piping customer preparation Air hose for secondary piping customer preparation Solenoid valve set option 1 Fixing the air hose customer preparation using the T slot by nylon clamp etc ...

Page 80: ...tion devices Table 3 2 Solenoid valve ports and hoses Correspondence of couplings and hand ports Hand Hand port Solenoid valve port Solenoid valve used Hand 1 OPEN 1 1 st row CLOSE 2 Hand 2 OPEN 3 2 nd row CLOSE 4 Hand 3 OPEN 5 3 rd row CLOSE 6 Hand 4 OPEN 7 4 th row CLOSE 8 ...

Page 81: ...e hand tube The procedure is shown below 1 Motor cover J3 Hand tube 3 Piping fixing bracket The grease is applied 2 Secondary piping air coupling φ4 x 4 places Insert the union installation side 4 Shaft The grease is applied 5 Fixing place two places Rubber sheet cable tie 1 The position of the J3 axis and the J4 axis J3 upper end J4 0 degree 1 Adjustment of the fixing position In the condition th...

Page 82: ...the 0 degree This position is adjustment basis for fixing hand tube The hand tube and the hand input cable having the mark at the position which rolls the rubber sheet The hand tube is the four places a b c and d sequentially from the union side The hand input cable is the four places a b c and d sequentially from the connector side Put together each mark and roll the attached rubber sheet Roll at...

Page 83: ... roll the rubber sheet attachments in the same way and fix it by cable tie etc attachments with maintaining this adjustment position The example of the fixing method is shown in Fig 3 10 9 Remove the tape and connect the tool side Please utilize the attached union φ 4 to φ3 for optional if needed Note The grease is applied to hand tube contact places such as the inside of the shaft Please wipe off...

Page 84: ...e option devices Fig 3 10 Tool side fixing image of hand tube example Metal plate for tool side fixing Tool Hand flange Union φ 4 to φ3 Nylon clamp Rubber sheet On the clean waterproof specifications seal the aperture of shaft end by liquefied gasket Enlargement ...

Page 85: ... hand input cable is stored in the location shown in Fig 3 11 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 91 3 9 Connector protection when the option devices are installed 4 Pull the hand input...

Page 86: ...ke the connector parallel to the motor cover J3 1 6 Pass through the hand input cable into the shaft 4 along the piping fixing bracket 3 7 Fixing the hand input cable to the piping fixing bracket 3 with cable tie two places 5 attachment Fixing the cable from top of the rubber sheet that rolled before so that the cable may not slide 8 Align the top of hand input cable with the upper end of the pipi...

Page 87: ... like the fixing method shown in Fig 3 10 10 Install motor cover J3 1 securely as before The grease is applied to hand input cable contact places such as the inside of the shaft Please wipe off the grease adhering to the hand input cable The installation of the hand input cable is completion above Fixing the hand input cable securely If fixing is not securely the cable will bend during robot movem...

Page 88: ...e for the hand output cable is shown 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 13 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 al...

Page 89: ...arable 2 Remove one of the three grommets on No 2 arm cover Install the cable clamp here 3 Remove the lock nut of attachment on the hand output cable and let the connector side of hand output cable with the cable clamp pass through the hole of No 2 arm cover Fixing securely with the lock nut removed 4 Connect the connector of hand output cable optional to the hand output cable connector GR1 GR2 3 ...

Page 90: ... will become the cause of breaking down Fig 3 15 Storing of the hand output cable 5 Install the No 2 arm cover 2 and arm cover A 2 4 as before Be careful not to catch any the cables 6 Connect to the solenoid valve of customer preparation the hand output cable taken out from No 2 arm cover 2 The installation of the hand output cable is completion above Bracket Cable should be stored in outside of t...

Page 91: ... for mechanical stopper position Standard Change angle Note3 Note4 Note3 The changeable angle shown in Table 3 3 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 3FRH 6FRH series J1 RH 3FRH3...

Page 92: ...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 angle...

Page 93: ... with referring to the Page 101 5 3 2 Installing removing the cover 3 There is the pin cover at back in the base A of Fig 3 17 Two places Loosen the fixing screw and remove the two pin covers both Although the removed pin cover is unnecessary use the screw for fixing this option later 4 Move the J1 axis by jog operation Once turn ON the power supply of the controller Move the J1 axis 3 times by jo...

Page 94: ...value Press the JOG key of T B and display the current coordinate value Choose joint jog mode If the coordinate value of the J1 axis is nearly 90 degrees the mechanism stopper is installed correctly 10 Confirm the minus side in the same way If not installed correctly please reinstall the pin 11 Install the base cover B L and R as before 12 Setting the operation range parameter Turn on the power su...

Page 95: ...oint jog operation confirming the coordinate value of T B as follows Note This operation is necessary for position adjustment of the mechanism stopper Although it is not alteration visible especially performs sure Because to move correctly move at 10 or less speed a First move to 140 degree or more Note Arm cover A 1 side The hole for operating range change optional insertion plus side The hole fo...

Page 96: ...dinate value Choose joint jog mode If the coordinate value of the J2 axis is nearly 60 degrees the mechanism stopper is installed correctly 10 Confirm the minus side in the same way If not installed correctly please reinstall the pin 11 Install the arm cover A 1 as before 12 Setting the operation range parameter Turn on the power supply of the controller Parameter MEJAR Set 60 and 60 as the 3rd el...

Page 97: ...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 89 3 8 External Wiring and Piping Box RH 3FRH 6FRH 12FRH 20FRH series For the connection to the optional solenoid valve connect the air hoses to the A a...

Page 98: ...r 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 or has been bent or broke...

Page 99: ...r for removing installing the cover Fig 3 19 Installing the hand internal wiring and piping set RH 3FRH 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 J...

Page 100: ...r for removing installing the cover Fig 3 20 Installing the hand internal wiring and piping set RH 6FRH 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 o...

Page 101: ...r for removing installing the cover Fig 3 21 Installing the hand internal wiring and piping set RH 12FRH 20FRH 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 o...

Page 102: ...equipped from rear of base to 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 3FRH 6FRH φ6 8 hoses RH 12FRH 20FRH 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 secondar...

Page 103: ... No 2 arm side making 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 22 using cable tie There are 2 holes located left and right 7 If the cables and the air hoses have e...

Page 104: ...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 105: ... 3 92 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 106: ... 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 107: ...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 97 2 Schedule 1 Daily inspection Inspection works to be performed ever...

Page 108: ...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 replace the part 8 Are there any cracks foreign contamination or obstacles on t...

Page 109: ... year inspectionNote1 Note1 When the robot is operated 24 hours a day or with 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 ...

Page 110: ...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 111: ...es 1 The J1 axis is rotated by the J1 axis motor 1 and the reduction gears 2 in the base Brakes are not mounted in the J1 axis motor 1 2 The J2 axis is rotated by the J2 axis motor 3 and the reduction gears 4 in the No 2 arm Brakes are not mounted in the J2 axis motor 3 3 The rotation of the J3 axis motor 8 arranged in the No 2 arm is conveyed to the ball screw spline via the timing belt 9 to move...

Page 112: ... timing belt 9 to move the J3 axis as up and down Non excitation magnetic brakes are mounted in the J3 axis motor 8 4 The rotation of the J4 axis motor 5 arranged in the No 2 arm is conveyed to the ball spline via the timing belt 1 6 and the timing belt 2 7 to rotate the J4 axis Brakes are not mounted in the J4 axis motor Fig 5 2 Outline structure drawing of robot arm RH 6FRH 12FRH 20FRH series 㻺㼛...

Page 113: ...xis motor 7 arranged in the No 2 arm is conveyed to the shaft via the timing belt 8 to move the J3 axis as up and down Non excitation magnetic brakes are mounted in the J3 axis motor 4 The rotation of the J4 axis motor 9 arranged in the No 2 arm is conveyed to the shaft via the timing belt motor side 10 and the timing belt shaft side 11 to rotate the J4 axis Brakes are not mounted in the J4 axis m...

Page 114: ...r separated contact the dealer If you keep using the robot with the torn or separated packing oil mist or the like may get into the robot resulting in malfunction of the robot 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 Note The type in the diagram is the RH 3FRH series however the cover is the same on t...

Page 115: ...lean specification models Be sure to replace the sealant if it has been dislocated and bent or crushed 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 No Cover name Installation screw name Note1 Note1 The fixing torque for each screw are 1 39 1 89Nm Qty Remarks 1 No 2 arm cover U Truss head screw M4 x ...

Page 116: ... M4 x 8 4 4 Arm cover A 1 Low head hexagon socket screw M4 x 8 4 5 No 1 Arm cover B Low head hexagon socket screw M4 x 8 4 6 Motor cover J2 Low head hexagon socket screw M4 x 8 4 7 Motor cover J3 Low head hexagon socket screw M4 x 8 4 8 Arm cover A 2 Low head hexagon socket screw M4 x 8 4 9 Arm cover A 3 Low head hexagon socket screw M4 x 8 4 10 No 2 Arm cover Low head hexagon socket screw M4 x 8 ...

Page 117: ...all screw spline at the time of maintenance inspec tion Clean Waterproof specification 1 Base cover B L SUS hexagon socket screw M4 10 8 With seal washer 2 Base cover B R SUS hexagon socket screw M4 10 8 With seal washer 3 No 1 Arm cover A SUS hexagon socket screw M4 10 8 With seal washer 4 Arm cover A 1 SUS hexagon socket screw M4 8 8 With seal washer 5 No 1 Arm cover B SUS hexagon socket screw M...

Page 118: ...oining 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 gasket hardening 4 Confirm that packing is stuck correctly and install the cov...

Page 119: ...xample of sticking packing bad example Fig 5 8 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 120: ...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 121: ...5Maintenance and Inspection Maintenance and inspection procedures 4 108 Fig 5 10 Example of order which tighten bolts 1 3 4 2 ...

Page 122: ...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 125 12 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 5...

Page 123: ...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 124: ...operation at measuring target axis for a few minutes then measure the ten sion of the belt Fig 5 12 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 125: ... timing belt RH 3FRH Inspection procedure of the timing belt of J3 axis are shown below 1 Refer to Page 101 5 3 2 Installing removing the cover and remove the No 2 arm cover U 2 Visually confirm that the symptoms indicated inPage 110 1 Timing belt replacement period have not occurred with the 1 timing belt 3 Refer to Page 111 2 Timing belt tension measurement and confirm the belt tension 4 Install...

Page 126: ...eration This position makes the space for removing the belt After moving the J3 axis turn the controller s power supply OFF 2 Refer to Page 101 5 3 2 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 pu...

Page 127: ...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 128: ...ate 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 111 2 Timing belt tension measurement If the belt is loosened too much when adjusting the tension causing it to come off the timing pulley A 5 and the timing pulley B 6 or if the belt and pulley teeth engagement is deviated the machine system s origin...

Page 129: ...pection procedure of the timing belt of J3 axis are shown below 1 Refer to Page 101 5 3 2 Installing removing the cover and remove the No 2 arm cover U 2 Visually confirm that the symptoms indicated in Page 110 1 Timing belt replacement period have not occurred with the 1 timing belt 3 Refer to Page 111 2 Timing belt tension measurement and confirm the belt tension 4 Install the No 2 arm cover U s...

Page 130: ...d remove the No 2 arm cover U 2 Loosen the nut of tension adjustment screw 1 and loosen the tension adjustment screw 1 3 Remove two fixing screws 2 and remove the J3 axis motor 3 4 Remove the timing belt 4 from the timing pulley A 5 and B 6 CAUTION 3 J3 axis motor remove 2 J3 axis motor fixing screw remove 2 J3 axis motor fixing screw remove 6 Timing pulley B Ball screw lower part 5 Timing pulley ...

Page 131: ...thod in Page 111 2 Timing belt tension measurement If the belt is loosened too much when adjusting the tension causing it to come off the timing pulley A 5 and the timing pulley B 6 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 8 Fasten the two J3 axis motor fixing screws 2 certainly with the following torque Moreover also fasten the nut of tension...

Page 132: ...110 1 Timing belt replacement period have not occurred with the timing belt 3 Refer to Page 111 2 Timing belt tension measurement and confirm the belt tension For replacement of the timing belt check the serial numbers of the robot arm and the controller and contact the dealer 4 Install the No 2 arm cover U and No 2 arm cover D securely as before and finish inspection 1 Timing belt A Adjust next T...

Page 133: ... Timing belt replacement period have not occurred with the timing belt 3 Refer to Page 111 2 Timing belt tension measurement and confirm the belt tension For replacement of the timing belt check the serial numbers of the robot arm and the controller and contact the dealer 4 Install the base cover B R and L securely as before and finish inspection Note The figure shows the timing belt structure sec...

Page 134: ...10 1 Timing belt replacement period have not occurred with the timing belt 2 3 Refer to Page 111 2 Timing belt tension measurement and confirm the belt tension For replacement of the timing belt check the serial numbers of the robot arm and the controller and contact the dealer 4 Install the No 1 arm cover B securely as before and finish inspection Note The figure shows the timing belt structure s...

Page 135: ...t replacement period have not occurred with the timing belt 2 3 Refer to Page 111 2 Timing belt tension measurement and confirm the belt tension For replacement of the timing belt check the serial numbers of the robot arm and the controller and contact the dealer 4 Install the motor cover J3 and arm cover A 3 securely as before and finish inspection Note The figure shows the timing belt structure ...

Page 136: ...t the symptoms indicated in Page 110 1 Timing belt replacement period have not occurred with the timing belt 2 Note The figure shows the timing belt structure section motor side inside the No 2 arm Remove and confirm the No 2 arm cover and the belt pulley cover J4 1 Timing belt 3 Timing pulley B 2 Timing pulley A No 2 arm cover section 1 Timing belt 3 Timing pulley B 2 Timing pulley A Note The fig...

Page 137: ...ge 111 2 Timing belt tension measurement and confirm the belt tension For replacement of the timing belt check the serial numbers of the robot arm and the controller and contact the dealer 4 Install the No 2 arm cover and the belt pulley cover J4 securely as before and finish inspection ...

Page 138: ...ide 282 EV3GT 12 2 5 12 74 80 to 97 30 RH 6FRH series J3 264 EV3GT 9 2 5 9 82 59 to 79 22 J4 motor side 315 EV3GT 6 2 5 6 64 39 to 48 15 J4 shaft side 363 EV3GT 12 2 5 12 95 80 to 97 30 RH 12FRH series J3 288 EV3GT 12 2 5 12 71 83 to 101 30 J4 motor side 417 EV3GT 9 2 5 9 99 60 to 73 22 J4 shaft side 456 EV3GT 20 2 5 20 121 138 to 151 49 RH 20FRH series J3 303 EV3GT 12 2 5 12 71 83 to 101 30 J4 mo...

Page 139: ...f each axis when the timing pulley A is rotated 90 degrees are shown in Table 5 9 Table 5 9 Amount of movement of each axis during the tension measurement Model Amount of movement J1 axis J2 axis J3 axis J4 axis Timing belt A J4 axis Timing belt B RH 3FRH series 4mm 8 4 36 0 RH 6FRH series 6 3mm 6 2 24 1 RH 12FRH 20FRH series 6mm 6 0 25 5 RH 3FRHR series 1 8 1 8 4mm 8 4 36 0 ...

Page 140: ...with a seal such as a liquid gasket 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...

Page 141: ...4 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 u...

Page 142: ...on 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 the position of 0 degree by jog operation etc and match the ABS mark sticker with ABS mark on the...

Page 143: ...ly 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 RH 6FRH series 1 J1 axis reduction gearsNote1 Grease nipple WA 610 Only addition 4B No 2 Harmonic Drive Systems Inc 24 000 Hr 12 g 2 J2 axis reduction gears Grease nipple WB 610 Only addition 24 000 Hr 8 g No 2 arm cover U 3 Shaft ball splin...

Page 144: ...ived 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 Corporation Inc The grease guns come with a short nozzle HSP 1 as standard If this short nozzle does not reach the desired areas depending on the robot model and installation loca tion it may...

Page 145: ... be replaced in a dust filled area be sure to remove as much dust as possible in advance before replacing it 3 Wipe the old grease off the shaft Wipe off the grease inside the No 2 arm cover U and the bracket attached vertically to the shaft fixing area 4 Power on the controller and move the J3 axis to the top end with a jog operation Then shut off the control ler s power supply again 5 Wipe off t...

Page 146: ...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 in the oil mist and clean specifi...

Page 147: ...s in theTable 5 11 correspond to the supply positions in Fig 5 24 Because excessive lubrication leads to the grease leak avoid it And the number of times of lubrication limits to 3 times The maintenance after it needs the overhaul work which replaces internal grease Contact the dealer No Parts to be lubricated Oiling method Lubrication oil Default charge amount maker Lubrication interval Lubricati...

Page 148: ...KH 32 comes with a short nozzle HSP 1 as standard If this short nozzle does not reach the desired areas depending on the robot model and installation location it may be useful to use a long nozzle HSP 2 CH 400 has a long nozzle as standard equipment 4 Install the removed cover as before 5 If the maintenance forecast function is enable please reset the accumulated data about grease Carries out the ...

Page 149: ... 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 140 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 150: ...nstalling 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 turns on If the LED does not turn on when the button is pressed the capacitor needs to be charged Turn on the controller and charge the capacitor for approxima...

Page 151: ...ately 30 minutes 4 Replaces the backup battery one by one The battery holder is located inside the base cover B L 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 batteries with new ones at the same time 6 All the batteries should be checked that it has been exchanged newly If the old batter...

Page 152: ... 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 27 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 153: ...Mitsubishi Electric 6 J4 axis motor side 1 7 J4 axis shaft side 1 RH 6FRH series 8 Timing belt J3 axis 1 5 3 4Inspection replacement of timing belt Mitsubishi Electric 9 J4 axis motor side 1 10 J4 axis shaft side 1 RH 12FRH series 11 Timing belt J3 axis 1 5 3 4Inspection replacement of timing belt Mitsubishi Electric 12 J4 axis motor side 1 13 J4 axis shaft side 1 RH 20FRH series 14 Timing belt J3...

Page 154: ...nt clean 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 20FRH series 1 AC servo motor J1 axis 1 Mitsubishi Electric 2 J2 axis 1 3 J3 axis 1 4 J4 axis 1 5 Reduction gears J1 axis 1 6 J2 axis 1 7 Ball spline J3 axis general environment specification 1 8 J3 axis clean oil mist specifi...

Page 155: ...e position are correct For the details of the ABS mark position and the joint coordinates refer to Page 156 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 156: ... settings set with the jig method before shipment 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 RH 3FRH 6FRH 12FRH 20FRH series Battery cover RH 3FRHR serie...

Page 157: ...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 158: ...Press 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 c...

Page 159: ...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 and k...

Page 160: ... Go to steps for the target axis to set the origin In the following procedure the J3 axis brake is released to move its shaft with both hands When the brake is released the J3 axis falls by its own weight To ensure safety take appropriate measures such as supporting the axis to avoid the free fall This operation is carried out with the teaching pendant Set the mode of the controller to MANUAL and ...

Page 161: ...s ten In RH 3FRHR series the origin setting tool should be inserted 35mm 3 Press the 1 key and display the Origin setting selection screen 4 Press the 3 key and display the Tool selection screen 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㻺㼛㻚㻝㻌㼍㼞㼙㻼㼕㼚㼔㼛㼘㼑㻻㼞㼕㼓㼕㼚㻌㼟㼑㼠㼠㼕㼚㼓㻌㼖㼕㼓 RH 3FRH 6FRH 12FRH 20FRH series RH 3FRHR series Pinhole Ori...

Page 162: ...n this manual and record the origin data on the origin data seal TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL to SPACE 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 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 displaye...

Page 163: ...in setting tool should be inserted 65 mm The origin setting tool should be inserted 65mm Note If the stick cannot insert 65mm move the J2 axis to mechanical stopper once 3 Press the 1 key and display the Origin setting selection screen 4 Press the 3 key and display the Tool selection screen MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 第1アーム原点治具標準仕様ピン穴原点治具クリーン防水...

Page 164: ...e RH 3FRHR series reinstall the plug into the pinhole after the origin setting Wrap the sealing tape around the plug to fix it securely to SPACE TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 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 Select the axis of origin setting Do cursor movement into the parenthesis of each axis by the ...

Page 165: ...t removes the No 2 arm cover U referring the Page 101 5 3 2 Installing removing the cover It is not necessary to remove the cover if wiring and piping is not passed or if using the 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 axi...

Page 166: ... the J3 axis in plus direction and contact the axis against the mechanical stopper Match the alignment mark of J4 axis in this con dition next Go to the following procedure continuously When the brake is released the J3 axis falls by its own weight 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 ...

Page 167: ...F4 key and return to the origin brake screen 10 Press the 1 key and display the Origin setting selection screen 11 Press the 3 key and display the Tool selec tion screen 㻶㻠㻶㻠㻭㼘㼕㼓㼚㼙㼑㼚㼠㻌㼙㼍㼞㼗㻭㼘㼕㼓㼚㼙㼑㼚㼠㻌㼙㼍㼞㼗㻳㼑㼚㼑㼞㼍㼘㻌㼑㼚㼢㼕㼞㼛㼚㼙㼑㼚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㼃㼍㼠㼑㼞㼜㼞㼛㼛㼒㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻭㻶㻠㻭㼘㼕㼓㼚㼙㼑㼚㼠㻌㼙㼍㼞㼗㻭㼘㼕㼓㼚㼙㼑㼚㼠㻌㼙㼍㼞㼗㻭㼘㼕㼓㼚㼙㼑㼚㼠㻌㼙㼍㼞㼗㻔㻹㼍㼞㼗㼕㼚㼓㻙㼛㼒㼒㻌㼘㼕㼚㼑㻕㻯㼘㼑㼍㼚㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㻻㼕㼘㻌㼙㼕㼟㼠㻌㼟㼜㼑㼏㼕㼒㼕㼏㼍㼠㼕㼛㼚㼂㼕...

Page 168: ... ORIGIN MECH CHANGE TO ORIGIN OK No 123 Yes TOOL 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 169: ...n accurately This operation 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 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...

Page 170: ... degree 103 5 degrees 383 4mm 0 degree RH 3FRH3512C 0 degree 103 5 degrees 341 9mm 0 degree RH 3FRH4515 5515 0 degree 0 degree 383 4mm 0 degree RH 3FRH4512C 5512C 0 degree 0 degree 341 9mm 0 degree RH 6FRH35 Excluded RH 6FRH3534C M 0 degree 103 5 degrees 336mm 0 degree RH 6FRH3534C M 0 degree 103 5 degrees 300mm 0 degree RH 6FRH45 55 Excluded RH 6FRH4534C M RH 6FRH5534C M 0 degree 0 degree 336mm 0...

Page 171: ...t mark of the J3 axis The posture to be set is the same with the jig method Refer to Page 152 3 J3 and J4 axis origin setting 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 RH 3FRHR3515 0 degree 0 degree 569 5mm 0 degree RH 3FRHR3512C W 0 degree 0 degree 609mm 0 degree side deviation Sett...

Page 172: ...n 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 coordinates are the same between the ABS origin ...

Page 173: ...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 174: ... 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 175: ...ing 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 143 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 displayed on ...

Page 176: ...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 177: ... 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 178: ...ture 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 㻶㻞㻌㼍㼤㼕㼟㻾㻵㻳㻴㼀㻾㻵㻳㻴㼀㻸㻱㻲㼀㻸㻱㻲㼀㻗㻙㻱㼤㼠㼑㼚㼟㼕㼛㼚㻌㼘㼕㼚㼑㻌㼛...

Page 179: ......

Page 180: ...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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