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User’s Manual

ENGLISH

RSH1C/RSH2C/RSH3C

MISUMI SINGLE-AXIS ROBOT

4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan
URL http://www.misumi.co.jp/english/company/office/

MISUMI Corporation

ME4-Ver. 1.03

Содержание RSH1C

Страница 1: ...User s Manual ENGLISH E RSH1C RSH2C RSH3C MISUMI SINGLE AXIS ROBOT 4 43 Toyo 2 chome Koto ku Tokyo 135 8458 Japan URL http www misumi co jp english company office MISUMI Corporation ME4 Ver 1 03...

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Страница 3: ...was disconnected from the controller and then reconnected 3 When no absolute battery is connected 4 When a motor or cable was replaced At this point any of the following errors is issued immediately...

Страница 4: ...MEMO...

Страница 5: ...rk within the safety enclosure 1 12 1 8 Automatic operation 1 13 1 9 Warranty 1 14 Chapter 2 Product Overview 2 1 Checking the product 2 1 2 2 Robot part names 2 1 Chapter 3 Installation and Connectio...

Страница 6: ...n 4 7 4 3 Adjusting shutter looseness 4 8 4 4 Applying grease 4 10 4 5 Replacing the shutter 4 13 4 6 Replacing the motor 4 16 Chapter 5 Troubleshooting 5 1 Positioning error 5 1 Chapter 6 Specificati...

Страница 7: ...ence This user s manual should be used with the robot and considered an integral part of it When the robot is moved transferred or sold send this manual to the new user along with the robot Be sure to...

Страница 8: ...MEMO...

Страница 9: ...Essential precautions 1 3 1 3 Industrial robot operating and maintenance personnel 1 9 1 4 Robot safety functions 1 10 1 5 Safety measures for the system 1 11 1 6 Trial operation 1 11 1 7 Work within...

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Страница 11: ...ssified as explained below Make sure that you fully understand the meaning of each symbol and comply with the instructions wDANGER FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR...

Страница 12: ...essential that the user have a full knowledge of basic safety rules and also that the operator makes correct judgments on safety procedures during operation For specific safety information and standa...

Страница 13: ...enter inside except from doors or panels equipped with safety interlocks Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels of the safety enclos...

Страница 14: ...autions relating to your work as well as descriptions in this chapter Chapter 1 Using the Robot Safely Never install adjust inspect or service the robot in any manner that does not comply with the ins...

Страница 15: ...NMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT 6 Do not use the...

Страница 16: ...RTICAL AXIS WITH A SUPPORT STAND BEFORE REMOVING THE MOTOR BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS PARTS AND INSTALLATION BASE 10 Be careful not to touch the motor and per...

Страница 17: ...THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK 14 Be sure to make correct parameter settings cCAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coeffi...

Страница 18: ...the robot might fly outward or drop and create a hazard to the operator then protective equipment should be installed by taking the size weight temperature and chemical properties of the object into...

Страница 19: ...other than the operators for that job task from mistakenly operating a start or selector switch If needed take other measures such as locking the cover on the operation panel 25 Make daily and period...

Страница 20: ...ER IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE THE ROBOT AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED CAUSING THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT...

Страница 21: ...n and servicing of the system 1 6 Trial operation After making installations adjustments inspections or maintenance or repairs to the robot make a trial run using the following procedures 1 If a safet...

Страница 22: ...y enclosure always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation p...

Страница 23: ...ks actuated 2 Observe the following during automatic operation or in cases where an error occurs 1 After automatic operation has started check the operation status and signal light to ensure that the...

Страница 24: ...r malfunctions as described below Warranty description This warranty conforms to the warranty description listed at the end of the MISUMI FA Mechanical Standard Components catalog Warranty Period The...

Страница 25: ...Chapter 2 Product Overview Contents 2 1 Checking the product 2 1 2 2 Robot part names 2 1...

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Страница 27: ...ales office or representative immediately wWARNING ALWAYS USE TWO OR MORE PEOPLE TO TAKE THE ROBOT UNIT OUT OF THE PACKAGE EACH PERSON SHOULD GRIP THE ROBOT UNIT NEAR ONE END FROM THE LOWER SIDE CARRY...

Страница 28: ...MEMO 2 2...

Страница 29: ...conditions 3 2 3 2 1 Installation environments 3 2 3 2 2 Installation base 3 3 3 3 Installing the robot 3 5 3 4 Connecting the robot to the controller 3 7 3 5 Suction hoses connection 3 10 3 6 Setting...

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Страница 31: ...LOSE BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES KEEP THE ROBOT BALANCED AND DON T LET IT TILT WHILE MOVING IT IF THE ROBOT TILTS THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING...

Страница 32: ...erference electrostatic discharge and radio frequency interference Vibration Do not subject to impacts or vibrations Working space Allow sufficient space margin to perform jobs teaching inspection rep...

Страница 33: ...n base that satisfies the following conditions 1 The installation base is subjected to a great deal of stress while the robot is in operation Prepare a sufficiently rigid and stable installation base...

Страница 34: ...ot installation example Good example Installation base Bad example Installation base wWARNING WHEN INSTALLING THE ROBOT ALWAYS USE ALL M5 TAPPED HOLES DRILLED IN THE BOTTOM OF THE ROBOT USING LESS THA...

Страница 35: ...OW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS POSITION ERRORS AND SERIOUS ACCIDENTS DO NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND...

Страница 36: ...e Ground terminal cCAUTION A secure ground connection less than 100 ohm resistance to ground is recommended Use electrical wire thicker than AWG14 2mm2 as the ground wire wWARNING ALWAYS TURN OFF THE...

Страница 37: ...E CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED CONTACT FAILURE MAY CAUSE ROBOT MALFUNCTIONS ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF BEFORE CONNECTING THE ROBOT CABLES TO T...

Страница 38: ...e connector hoods together securely Hood Robot cable connections N1 RGEN L COM1 I O ROB CHARGE 200V L1 MOTOR I O N PWR ERR FUNC CLR RUN STOP C21 C22 controller Handy Terminal Single axis robot RSH1C R...

Страница 39: ...7 custom purpose pins Output 16 general purpose pins 3 custom purpose pins RS 232C or communication control communication cable RS Manager communication software The controller is supplied with the ro...

Страница 40: ...ollowing flow rate Hose outside diameter 10 Number of hoses 1 Suction rate 90 N min cCAUTON Avoid excessive bends in the air hoses Lay out the air hoses to keep the hose length to the air unit as shor...

Страница 41: ...oad parameter Use the following method when setting the payload parameter on the C21 C22 controller For how to set the parameter refer to the H1 Operation Guide section in the C21 C22 Controller User...

Страница 42: ...speed must be reduced to an appropriate level Refer to Chapter 6 Specifications for information on how to set the maximum speed according to the stroke length If the maximum speed does not reach a ha...

Страница 43: ...rk 4 1 4 2 Periodic inspection 4 3 4 2 1 Daily inspection 4 3 4 2 2 Three month inspection 4 4 4 2 3 Six month inspection 4 6 4 2 4 Three year inspection 4 7 4 3 Adjusting shutter looseness 4 8 4 4 Ap...

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Страница 45: ...OR MAINTENANCE ALWAYS TURN OFF THE CONTROLLER AND THE EXTERNAL SWITCH BOARD DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 10 MINUTES AFTER THE CONTROLLER HAS BEEN TURNED OFF WHEN ONLY MAKING ELEC...

Страница 46: ...TECTIVE GLOVES TO PREVENT CONTACT WITH SKIN DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE GREASE CONTAINER SO USE PROTECTIVE GLOVES...

Страница 47: ...and excessively tight bends Stain or grime on the shutter surface 1 Replace if necessary Ball screws and bearings Check for unusual vibration and noise Motor Check for unusual vibration and noise and...

Страница 48: ...ILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE CONTAINER SO USE PROTECTIVE GLOVES KEEP OUT OF THE REACH OF CHILDREN DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME...

Страница 49: ...buildup or debris Clean if necessary Apply grease after cleaning Check to see if the ball screw linear guide and ball bushing are lubricated not dry Apply grease if necessary Clean room robots LG2 NS...

Страница 50: ...WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE CONTAINER SO USE PROTECTIVE GLOVES KEEP OUT OF THE REACH OF CHILDREN DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME...

Страница 51: ...ors are loose Greasing to ball screw nut section and linear guide Apply LG2 grease NSK to the ball screw nut section and linear guide every 6 months See 4 4 in this chapter Slider On long stroke 750mm...

Страница 52: ...Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 4 Enter the safety enclosure 5 While moving the slider back and forth by hand find the pos...

Страница 53: ...the shutter does not sway right or left If any abnormality is found repeat the adjustment in steps 6 and 7 9 Go outside the safety enclosure 10 Check that no one is inside the safety enclosure and the...

Страница 54: ...ips head screwdriver Grease gun Recommended grease NSK LG2 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 4 E...

Страница 55: ...grease the linear guide 2 Open the cover by pulling it up to grease the linear guide Method 1 Remove only the end cover to grease the linear guide 1 Remove the 2 screws securing the end cover on the m...

Страница 56: ...ject new grease into the two grease nipples on the right and left of the ball guide bearing In this case use a grease gun with a bent nozzle as shown Grease nipple Grease gun 6 Wipe away excess grease...

Страница 57: ...spected to keep others from operating the controller switch 3 Enter the safety enclosure 4 Remove the 8 screws 4 screws on each side securing the slider cover and remove the cover 5 Remove the screws...

Страница 58: ...e shutter 8 Attach the new shutter in place nNOTE Attach the shutter so it is positioned in the center of the cover 9 Reattach the roller that was removed in step 6 10 Reattach the shutter clamp plate...

Страница 59: ...that the shutter does not protrud or bulge above the slider If the shutter is protruding loosen the screws on the shutter clamp plates on both ends and repeat the adjustment in steps 11 and 12 cCAUTI...

Страница 60: ...e robot is being inspected to keep others from operating the controller switch 3 Enter the safety enclosure 4 Remove the 6 screws 2 screws on the sides and 4 screws for the cable securing the end cove...

Страница 61: ...17 7 Remove the ground wire 8 Remove the 4 bolts securing the motor and remove the motor 9 Remove the wave washer and flat washer cCAUTION When removing the motor the flat washer might be left in the...

Страница 62: ...cing the motor 4 18 10 Remove the 4 bolts securing the rotor and pull out the rotor 11 Install the new rotor 12 Install the wave washer and flat washer in the correct order 13 Install the new motor 14...

Страница 63: ...rch screen appears showing the origin search method and direction NRM 01 Servo status Origin search Run Reset Current pos 128 00 mm Operation Method TORQUE Direction CCW Coordinates Normal RUN Origin...

Страница 64: ...e OK and machine reference Ref appear when the origin search has ended successfully Method TORQUE Direction CCW Coordinates RUN Origin search start Current pos 128 00 mm Origin search NRM 01 Origin se...

Страница 65: ...Chapter 5 Troubleshooting Contents 5 1 Positioning error 5 1...

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Страница 67: ...on was correct but position deviates Position deviates 1 Check for looseness of mechanical parts Retighten if necessary 2 Replace mechanical parts 1 Check tool and workpiece for warping 2 Check robot...

Страница 68: ...5 2 MEMO...

Страница 69: ...ontents 6 1 Main unit specifications 6 1 6 1 1 RSH1C 6 1 6 1 2 RSH2C 6 4 6 1 3 RSH3C 6 7 6 2 AC servo motor specifications 6 10 6 2 1 AC servo motor termination 6 10 6 2 2 Brake cable specifications 6...

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Страница 71: ...ase when suction blower is used 3 The required amount of suction air differs depending on the usage and environment so it is recommended to set the suction rate at the upper limit of the listed values...

Страница 72: ...izontal installation Unit mm A B C Lead 20 5kg 245 85 146 10kg 131 39 69 12kg 115 31 57 Lead 12 5kg 364 92 192 10kg 207 43 92 15kg 144 26 41 20kg 112 18 40 Lead 6 10kg 406 47 124 20kg 225 20 54 30kg 1...

Страница 73: ...88 with brake 67 60 C M5x0 8 Depth 10 2 D 10H7 Plate thickness 8 R F 10H7 Plate thickness 8 178 with brake 143 E Detail of T groove Recommended plate nut M3 6 t1 6 1 5 2 5 3 5 6 4 100 Note 1 Distance...

Страница 74: ...nding on the usage and environment so it is recommended to set the suction rate at the upper limit of the listed values However if for example the operation speed is determined and will not be changed...

Страница 75: ...122 179 10kg 149 55 89 15kg 100 33 56 20kg 95 22 41 Lead 10 10kg 251 61 130 20kg 127 25 55 30kg 90 14 31 40kg 69 8 18 Lead 5 20kg 256 29 76 30kg 188 16 43 40kg 96 10 28 50kg 33 6 18 C B A Wall instal...

Страница 76: ...10H7 Plate thickness 8 D 2 153 188 with brake E Detail of T groove Recommended plate nut M3 6 t1 6 6 4 3 5 5 2 1 5 Note 1 Distance from both ends to the mechanical stopper Note 2 Minimum bend radius o...

Страница 77: ...ironment so it is recommended to set the suction rate at the upper limit of the listed values However if for example the operation speed is determined and will not be changed after the robot operation...

Страница 78: ...10 000km Horizontal installation Wall installation MP MR MY A C B Horizontal installation Unit mm A B C Lead 20 10kg 687 274 200 20kg 401 125 92 30kg 338 76 57 Lead 10 20kg 622 137 111 40kg 472 57 47...

Страница 79: ...te thickness 8 D 2 160 100 E Detail of T groove Recommended plate nut M3 6 t1 6 6 4 3 5 5 2 1 5 Note 1 Distance from both ends to the mechanical stopper Note 2 Minimum bend radius of motor cable is R5...

Страница 80: ...AMP 1 CN3 4 polarities 5 Receptacle 175156 2 AMP 4 CN3 6 Receptacle housing SMR 02V B JST 1 CN2 2 polarities 7 Plug housing SMR 02V BC JST 1 CN4 2 polarities 8 Socket contact BHF 001T 0 8BS JST 2 CN4...

Страница 81: ...able specifications Connector specifications No Parts Type No Maker Qty Note 1 Brake parts 1 2 Receptacle housing SMR 02V B JST 1 CN1 3 Pin contact BYM 001T P0 6 JST 9 CN1 Connector wiring Connector P...

Страница 82: ...solver 0 3sq Blue SPMCU 14 K S4 2 2 Orange S1 3 3 Green S3 4 4 Brown R1 5 5 Grey R2 6 6 Red FG 7 7 Drain wire BK 13 1 Brake Black BK 14 2 Yellow ORG 12 2 ORG Pink 24V 11 1 White GND24 10 3 Blue Red Po...

Страница 83: ...Appendix Contents About machine reference i Moment of inertia calculation ii...

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Страница 85: ...ck the machine reference value The machine reference value is displayed on the LCD screen of the Handy Terminal when an origin search return to origin is complete See the figure below nNOTE The RSH1C...

Страница 86: ...lculated The total of the moment of inertia for these factors is then obtained The objects and equations often used for the calculation of the moment of inertia are shown below 1 Moment of inertia for...

Страница 87: ...RPD4 h 32g WD2 8g kgf cm sec 2 W Weight of cylinder kgf m Mass of cylinder kg e Density kg cm3 g Gravitational acceleration cm sec 2 x RPD 2 hx2 4g Wx 2 g mD2 8 mx 2 kgm 2 center line rotation center...

Страница 88: ...t MISUMI or MISUMI sales representatives Single axis Robot User s Manual RSH1C RSH2C RSH3C Jun 2010 Ver 1 03 This manual is based on Ver 1 03 of Japanese manual Revision record Manual version Issue da...

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