Mitsubishi Electric RH-1FHR Series, Instruction Manual

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CONTENTS
ii
Page
(1) Installation procedure .............................................................................................................................................. 3-57
3.6 External Wiring and Piping Box ........................................................................................................................................ 3-60
3.7 Installing the vacuum valve set ....................................................................................................................................... 3-63
3.8 Connector protection when the option devices are installed ............................................................................. 3-65
4 Basic operations ............................................................................................................................................................................ 4-67
5 Maintenance and Inspection ..................................................................................................................................................... 5-68
5.1 Maintenance and inspection interval ............................................................................................................................. 5-68
5.2 Inspection items ..................................................................................................................................................................... 5-69
5.2.1 Daily inspection items .................................................................................................................................................. 5-69
5.2.2 Periodic inspection ........................................................................................................................................................ 5-70
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-71
5.3.1 Robot arm structure ..................................................................................................................................................... 5-71
5.3.2 Installing/removing the cover ................................................................................................................................... 5-72
5.3.3 Packing Replacement Procedure ............................................................................................................................ 5-73
(1) Packing Replacement Instructions ..................................................................................................................... 5-73
5.3.4 Inspection, maintenance and replacement of timing belt .............................................................................. 5-77
(1) Timing belt replacement period ......................................................................................................................... 5-77
(2) Inspecting/Adjusting the J3 axis timing belt ................................................................................................. 5-78
(3) Replacing the J3 axis timing belt ........................................................................................................................ 5-79
(4) Inspecting/Adjusting the J4 axis timing belt ................................................................................................. 5-82
(5) Timing belt tension ................................................................................................................................................... 5-85
5.3.5 Replacing the bellows (Option) ................................................................................................................................ 5-86
5.3.6 Lubrication ........................................................................................................................................................................ 5-87
(1) Lubrication position and specifications ............................................................................................................ 5-87
(2) Lubrication method to the J1, J2 axis ............................................................................................................. 5-88
(3) Lubrication method to the shaft ......................................................................................................................... 5-88
5.3.7 Replacing the backup battery ................................................................................................................................... 5-89
(1) Replacing the battery (robot arm) ...................................................................................................................... 5-90
5.4 About Overhaul ...................................................................................................................................................................... 5-91
5.5 Maintenance parts ................................................................................................................................................................. 5-92
5.6 Resetting the origin .............................................................................................................................................................. 5-93
5.6.1 Mechanical stopper method ...................................................................................................................................... 5-94
(1) J1 axis origin setting (mechanical stopper) ................................................................................................... 5-94
(2) J2 axis origin setting (mechanical stopper) ................................................................................................... 5-96
(3) J3 and J4 axis origin setting (mechanical stopper) .................................................................................... 5-98
5.6.2 Jig method ..................................................................................................................................................................... 5-101
(1) J1 axis origin setting ............................................................................................................................................. 5-102
(2) J2 axis origin setting ............................................................................................................................................. 5-104
(3) J3 and J4 axis origin setting ............................................................................................................................. 5-105
5.6.3 ABS origin method ..................................................................................................................................................... 5-106
(1) Select the T/B ........................................................................................................................................................ 5-107
5.6.4 User origin method ..................................................................................................................................................... 5-109
5.6.5 Recording the origin data ........................................................................................................................................ 5-111
(1) Confirming the origin data label ........................................................................................................................ 5-111
(2) Confirming the origin data .................................................................................................................................. 5-111
(3) Recording the origin data .................................................................................................................................... 5-111
(4) Installing the battery cover ................................................................................................................................ 5-111
6Appendix ............................................................................................................................................................................ Appendix-112
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-112