CONTENTS
ii
Page
(1) RH-3FH/6FH series ................................................................................................................................................. 3-58
(2) RH-12FH/20FH series ............................................................................................................................................ 3-60
(3) Hand number and solenoid valve ports (common to RH-FH series) ................................................... 3-61
3.2 Installing the hand input cable ......................................................................................................................................... 3-62
3.3 Installing the hand output cable ...................................................................................................................................... 3-63
3.4 Changing the operating range .......................................................................................................................................... 3-64
(1) Operating range changeable angle ..................................................................................................................... 3-64
(2) The change method of the operating range ................................................................................................... 3-65
(1) Installation procedure .............................................................................................................................................. 3-66
(2) RH-3FH series ............................................................................................................................................................ 3-68
(3) RH-6FH series ............................................................................................................................................................ 3-69
(4) RH-12FH/20FH series ............................................................................................................................................ 3-70
3.6 External Wiring and Piping Box ........................................................................................................................................ 3-71
3.7 Connector protection when the option devices are installed ............................................................................. 3-73
5.1 Maintenance and inspection interval ............................................................................................................................. 5-76
5.2 Inspection items ..................................................................................................................................................................... 5-77
5.2.1 Daily inspection items .................................................................................................................................................. 5-77
5.2.2 Periodic inspection ........................................................................................................................................................ 5-78
5.3.1 Robot arm structure ..................................................................................................................................................... 5-79
5.3.2 Installing/removing the cover ................................................................................................................................... 5-81
5.3.3 Packing Replacement Procedure ............................................................................................................................ 5-83
(1) Timing belt replacement period ......................................................................................................................... 5-87
(2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt ................................................................ 5-88
(3) RH-3FH series: Replacing the J3 axis timing belt ...................................................................................... 5-89
(4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt ..................................... 5-92
(5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt ............................................................ 5-93
(6) RH-3FH/6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt ........................... 5-95
(7) Timing belt tension ................................................................................................................................................... 5-98
(1) Clean specification ................................................................................................................................................... 5-99
(2) Oil mist specification ............................................................................................................................................ 5-100
(1) Lubrication position and specifications ......................................................................................................... 5-101
(2) Lubrication method to the J1, J2 axis .......................................................................................................... 5-102
(3) Lubrication method to the shaft ...................................................................................................................... 5-103
5.4 About Overhaul ................................................................................................................................................................... 5-107
5.5 Maintenance parts .............................................................................................................................................................. 5-108
5.6 Resetting the origin ........................................................................................................................................................... 5-110
(1) J1 axis origin setting (mechanical stopper) ................................................................................................ 5-111
(2) J2 axis origin setting (mechanical stopper) ................................................................................................ 5-113
(3) J3 and J4 axis origin setting (mechanical stopper) ................................................................................. 5-115
(4) All axis origin setting ............................................................................................................................................. 5-118
(1) J1 axis origin setting ............................................................................................................................................. 5-120
(2) J2 axis origin setting ............................................................................................................................................. 5-122