Table Of Contents - Mitsubishi Electric CR800 Series Instruction Manual

1 Using This Manual .......................................................................................................................... 1-1
1.1 Content of This Instruction Manual ........................................................................................... 1-1
2 Specifications .................................................................................................................................. 2-2
2.1 What is the Electric Hand? ........................................................................................................ 2-2
2.2 System Configuration ................................................................................................................ 2-2
2.2.1 CR800 Outline .................................................................................................................... 2-2
2.2.2 CR750/CR751 Outline ........................................................................................................ 2-3
2.2.3 Compatible models ............................................................................................................. 2-3
2.2.4 Limitations ........................................................................................................................... 2-4
(1) Available equipment, software version ............................................................................. 2-4
2.3 Control Unit ............................................................................................................................... 2-4
2.3.1 Specifications ...................................................................................................................... 2-4
2.3.2 Outline Drawing .................................................................................................................. 2-5
(1) 4F-MEHCU-01 .................................................................................................................. 2-5
(2) 4F-MEHCU-02 .................................................................................................................. 2-5
2.4 Electric Hand ............................................................................................................................. 2-6
2.4.1 Models of Electric Hand ...................................................................................................... 2-6
2.4.2 Outline Drawing .................................................................................................................. 2-6
(1) Single cam type ................................................................................................................ 2-6
(2) Screw type ........................................................................................................................ 2-8
2.4.3 Installing the Fingers ........................................................................................................... 2-9
(1) Installing dimensions (Single cam type) ........................................................................... 2-9
(2) Installing dimensions (Screw type) ................................................................................. 2-10
2.4.4 Specifications of Electric Hand ......................................................................................... 2-11
(1) Cam type ........................................................................................................................ 2-11
(2) Screw type ...................................................................................................................... 2-12
(3) 3-finger single cam type ................................................................................................. 2-13
2.5 Hand Cable ............................................................................................................................. 2-14
2.5.1 Models of hand cable ........................................................................................................ 2-14
2.5.2 Outline drawing ................................................................................................................. 2-14
(1) 4F-MEHCBL-01 .............................................................................................................. 2-14
(2) 4F-MEHCBL-02 to 05 ..................................................................................................... 2-14
3 Check Before Use ......................................................................................................................... 3-15
3.1 Product Checking .................................................................................................................... 3-15
3.2 Items to be Prepared by Customer ......................................................................................... 3-16
4 Installation ..................................................................................................................................... 4-17
4.1 Installation and Connection ..................................................................................................... 4-17
4.1.1 RV-2F/2FR Series ............................................................................................................ 4-17
4.1.2 RV-4F/7F/13F/20F Series, RV-4FR/7FR/13FR/20FR Series ........................................... 4-18
4.1.3 RH-3FH/6FH/12FH/20FH Series, RH-3FRH/6FRH/12FRH/20FRH Series ...................... 4-20
4.1.4 RH-3FHR-S91 .................................................................................................................. 4-21
4.2 Maintenance and Inspection ................................................................................................... 4-21
4.2.1 Inspection Timings and Items ........................................................................................... 4-21
4.2.2 Procedure for Visual Inspection ........................................................................................ 4-21
4.2.3 Conducting Operation Check ............................................................................................ 4-22
4.2.4 Reapplication of Grease ................................................................................................... 4-22
(1) Applicable Grease .......................................................................................................... 4-22
(2) Applying Grease to the Guide Part ................................................................................. 4-22
(3) Applying Grease to the Ball Screws ............................................................................... 4-23
(4) Applying Grease to the Liner Guide ............................................................................... 4-23
4.2.5 Cleaning Outside of the Gripper ....................................................................................... 4-23
5 Using the Electric Hand (Programming) ....................................................................................... 5-24
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