Mitsubishi Electric MELFA RH-12SQH Series Скачать руководство пользователя страница 62

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3-53

Changing the operating range

3Installing the option devices

3.4 Changing the operating range

3.4.1 J1 and J2 axis

The operating ranges of both the J1, J2 and J3 axes can be limited. Change the mechanical stopper and the oper

ating range to be set inside of that area.
If the operating range must be limited for example, to avoid interference with peripheral devices or to ensure
safety--set up the operating range as shown below.

(1) Operating range changeable angle

The operating range must be set up at angels indicated by

Table 3-2

Table 3-2 ： Operating range changeable angle

Axis

Type

Direction

Standard

Changeable angle

RH-6SQH series

J1 RH-6SQH35*/45*/

55*

+ side

+127 deg.

+90 deg.

+60 deg.

+30 deg.

0 deg.

Any one
point shown
at the left

Mechanical stopper angle

+130 deg.

+95 deg.

+65 deg.

+35 deg.

+5 deg.

Mechanical stopper position

P11

P12

P13

P14

P15

- side

-127 deg.

-90 deg.

-60 deg.

-30 deg.

0 deg.

Any one
point shown
at the left

Mechanical stopper angle

-130 deg.

-95 deg.

-65 deg.

-35 deg.

-5 deg.

Mechanical stopper position

N11

N12

N13

N14

N15

J2 RH-6SQH35*

+ side

+137 deg.

+117 deg.

+97 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

+139 deg.

+119 deg.

+99 deg.

Mechanical stopper position

P21

P22

P23

- side

-137 deg.

-117 deg.

-97 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

-139 deg.

-119 deg.

-99 deg.

Mechanical stopper position

N21

N22

N23

RH-6SQH45*/55*

+ side

+145 deg.

+125 deg.

+105 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

+147 deg.

+127 deg.

+107 deg.

Mechanical stopper position

P21

P22

P23

- side

-145 deg.

-125 deg.

-105 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

-147 deg.

-127 deg.

-107 deg.

Mechanical stopper position

N21

N22

N23

J3 Standard

specifications

+ side

+297

Change is impossible.

- side

+97

+115 to+ 257mm

Clean, oil-mist
specifications

+ side

+267

Change is impossible.

- side

+97

+115 to+ 227mm

RH-12SQH/18SQH series

J1 RH-12SQH55*/70*/

85*
RH-18SQH85*

+ side

+140 deg.

+105 deg.

+75 deg.

+45 deg.

+15 deg.

Any one
point shown
at the left

Mechanical stopper angle

+143 deg.

+110 deg.

+80 deg.

+50 deg.

+20 deg.

Mechanical stopper position

P11

P12

P13

P14

P15

- side

-140 deg.

-105 deg.

-75 deg.

-45 deg.

-15 deg.

Any one
point shown
at the left

Mechanical stopper angle

-143 deg.

-110 deg.

-80 deg.

-50 deg.

-20 deg.

Mechanical stopper position

N11

N12

N13

N14

N15

J2 RH-12SQH55*/70*

+ side

+145 deg.

+125 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

+150 deg.

+130 deg.

Mechanical stopper position

P21

P22

- side

-145 deg.

-125 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

-150 deg.

-130 deg.

Mechanical stopper position

N21

N22

RH-12SQH85*
RH-18SQH85*

+ side

+153 deg.

+125 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

+155 deg.

+130 deg.

Mechanical stopper position

P21

P22

- side

-153 deg.

-125 deg.

－

Any one
point shown
at the left

Mechanical stopper angle

-155 deg.

-130 deg.

Mechanical stopper position

N21

N22

J3 RH-12SQH standard

specifications

+ side

+290

Change is impossible.

- side

-10

+115 to+ 305mm

RH-12SQH clean, oil-
mist specifications

+ side

+290

Change is impossible.

- side

-10

+115 to+ 255mm

Содержание MELFA RH-12SQH Series

Страница 1: ...Industrial Robot Instruction Manual RH 6SQH 12SQH 18SQH Series Robot Arm Setup Maintenance MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC BFP A8695 29 10 2009 Version B INDUSTRIAL AUTOMATION ...

Страница 2: ......

Страница 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...

Страница 4: ...e 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 teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuri...

Страница 5: ...g the program or parameters the internal information of the robot controller may be damaged Use the USB devices confirmed by manufacturer In other case it might have care difficulty by the effect of temperature noise and so on When using it measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm of the operation by the cust...

Страница 6: ...ision Details 2008 10 30 BFP A8695 First print 2009 06 20 BFP A8695 A The caution at pulling out spare wiring was added 2009 10 29 BFP A8695 B The EC Declaration of Conformity was changed Correspond to the EMC directive 2006 42 EC Work jog function was added ...

Страница 7: ... by any means or in any form without prior consent from Mitsubishi The details of this manual are subject to change without notice An effort has been made to make full descriptions in this manual However if any discrepancies or unclear points are found please contact your dealer The information contained in this document has been written to be accurate as much as possible Please interpret that ite...

Страница 8: ...r suction 2 21 2 4 Setting the origin 2 22 2 4 1 Installing the teaching pendant T B 2 22 2 4 2 Setting the origin with the origin data input method 2 23 1 Confirming the origin data 2 23 2 Turning ON the control power 2 23 3 Preparing the T B 2 24 4 Selecting the origin setting method 2 25 5 Inputting the origin data 2 26 6 Installing the J1 cover 2 27 2 5 Confirming the operation 2 28 1 JOINT jo...

Страница 9: ... 3 5 Lubrication 5 71 1 Lubrication position and specifications 5 71 2 Lubrication method to the J1 J2 axis 5 71 3 Lubrication method to the shaft 5 72 5 3 6 Replacing the backup battery 5 73 1 Replacing the robot arm battery 5 74 5 4 Maintenance parts 5 75 5 5 Resetting the origin 5 76 5 5 1 Jig method 5 77 1 J1 axis origin setting 5 78 2 J2 axis origin setting 5 80 3 J3 axis origin setting 5 82 ...

Страница 10: ...ty and technology when incorporating the robot are also explained 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 t...

Страница 11: ...of the robot CPU system and the drive unit SQ series Robot CPU Unit The CPU unit for the robots which installed to the sequencer base unit Q3 DB SQ series Robot CPU system Multi CPU system SQ series It consists of MELSEC units such as the sequencer base unit the sequencer CPU unit and the robot CPU unit etc Drive unit The box which mounts the servo amplifier for the robots the safety circuit etc S...

Страница 12: ...here 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 these precautions to safely use the robot JOG If a word is enclosed in brackets or a box in the text this refe...

Страница 13: ...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...

Страница 14: ...njuries 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 teaching work in the r...

Страница 15: ...tic operation or rewriting the program or parameters the internal information of the robot controller may be damaged When the SSCNETIII cable is removed install the cap in the connector If the cap is not installed there is a possibility of malfunctioning by adhesion of the dust etc Don t remove the SSCNETIII cable when the power supply of the robot controller is turned on Don t face squarely the l...

Страница 16: ...ation 4 Spring washer for installation bolts For M8 4 pcs 5 Plain washer for installation bolts For M8 4 pcs 6 Fixing plates 1 set For robot arm transportation 7 Fixing plates installation bolt 1 set 8 Grommet 1 pcs For hand output cable wiring port RH 12SQH 18SQH series 1 Robot arm 1 unit 2 Guarantee card 1 copy 3 Installation bolts Ｍ12 x 45 4 pcs For robot arm installation 4 Spring washer for in...

Страница 17: ...ting with a crane RH 12SQH 18SQH series 1 HUsing a knife 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 connecting the sleeper and the base unit Fig 2 1 c 4 This completes the unpacking When repackaging the robot in the wooden frame always use the ...

Страница 18: ...dents do not hold the robot from the left right sides or hold covers that have no grips When installing the fixing tool again place the robot in the posture where each axis shows the values listed in the table below Table 2 2 Transportation posture RH 6SQH series Axis RH 6SQH35 RH 6SQH45 RH 6SQH55 Ｊ 1 49 5 deg 25 deg 17 deg Ｊ 2 139 5 deg 115 deg 107 deg Ｊ 3 97mm 97mm 97mm Ｊ 4 Not fixed Not fixed N...

Страница 19: ...uration 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 the table below Table 2 3 Transportation posture RH 12SQH 18SQH series Axis RH 12SQH55 RH 12SQH70 RH 12SQH85 RH 18SQH85 Ｊ ...

Страница 20: ...ring 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 suspension fitting and fixing plate 7 If you operate the robot at a high speed reaction forces are applied to the installation stand by the robot s operation Make sure that the installation stand ...

Страница 21: ...cables and the replacement of the backup battery Unit Value RH 6SQH series Tilt moment ML N m 380 Torsional moment MT N m 410 Horizontal direction translation force FH N 920 Vertical direction translation force FV N 570 RH 12SQH 18SQH series Tilt moment ML N m 1 310 Torsional moment MT N m 1 440 Horizontal direction translation force FH N 1 900 Vertical direction translation force FV N 1 280 CAUTI...

Страница 22: ...The grounding point should be as close 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 14 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 t...

Страница 23: ...cables Carry out the following procedure after installing the controller referring to the separate Controller Setup Basic Operation and Maintenance manual Motor power cable 5ｍ Motor signal cable 5ｍ CN2 CN1 Robot arm CN2 CN1 Robot controller CR3D 700 series Drive unitDU2 700 series Drive unitDU1 700 series CN1 CN2 CN1 CN2 Drive unitDU3 700 series ...

Страница 24: ... cable by lifting the hook The machine cable connectors are dedicated for the controller side and robot arm side so take special care when connecting If connected incorrectly the connector pins could bend or break Thus even if connected correctly the robot will not operate correctly creating a dangerous situation Take special care to the leading of the connection cable If the cable is pulled with ...

Страница 25: ...evices on page 34 Please handle accordingly by referencing this section when installing the solenoid valve Procedure for handling the hand output cables 1 When the robot is shipped the hand output cables are coming out from the rear of the No 2 arm 2 Insert the connector into the back of the No 2 arm 3 Install the grommets that come with the product to the robot 4 Fill the surrounding areas of the...

Страница 26: ... which remained in the hole section removes 4 Take out the spare wiring ADD stored in the cover The spare wiring by the side of the fore arm is separable by the connector 5 Since spare wiring is bundled in the union band it removes the union band 6 The connector is attached to spare wiring to both ends Cut spare wiring near the connector from the connector end to the about 10 20mm Refer to figure ...

Страница 27: ...uch load from being applied to the cables inside the robot and the air hoses If too much load is added the breaking of a wire and the air hose break and the robot cannot operate normally When No 2 arm cover U or the CON plate F are installed catch neither the cable nor the air hose If the bolt is tightened while it had been caught the breaking of a wire and the air hose break and the robot cannot ...

Страница 28: ...ONBOX cover Remove the seal material which remained in the hole area of the metal plate 7 Remove the lock nut of attachment in the cable clamp customer preparation 8 Let spare wiring pass from the robot arm side of CONBOX cover in the hole after removing the grommet Let the lock nut pass to spare wiring previously at this time 9 The tip area of spare wiring pass to the cable clamp And fix with the...

Страница 29: ...drive equipment cannot operate normally When No 2 arm cover U or the CON plate F are installed catch neither the cable nor the air hose If the bolt is tightened while it had been caught the cable will be broken and the hose is bent and the robot and pneumatic drive equipment cannot operate normally More over packing does not stick and protection specification cannot be secured CAUTION 正常な状態折れた状態 ...

Страница 30: ...e inside of the robot arm Refer to the section of Protection specification and the environment of the Standard specifications separate volume Fig 2 11 Air purge 2 3 4 Connection of piping for suction In use of the robot of clean specification please connect the phi8 air hose to the joint for suction of the robot body base portion VACUUM and suck the inside of the robot body Refer to the section of...

Страница 31: ...t the dummy connector or draw it out Please do not pull the cable of T B strongly or do not bend it too much It becomes the breaking of a wire of the cable and the cause of breakage of the connector Please installing and removing so that stress does not start the cable with the connector itself Explain the installation method of T B below 1 Check that the POWER power supply switch of the robot con...

Страница 32: ...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 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 cont...

Страница 33: ... The following operations are carried out with the T B MODE MANUAL AUTOMATIC 下 ENABLE ランプ点灯上 DISABLE ＴＢ背面 Up Disable Down Enable Lighting Operating from the T B Always set the MODE switch mode selection key switch on the front 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...

Страница 34: ...een and select the data input method 4 Display the origin data input screen MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN 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 N...

Страница 35: ...s 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 curso...

Страница 36: ...ations or to physical damage or personal injury ORIGIN DATA D V S29 J1 06DTYY J2 2 HL9X J3 1CP55V J4 T6 MSY J5 Z21J Z J6 A12 Z0 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...

Страница 37: ...here 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 The robot will also stop if the EMG STOP switch emergency stop switch on the front of the T B or the EMG STOP switch emergency stop on the front of the co...

Страница 38: ...le 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 Z Z X X Y Y C End axis Tool coordinate reference origin While maintaining the end axis posture the axis moves straight along the tool coordinate system Also while maintaining the end axis position the end axis posture changes ...

Страница 39: ...the base coordinate system At this time the end axis posture is not maintained Also the end axis posture changes X X Y Y Z Z C Vertical Radius Arc The current position is set as the arc centering on the Z axis and the axis moves along that arc expands and contracts in the radius direction and moves vertically At this time the end axis posture is maintained Also while maintaining the axis posture p...

Страница 40: ...ORK jog operation Z Z X Y Z Xw Yw Zw Zw Xw Yw ツール長 WORK coordinate system Controll point 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 Tool length ...

Страница 41: ...if the 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 direc...

Страница 42: ...en 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 J3 axis jog operation J3 axis J4 axis jog 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 B sounds a...

Страница 43: ...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 XYZ jog mode Set jog speed Setting t...

Страница 44: ...move In this case please move to the counter direction Z Z X X Y Y Z Z X X Y Y C The Position of the end axis will not change Changing the end axis posture 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 ...

Страница 45: ... 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 J3 keys are pressed the robot will move along the Z axis plus direction of the tool coordinate system When the Z J3 keys are pressed Move along the minus di...

Страница 46: ...d the robot does not move In this case please move to the counter direction Z Z X X Y Y C Changing the end axis posture The Position of the end axis will not change When alarm No 5150 occurs If alarm No 5150 ORIGIN NOT SET occurs the 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 ...

Страница 47: ...ht and STATUS NUMBER of the controller Set the override to 10 here for confirmation work When the X J1 keys are pressed the robot will move along the X axis plus direction When the X J1 keys are pressed Move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys ar...

Страница 48: ...in the minus direction The flange surface end axis posture cannot be maintained with 3 axis XYZ jog With 3 axis XYZ jog the flange surface end axis posture orientation is not maintained when moving linearly in the X Y or Z axis direction Use XYZ jog to maintain the posture Z Z X X Y Y Z Z X X Y Y C The Position of the end axis will not change Changing the end axis posture ...

Страница 49: ...o 10 here for confirmation work Assuming that the current position is on an arc centering on the Z axis the robot moves along that arc 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 X J1 keys are pressed the robot will expand in the radial direction When the X J1 keys are pressed Contract in...

Страница 50: ...n 2 Unpacking to Installation When 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 Changing the flange surface posture X X Y Y Z Z C 上下 C J6 C J6 ...

Страница 51: ... versions T B Ver 1 3 or later SQ series N8 or later SD series P8 or later The work coordinates system teaches and sets up the three points WO WX WY Fig 2 22 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 Teaching point WO Work coordinates system origin WX Position on the X axis of work coo...

Страница 52: ...creen 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 WO...

Страница 53: ...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...

Страница 54: ...ays confirm that the number of the target work coordinates system is displayed correctly Display of W1 W8 at the upper right of the screen If mistaken the robot will move in the direction which is not meant and will cause the damage and the personal injuries Whenever it presses the key of OVRD Upper arrow the override goes up Conversely if the OVRD Lower arrow key is pressed it will go down The cu...

Страница 55: ...ol point with a straight line in accordance with the work coordinates system Work coordinates system Tool length Controll point 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 1 JOINT jog operation on page 32 and move the robot to a position where li...

Страница 56: ...rotate in the plus direction of the XYZ coordinate system When the C J6 keys are pressed Rotate in the minus direction Z Z X X Y Y Z Z Xw Yw Zw ツール長 Work coordinates system 制御点 Changing the end axis posture The position of the control point does not change The end axis is rotated Tool length Controll point ...

Страница 57: ...FF If the hand input cables 1S HC35C 02 or the hand output cables 1S GR35S 02 are used be sure to install them in advance Refer to 3 2Installing the hand input cable on page 51 and 3 3Installing the hand output cable on page 52 １３５７２４６８ A port B port GR1 GR2 １３５７２４６８ A port B port AIR IN RETURN Detail of section B GR1 GR2 Detail of section A Electrical wiring opening grommet AIR OUT ...

Страница 58: ...Install the solenoid valve back in the original position and securely tighten it with its screws Be careful not to pinch cables while in this installation operation Also be sure that no gap is created between the solenoid valve box and the solenoid valve by the sponge sealant applied onto the solenoid valve If there is a gap the protection specification may degrade In the case of the oil mist or c...

Страница 59: ...respondence after installation is as shown in Table 3 1 Table 3 1 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 ...

Страница 60: ...the CON plate F 4 After removing the lock nut attached to the hand input cable feed the connector side of the hand input cable with a cable clamp through the hole on the CON plate F Replace the removed lock nut in position and fasten it securely 5 Connect the connectors of HC1 and HC2 stored in section A shown in Fig 3 1 to HC1 and HC2 of the hand input cable 6 Install the CON plate F to the rear ...

Страница 61: ...the CON plate F 4 After removing the lock nut attached to the hand output cable feed the connector side of the hand output cable with a cable clamp through the hole on theCON plate F Replace the removed lock nut in position and fasten it securely 5 Connect the connectors of GR1 and GR2 stored in section A shown in Fig 3 1 to GR1 and GR2 of the hand output cable 6 Install the CON plate F to the rea...

Страница 62: ...oint shown at the left Mechanical stopper angle 147 deg 127 deg 107 deg Mechanical stopper position P21 P22 P23 side 145 deg 125 deg 105 deg Any one point shown at the left Mechanical stopper angle 147 deg 127 deg 107 deg Mechanical stopper position N21 N22 N23 J3 Standard specifications side 297 Change is impossible side 97 115 to 257mm Clean oil mist specifications side 267 Change is impossible ...

Страница 63: ... axis and Fig 3 5 shows those of the J2 axis If the screw holes are hidden behind the arms slowly move the No 1 and No 2 arms Fig 3 4 Mechanical stopper position J1 axis Fig 3 5 Mechanical stopper position J2 axis 3 Setting the operation range parameter Set up the operation range Changeable angle in Table 3 2 to the Joint movement range parameter MEJAR 1 Turn the controller power ON 2 Set up the c...

Страница 64: ...e parameter MORG to the angle of the mechanical stopper position that has been set MORG J1 side mechanical stopper position J2 side mechanical stopper position 5 Confirming the operation range When completed changing the parameters turn the controller power OFF and ON Move the changed axis to the operation range limit with joint jog operation and confirm that the limit over occurs and the robot st...

Страница 65: ...4 56 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 ...

Страница 66: ... 500 Hr operation hours Fig 5 1 Inspection schedule 0 Hr Daily inspection Monthly inspection Monthly inspection 500 Hr Monthly inspection 3 month inspection Monthly inspection Monthly inspection 1 000 Hr Monthly inspection 3 month inspection 6 month inspection Monthly inspection Monthly inspection 1 500 Hr Monthly inspection 3 month inspection Monthly inspection Monthly inspection 2 000 Hr Monthly...

Страница 67: ... connect 6 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 any grease leaking from the robot arm Visual After cleaning replenish the grease 8 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 rem...

Страница 68: ...ghten the screws 3 Remove the cover at each section and check the cables for wear damage and adherence of foreign matter Check and eliminate the cause If the cables are severely damaged contact the Mitsubishi Service Department 3 month inspection items 1 Is the timing belt tension abnormal If the timing belt is loose or too tense adjust it 6 month inspection items 1 Is the friction at the timing b...

Страница 69: ...ion are described in 5 4Maintenance parts on page 75 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 An outline structure drawing is shown in Each part is as shown below An outline structure drawing is shown in Fig 5 2 E...

Страница 70: ...replace the sealant if it has been dislocated and bent or crushed and does not return to its original shape Use liquid gasket and packing in Table 5 5 Consumable part list on page 75 Moreover in the case of oil mist specification and clean specification models it is necessary to remove the top and bottom bellows Refer to 5 3 4Replacing Bellows on page 68 for details on how to remove them No Cover ...

Страница 71: ...firmed during the periodic inspection The timing belt must be replaced in the following cases 1 Timing belt replacement period The timing belt life is greatly affected by the robot working conditions so a set time cannot be given However if the following symptoms occur replace the belt 1 When cracks from at the base or back of the belt teeth 2 When the belt expands due to adherence of oil etc 3 Wh...

Страница 72: ...osen J3 motor installation screws 1 Be careful not to overly loosen the screws 3 While checking the tension of the timing belt 2 move the J3 motor 3 in the directions of the arrows indi cated in the figure above Lightly press the center of the belt and confirm that the value of belt slack is in following RH 6SQH series Force to press the belt approx 2N Flexure 2 5mm RH 12SQH 18SQH series Force to ...

Страница 73: ...ng belt 2 by lifting it from the bottom spline section Refer to Fig 5 4 8 Install a new timing belt on the timing pulleys 4 and 5 in the reverse order of the procedure described in steps 6 and 7 above 9 With the J3 axis touching the upper mechanical stopper hook the timing belt 2 around the timing pulleys 4 and 5 10 Perform tension adjustment referring to steps 3 to 6 in Adjusting the J3 axis timi...

Страница 74: ...he screws 3 While checking the tension of the timing belt 10 move the idler 4 in the directions of the arrows indicated in the figure above Lightly press the center of the belt and confirm that the value of belt slack is in follow ing RH 6SQH series Force to press the belt approx 4N Flexure 1 2mm RH 12SQH 18SQH series Force to press the belt approx 5N Flexure 1 7mm 4 While checking the tension of ...

Страница 75: ...ps 3 to 6 in Adjusting the J4 axis timing belt and 4 Timing belt tension on page 67 For more accurate tension adjustment tighten the idler 4 with the idler installation screws 3 as shown in Fig 5 7 while pulling the RH 6SQH series with a force of 135 N and the RH 12SQH 18SQH series with a force of 115 N using a push pull gauge As shown in Fig 5 8 it is recommended to tighten the J4 axis motor inst...

Страница 76: ...l vibrate On the other hand if the belt tension is too strong a sharp sound will be heard and the belt tension side will vibrate The detailed adjustment tension is shown in Fig 5 9 Check and adjust with the belt pressing force f and the slack amount d between span s T T T T ｆ Pressing force ｓ Span ｄ Slack T Tension Axis Belt type Sepang s mm Slack d mm Tension T N Remarks RH 6SQH series J3 453 3GT...

Страница 77: ...tallation part 2 of the bellows and remove the bellows 6 Install the new bellows four M3 x 8 screws Tightening torque 0 8Nm 7 Align part 1 on the ball screw and tighten the M4 set screws two pieces adjusting to the D cut surface 8 Install the bellows on the No 2 arm cover U with clamp ring 9 Fill the clearance between part 1 and the ball screw with the liquid gasket described in Table 5 5 Con suma...

Страница 78: ...amination by dust and oil mist If it must be replaced in a dust filled area be sure to remove as much dust as possible in advance before replacing it 1 2 4 Ｍ3 ｘ 8 No 2 arm cover U Ａ M4 set screws x 2 Clamp ring Top bellows Liquid gasket coating position 1 2 4 M3 x 8 screw Section Ａ Ball screw 10 Details of D cut surface D cut surface RH 6SDH series φ20 RH 12SDH 18SDH series φ25 CAUTION ...

Страница 79: ...ll the No 2 arm cover L 3 with the M4 screws three pieces 8 Fill the clearance between part 4 and the ball screw with the liquid gasket described in Table 5 5 Con sumable part list on page 75 or similar material Note Check the condition of the sealant when installing the No 2 arm cover L onto No 2 arm Be sure to replace the sealant if it is dislocated and bent or crushed and does not return to its...

Страница 80: ...e shown in Table 5 4 using a grease gun from the lubrication grease nipple Add only the specified amount of grease Adding excess grease may cause grease to leak 3 Replace the covers with the removal procedure in reverse Note Sealant is applied to the cover joint surface of the oil mist specification and clean specification models Be sure to replace the sealant if it has been dislocated and bent or...

Страница 81: ... is applied grease may get scattered all over inside of the No 2 arm If the grease reaches the timing belt inside the No 2 arm the timing belt may deteriorate prematurely 4 Attach the covers in the reverse order of their removal In the case of oil mist specification and clean specification models it is necessary to remove the top and bottom bellows See Section 5 3 4Replacing Bellows on page 68 for...

Страница 82: ... time is over Error No 133n Encoder battery voltage low n indicates the axis number The encoder battery voltage of the robot arm is low Error No 7510 Battery voltage low R C The battery voltage of the controller is low Error No 7500 No battery voltage The battery of the controller is depleted If error No 7500 occurs the program data and other data in the controller is lost and it becomes necessary...

Страница 83: ... the battery Thus if the cable is not connected correctly or if the controller power is OFF the position data will be lost 3 Press the emergency stop button to set the robot in the emergency stop state This is a measure for safety and must always be carried out 4 Remove the two installation screws 1 and remove the battery cover 2 5 Remove the old battery from the holder and disconnect the lead con...

Страница 84: ...he maker s standard parts Thus confirm the part name robot arm and con troller serial No and purchase the parts from the dealer Table 5 5 Consumable part list No Part name Type Note1 Usage place Q ty Supplier 1 Grease Reduction gears of each axis An needed Mitsubishi Electric 2 Lithium battery A6BAT In base 5 RH 6SQH series 3 Timing belt J3 axis 1 Mitsubishi Electric 4 J4 axis motor side 1 5 J4 ax...

Страница 85: ...thod or ABS origin method Table 5 6 Origin setting method No Method Explanation Remarks 1 Origin data input method The origin data set as the default is input from the T B The setting method is explained in 2 3Setting the origin on page 11 2 Jig method The origin posture is set with the calibration jig installed The setting method is explained in 5 5 1Jig method on page 77 3 User origin method A r...

Страница 86: ...e are the method of releasing the brake and adjusting with the origin position manually and the method of adjusting with the origin position by jog feed Here explain operation by brake release Then do origin setting operation and set up the origin To ensure safety the brake release procedure described below should always be done by two persons This operation is carried out with the teaching pendan...

Страница 87: ...to the pinholes and fasten 7 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen 8 Press the 1 key and display the Origin setting selection screen 9 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 Select BREAK ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 BRAKE J1 0...

Страница 88: ... 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 is detached while the brakes are released th...

Страница 89: ... arm and the pinhole at the base section feed through the origin jig into the pinholes and fasten For safety purposes the step for releasing the brakes must be carried out by two workers One worker must operate the T B and the other must support the arm When the brakes are released the robot arm could drop by its own weight depending on the posture If F1 key or enable switch of T B is released the...

Страница 90: ...OL 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 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 ...

Страница 91: ... arm and the pinhole at the base section feed through the origin jig into the pinholes and fasten For safety purposes the step for releasing the brakes must be carried out by two workers One worker must operate the T B and the other must support the arm When the brakes are released the robot arm could drop by its own weight depending on the posture If F1 key or enable switch of T B is released the...

Страница 92: ...OL 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 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 ...

Страница 93: ...ake is released while pressing the key 7 Slowly rotate the J4 axis in the direction of minus with both hands Align the pinholes of the No 1 arm and shoulder feed through the origin jig into the pinholes and fasten 8 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen 9 Press the 1 key and display the Origin setting selection screen MENU 1 FILE EDIT 2 RUN 3 P...

Страница 94: ...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 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 enabli...

Страница 95: ...he direction of plus 90 with both hands Align the pinholes of the No 2 arm and wrist housing feed through the origin jig into the pinholes and fasten For safety purposes the step for releasing the brakes must be carried out by two workers One worker must operate the T B and the other must support the arm When the brakes are released the robot arm could drop by its own weight depending on the postu...

Страница 96: ...3 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 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 ...

Страница 97: ...ed while pressing the key 7 Hold the bolts mounted in step 1 above with hands rotate them slowly and line up the ABS mark of the J6 axis with the ABS mark of the wrist area 8 Detach the F1 key and work the brake Press the F4 key and return to the origin brake screen MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 SPACE BRAKE J1 0 ...

Страница 98: ...OL 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 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 ...

Страница 99: ...tion accurately This operation is carried out with the teaching pendant Set the MODE switch on the front 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 When set...

Страница 100: ...c tion screen 4 Input 1 into the axis to origin setting Press the EXE key and display Confirmation screen 5 Press the F1 key and the origin position is set up This completes the setting of the origin with the ABS method ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 MENU 1 FILE EDIT 2 RUN 3 PARAM 4 ORIGIN BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 ABS J1 1 J2 0...

Страница 101: ...r to 5 5 2ABS origin method on page 90 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 axi...

Страница 102: ...igin setting Press the EXE key and display Confirmation screen 9 Press the F1 key and the origin position is set up This completes the setting of the origin with 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 ...

Страница 103: ... label 1 Confirming the origin data label Remove the shoulder cover Refer to 5 3 2Installing removing the cover on page 61 and remove the shoulder cover 2 Confirming the origin data Confirm the value displayed on the teaching pendant s Origin Data Input screen Refer to 2 3 2Setting the origin with the origin data input method 5 Inputting the origin data and display the Origin Data Input screen on ...

Страница 104: ...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...

Страница 105: ......

Страница 106: ...850 850 DENMARK Beijer Electronics A S Lykkegårdsvej 17 1 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 FINLAND Beijer Electronics OY Jaakonkatu 2 FIN 01620 Vantaa Phone 358 0 207 463 500 Fax 358 0 207 463 501 GREECE UTECO A B E E 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY AXICONT AUTOMATIKA KFT ROBOT CENTER Reitter F U 132 HU 1131 Budapest ...

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