Table Of Contents - Mitsubishi Electric RH-3FH Series Instruction Manual

Industrial robot arm setup & maintenance

1 Before starting use .......................................................................................................................... 1-1

1.1 Using the instruction manuals ................................................................................................... 1-1

1.1.1 The details of each instruction manuals ............................................................................... 1-1

1.1.2 Symbols used in instruction manual .................................................................................... 1-2

1.2 Safety Precautions .................................................................................................................... 1-3

1.2.1 Precautions given in the separate Safety Manual ................................................................ 1-4

2 Unpacking to Installation .............................................................................................................................................................. 2-6

2.1 Confirming the product ......................................................................................................................................................... 2-6

2.2 Installation .................................................................................................................................................................................. 2-7

2.2.1 Unpacking ............................................................................................................................................................................ 2-7

2.2.2 Transportation procedures .......................................................................................................................................... 2-8

(1) RH-3FH/6FH series ................................................................................................................................................... 2-8

(2) RH-12FH/20FH series .............................................................................................................................................. 2-9

2.2.3 Installation procedures ................................................................................................................................................ 2-11

2.2.4 Grounding procedures .................................................................................................................................................. 2-13

(1) Grounding methods ................................................................................................................................................... 2-13

(2) Grounding procedures ............................................................................................................................................. 2-13

2.2.5 Connecting with the controller ................................................................................................................................ 2-14

(1) CR750 controller ....................................................................................................................................................... 2-14

(2) CR751 controller ....................................................................................................................................................... 2-16

2.2.6 Ethernet Cables .............................................................................................................................................................. 2-18

(1) No.2 arm ........................................................................................................................................................................ 2-18

(2) Base area ...................................................................................................................................................................... 2-19

2.2.7 Passing air hoses and cables through the shaft ............................................................................................... 2-21

(1) Specifications of internal air hoses and cables ............................................................................................ 2-21

(2) Customer prepared products ............................................................................................................................... 2-21

(3) Installation procedure .............................................................................................................................................. 2-22

(4) RH-3FH series ............................................................................................................................................................ 2-24

(5) RH-6FH series ............................................................................................................................................................ 2-25

(6) RH-12FH/20FH series ............................................................................................................................................ 2-26

2.2.8 About oil mist specification ....................................................................................................................................... 2-27

(1) Piping for pressurization inside robot arm ...................................................................................................... 2-27

2.2.9 About clean specification ........................................................................................................................................... 2-27

(1) Piping for suction inside robot arm .................................................................................................................... 2-27

(2) Arrangement of the ventilation duct ................................................................................................................. 2-28

2.3 Setting the origin ................................................................................................................................................................... 2-29

2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-29

(1) CR750 controller ....................................................................................................................................................... 2-29

(2) CR751 controller ....................................................................................................................................................... 2-30

2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-31

(1) Confirming the origin data ..................................................................................................................................... 2-31

(2) Turning ON the control power ............................................................................................................................. 2-31

(3) Preparing the T/B ..................................................................................................................................................... 2-32

(4) Selecting the origin setting method ................................................................................................................... 2-33

(5) Inputting the origin data ......................................................................................................................................... 2-34

(6) Installing the battery cover. .................................................................................................................................. 2-35

2.4 Confirming the operation .................................................................................................................................................... 2-36

(1) JOINT jog operation ................................................................................................................................................. 2-41

(2) XYZ jog operation ...................................................................................................................................................... 2-43

(3) TOOL jog operation .................................................................................................................................................. 2-45

(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-47

(5) CYLNDER jog operation ......................................................................................................................................... 2-49

(6) Work jog operation ......................................................................................................... 2-51

3 Installing the option devices ..................................................................................................................................................... 3-58

3.1 Installing the solenoid valve set ...................................................................................................................................... 3-58

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