Mitsubishi Electric RH-1FHR Series Instruction Manual Download | Manualshive

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Resetting the origin

5 Maintenance and Inspection

5.6.2 Jig method

This method is using the origin setting tool. If the origin setting tool is required, please ask nearby dealer. The
reference figure of the origin setting tool is shown in

.

Fig.5-17 ： Reference dimension of origin setting tool

The procedure of setting the origin with the origin setting tool is shown below.

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.
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 following procedure, the J3 axis brake is released to move its shaft with both
hands.
To ensure safety, the brake-release procedure should always be done by two
persons.

CAUTION

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Summary of Contents for RH-1FHR Series

Page 1: ...Mitsubishi Industrial Robot RH 1FHR S60 Series INSTRUCTIONMANUAL ROBOT ARM SETUP MAINTENANCE BFP A3335 J ...

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: ... 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 Connecting differently to the way specified in the manual can result in errors such as the emergency stop not being released In order to prevent errors occurring please be sure to check that all functions such as the...

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: ...dded Timing belt type was changed Contact information of the authorised representative was updated 2017 09 25 BFP A3335 E 5 4 About Overhaul was modified 2018 06 01 BFP A3335 F Description of countermeasures against unauthorized access was added 3 8 Connector protection when the option devices are installed was added Mechanical stopper position in Fig 3 4 were corrected 2019 04 19 BFP A3335 G Inst...

Page 9: ... can access the robot with the stepladder etc in RH 3FHR This document explains for the following robot type Robot type RH 1FHR 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...

Page 10: ...0 2 Customer prepared products 2 20 3 Installation procedure 2 21 2 3 Setting the origin 2 23 2 3 1 Installing the teaching pendant T B 2 23 1 CR750 controller 2 23 2 CR751 controller 2 24 2 3 2 Setting the origin with the origin data input method 2 25 1 Confirming the origin data 2 25 2 Turning ON the control power 2 25 3 Preparing the T B 2 26 4 Selecting the origin setting method 2 27 5 Inputti...

Page 11: ... 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 Mechanic...

Page 12: ...plained 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 ...

Page 13: ...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 14: ...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 15: ...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 16: ... 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 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 Ma...

Page 17: ...e separate Special Specifications Table 2 1 Standard configuration No Part name Type Qty Remarks 1 Robot arm RH 1FHR series 1 unit 2 Guarantee card 1 copy 3 Installation bolts M12 x 45 4 pcs For robot arm installation 4 Spring washer for installation bolts For M12 4 pcs 5 Plain washer for installation bolts For M12 4 pcs 6 Fixing plate 1 set For robot arm transportation 7 Fixing plate installation...

Page 18: ... 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 This completes the unpacking Note The robot must be transported without removing the fixing plate Remove after installing When repackaging the robot in the wooden frame always use the fixing plate 上ブタａｂｃ ...

Page 19: ...the wire hooks transportation tool and fixing plate 6 Always 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 transportation tool or if it is suspended in the work posture the configuration devices could be damaged and the transportation workers wi...

Page 20: ...port the robot for secondary transportation such as when changing the installation position If the arm is directly lift up without using the specified transportation tool or if it is lifted up in the work posture the configuration devices could be damaged and the transportation workers will be subject to risk due to an inadequate center of gravity position To reattach the fixing plate again set th...

Page 21: ...table to prevent 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 fixing plate and transportation tool 7...

Page 22: ...e position where direct rays or the heat of lighting hits The skin temperature of the robot arm may rise and the error may occur When leading machine cables fix cables in the position near connectors as much as possible not to apply excessive force or the cable s weight on the connectors This robot is hanging installation type Do not put the robot in an inverted position It may cause oil leakage o...

Page 23: ...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 24: ...ched to the connector on the machine cable side to the rear of the projection of the robot arm connector to fix securely in place The connection of machine cables is completed モータ電源ケーブルモータ信号ケーブルロボット本体ベース部 CN2 CN1 コントローラモータパワー CN1 モータ信号 CN2 ラッチ CN1 CN2 ラッチ Note 1 Although the picture is the CR750 D controller also the connection method is the same in the CR750 Q controller Motor power Motor sign...

Page 25: ...ble 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 the cause of failure Please be careful not to catch the hand a...

Page 26: ...securely under the condition that the plates inserted into the hollow d Connect the machine cable to its corresponding connector on the robot arm side Connect the connector AMP1 AMP2 CN2 securely e Install the CONBOX cover securely as before 3 Connect the machine cable to the corresponding connector of the controller Connects the connector CN1 AMP1 AMP2 BRK and CN2 surely Fix CN2 connector by tigh...

Page 27: ...tion cable If the cable is pulled with force or bent excessively wires could break or the connector could be damaged In order to prevent a breaking of cables and a damage of connectors always use the controller after installing the attachment cable fixation plate 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 t...

Page 28: ... 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 piping set and then connect Please reference Page 57 3 5 Hand internal wiring and piping set 6 After the optional hand wiring and piping...

Page 29: ...ter 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 8 Install the ADD cover in its original position When installing the cover please take care not to damage...

Page 30: ... 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 installed catch neither the cable nor the air hose If the bolt is tightened while it had been caught the cable will be broken an...

Page 31: ...ecting 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 Cable tie Moderate quantity Fixing the air hoses and the cables S...

Page 32: ...fer to Page 65 3 8 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 cables...

Page 33: ...r hoses and cables inside the robot s shaft 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 axis operat ing range Seal the outlet with...

Page 34: ...trongly 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 co...

Page 35: ...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 36: ... 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 controller turns ON the front power swit...

Page 37: ...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 38: ... 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 39: ...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 40: ... 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 41: ... 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 93 5 6 Resetting the origin and Page 106 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 j...

Page 42: ...1軸 J3軸 Each axis moves independently J4 axis J3 axis J2 axis J1 axis X X Y Y Z Z 直交座標系原点先端軸 Z Z C X X Y Y 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 End axis Base coordinate system reference origin ...

Page 43: ...s straight along the tool coordinate system Also while maintaining the end axis position the end axis posture changes End axis Tool coordinate reference origin X X Y Y Z Z 直交座標系原点先端軸 Z Z J4軸 X X Y Y The axis moves straight along the base coordinate system At this time the end axis posture is not maintained Also the end axis posture changes J4 axis End axis Base coordinate system reference origin ...

Page 44: ...s Arc Radius Vertical X X Y Y Z Z Z Z ツール長 Zw Zw Xw Xw Yw Yw 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 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...

Page 45: ... 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 46: ...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軸 J3 axis J3 axis jog operation J4軸回転 J4 axis jog operation 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 47: ...g 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 to Select XYZ jog mo...

Page 48: ...move In this case please move to the counter direction X X Y Y Z Z Z Z C X X Y Y 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 been set correctly Reconfirm the value input for the origin data Tool length The default tool length is 0mm and the control point is the center of the end axis ...

Page 49: ...f 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 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...

Page 50: ...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 X X Y Y Z 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 51: ...ve 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 Select 3 axis...

Page 52: ...ation 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 X X Y Y Z J4軸 X X Y Y Z Z Changing the end axis posture The Position of the end axis will not change J4 axis ...

Page 53: ...firmation 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 direc...

Page 54: ...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 上下 C 半径円弧 The position of the end axis will not change Changing the flange surface posture Vertical Radius Arc ...

Page 55: ...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 56: ...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 57: ...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 58: ... 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 current setting speed is displayed o...

Page 59: ...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 60: ...ection 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 ツール長 Zw Zw Xw Xw Yw Yw 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 Control point Tool length X X Y Y Z Z ツール長 SPACE Zw Zw...

Page 61: ...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 62: ...located on the right hand side and fix it securely using the M4 screws included tightening torque 1 39 to 1 89N m 3 Connect the connector GR1 GR2 of solenoid valve with connector of robot arm side GR1 GR2 Connect with the same names The hand output signal cables of the robot arm side are located close to where the Install to inside the No 2 arm cover U No 2 arm cover U Solenoid valve Fix to plate ...

Page 63: ... 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 57 3 5 Hand internal wiring and piping set Further when using the optiona...

Page 64: ... The hand input cable is stored in the location shown in Fig 3 2 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 65 3 8 Connector protection when the option devices are installed 4 Pull the hand in...

Page 65: ...edure 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 3 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...

Page 66: ...g range changeable angle Type Direction Note1 Note1 Refer to Fig 3 4 for mechanical stopper position Standard Change angle Note2 Note3 Note2 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 Note3 The changeable angle can be se...

Page 67: ...teps 1 Turn on power to 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 ...

Page 68: ...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 60 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 of the sole noid valve 8 When using the hand input cab...

Page 69: ...es are installed 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 pinched and no air hose is bent Note The installation surface of a covers is using sealing material In the event that the sealing material has been removed or has been bent o...

Page 70: ...Installing the hand internal wiring and piping set 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 axis operat ing range Seal the outl...

Page 71: ...e sections d and e of the diagram No Air hoses cables Position to pull out Example usage 1 Primary piping air hose φ6 2 hoses The primary piping is equipped from rear of base to No 2 arm a Coupling φ6 two couplings Primary air supply to externally installed solenoid valve 2 Secondary piping air hose φ4 8 hoses Air hose of the optional hand internal wiring and piping set or prepared by the customer...

Page 72: ...se 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 6 using cable tie There are 2 holes located left and right 7 If the cables and the air hoses have excess length please tie the excess section using cable tie 8 Install securely the No 2 arm cover U as before with fixing screws tightening torque 1 39 to 1 89 Nm Note The installat...

Page 73: ...changed this option and a robot could interfere and cause breakage 10 After changing the parameter turn off the controller power and turn on again And move the axis changed by joint jog operation to the limit of the operating range Confirm that the robot stops by limit over at the changed angle The installing of the external wiring and piping box is completed CAUTION ...

Page 74: ... HC2 connectors of the robot side a Applying silicone grease b Fixing plate Vacuum pressure supply PV port RETURN Vacuum breaking air adjustment needle Vacuum breaking pressure supply PS port AIR IN Vacuum V port Mounting bracket Screw holes for a vacuum valve installation 1 set Connector V1 Connector S1 PV PS V Secondary piping φ4 Primary piping RETURN Primary piping AIR IN Connector HC1 HC2 Conn...

Page 75: ...IN to the vacuum valve s PS port and the one marked RETURN to the PV port 7 Connect the secondary piping air hose φ4 8 Pass the secondary piping air hose through the shaft 9 The silicon rubber is supplied together with the vacuum valve to prevent bending the air hose Wrap a sec ondary piping air hose in the silicon rubber and fix them with supplied cable tie at b portion shown in Fig 3 8 10 Carry ...

Page 76: ...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 77: ... 3 66 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 78: ...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 79: ...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 80: ...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 the bel lows Fo...

Page 81: ...off the old grease and supply the new grease 6 month inspection items 1 Has the dust accumulated into bellows For bellows installed robot When environment with much dust Remove bellows and clean the inside Refer to Page 86 5 3 5 Replacing the bellows Option for how to remove bellows Yearly inspection items 1 Replace the backup battery in the robot arm Exchange it referring to Page 89 5 3 7 Replaci...

Page 82: ...Page 92 5 5 Maintenance parts of this manual 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 is shown in Fig 5 2 Fig 5 2 Outline structure drawing of robot arm CAUTION J3軸モータ 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...

Page 83: ... to the installation surface of cover Be sure to replace the sealant if it has been dislo cated and bent or crushed and does not return to its original shape Moreover when replacing a sealant it is necessary to remove the optional bellows Refer to Page 86 5 3 5 Replacing the bellows Option for details on how to remove bellows No Cover name Installation screw name Qty Note1 Note1 The fixing torque ...

Page 84: ...see Fig 5 7 Examples of packing overlaps Examples of improperly treated cut edge are shown as well a Stick packing 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...

Page 85: ...le of sticking packing bad example Fig 5 6 Sticking the cord like packing 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 86: ...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 87: ...5Maintenance and Inspection Maintenance and inspection procedures 5 76 Fig 5 8 Example of order which tighten bolts 1 3 4 2 ...

Page 88: ... 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 85 5 Timing belt tension for the tension adjustment value of the timing belt Maker Gates Unitta Asia Company Type U 505 Fig 5 9 Tension adjustment method of timing belt 1 Timing belt replacement period The timing belt life is g...

Page 89: ...ish the inspection 5 Lightly loosen J3 axis 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 loosen Adjust tension to the above mentioned value...

Page 90: ...s power supply OFF 2 Refer to Page 72 Fig 5 3 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 three fixing screws 2 remove the J3 axis motor 3 5 Remove the timing belt 4 from the timing pulley A 5 3 J3 axis motor 6 Timing pulley B 4 Timing belt 5 Timing pulley A 1 Tension adjustment scre...

Page 91: ...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 92: ...is motor 3 by tightening lightly the J3 axis motor fixing screw 2 three screws 10 Adjust the tension of J3 axis timing belt with referring to Page 78 2 Inspecting Adjusting the J3 axis timing belt 11 Install No 2 arm cover U securely as before 12 Reset the origin of J3 and J4 axis with referring to the Page 93 5 6 Resetting the origin 13 When the maintenance forecast function is valid reset the ac...

Page 93: ...belts first adjust timing belt B 2 and then proceed to adjust timing belt A 1 Fig 5 11 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 adjustm...

Page 94: ...n timing pulley B C fixing screws 3 Be 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 ...

Page 95: ...d by loosening the screw too much the origin will deviate If the position deviated reset the origin Refer to Page 93 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 ...

Page 96: ... adjust with the belt pressing force f and the slack amount d between spans Pressing force The preset value and adjustment value in the sound wave type belt tension gauge Note The value given in the table is the value of proper tension Because the tension declines by the infancy expansion when exchanged to new belt please adjust proper tension again after the operation for the about 100 hours when...

Page 97: ... of the screws inserted in step 4 Apply enough liquid gasket to seal the screw holes Ensure that liquid gasket does not penetrate more than 3 mm into the screw hole Recommended liquid gasket 1212 manufactured by ThreeBond Co Ltd 6 Fill the gap between the shaft fixation part and the shaft with a liquid gasket to prevent dust emergence Recommendation gasket 1212 Supplier Three Bond Holdings Co Ltd ...

Page 98: ...uctuate so determine the time according to the state so that the grease does not run out By the maintenance forecast function of RT ToolBox2 option computes the guide of the lubrication hours put together with the customer s operation status No Parts to be lubricated Note1 Note1 When the screw is installed in the illustrated lubrication point install the attached grease nipple and supply the greas...

Page 99: ...nded The 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 Note Sealant is applied to the installation surface of the cover Be sure to replace the sealant if it h...

Page 100: ...d the controller simultaneously Table 5 5 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 92 5 5 Maintenance parts If error 7500 or 112n occurs the program data and other data in the control...

Page 101: ...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 102: ... 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 16 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 103: ...e 5 7 Spare parts list No Part name Type Usage place Q ty Supplier 1 Grease Reduction gears of each axis A small amount Mitsubishi Electric Shaft A small amount 2 Lithium battery ER6V Inside the battery cover 3 3 Liquefied gasket Packing Note1 Note1 The liquefied gasket is necessary for the place which uses two or more packings to connect A small amount 4 Timing belt J3 axis 1 5 J4 axis motor side...

Page 104: ...of the position are correct For the details of the ABS mark position and the joint coordinates refer to Page 106 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 105: ...poses 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 Mechanical...

Page 106: ...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 bra...

Page 107: ... 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 108: ...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 ar...

Page 109: ...een 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 while pressing the key Note The brake of the axis shown below repeats release lock at the interval in each about 200ms for dropping the J3 axis slowly 7 With bo...

Page 110: ... 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 合いマーク J4 Alignment mark BRAKE J1 0 J2 0 J3 1 J4 0 J5 0 J6 0 ...

Page 111: ... 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 112: ...w 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 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 lightl...

Page 113: ...in 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 No 1 arm Pin hole Origin setting tool ORIGIN BRAKE 1 OR...

Page 114: ... 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 115: ...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２アーム第1アームピン穴原点治具 Hole bottom face No 2 arm No 1 arm Origin setting tool ORIGIN BRAKE 1 ORIGIN 2...

Page 116: ...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 117: ...s 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 must be 1 mm or less The positions where the ABS mark is attached are shown in below Refer to Page 30 2 4 Confirming the operation for details on the jog operation Fig 5 18 ABS mark attachment positions Ｊ2軸Ｊ1軸Ｊ4軸...

Page 118: ...he 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 ...

Page 119: ...ction Resetting the origin 5 108 If the ABS marks on axes other than the J4 axis have peeled off use the jig method to set the origin The joint coordinates are the same between the ABS origin method and the jig method CAUTION ...

Page 120: ... 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 121: ...to origin setting Press the EXE key and display Confirmation screen 9 Press the F1 key and the origin position is set up The origin settings are completed by the user origin method USER J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL ORIGIN USER CHANGE TO ORIGIN OK No 123 Yes ...

Page 122: ... Confirming the origin data label Remove the battery cover Refer to Page 72 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 25 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 123: ...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 124: ...Appendix 113 Configuration flag 6Appendix ...

Page 125: ......

Page 126: ...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 Oct 2020 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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