Mitsubishi Electric RH-FRH Series Instruction Manual page 12

3.1 Installing the solenoid valve set (RH-3FRH/6FRH/12FRH/20FRH series) ................................................. 3-59
(1) RH-3FRH/6FRH series ........................................................................................................................................... 3-59
(2) RH-12FRH/20FRH series ...................................................................................................................................... 3-61
(3) Hand number and solenoid valve ports (common to floor installation type robot) ....................... 3-62
3.2 Installing the solenoid valve set (RH-3FRHR series) ............................................................................................. 3-63
3.3 Installation of hand tube (RH-3FRHR series) ........................................................................................................... 3-68
3.4 Installing the hand input cable ......................................................................................................................................... 3-72
(1) RH-3FRH/6FRH/12FRH/20FRH series .......................................................................................................... 3-72
(2) RH-3FRHR series ..................................................................................................................................................... 3-73
3.5 Installing the hand output cable ...................................................................................................................................... 3-75
(1) RH-3FRH/6FRH/12FRH/20FRH series .......................................................................................................... 3-75
(2) RH-3FRHR series ..................................................................................................................................................... 3-76
3.6 Changing the operating range .......................................................................................................................................... 3-78
(1) RH-3FRH/6FRH/12FRH/20FRH series .......................................................................................................... 3-78
(2) Operating range changeable angle ..................................................................................................................... 3-78
(3) The change method of the operating range ................................................................................................... 3-79
(4) RH-3FRHR series ..................................................................................................................................................... 3-80
3.6.1 Operating range change of J1 axis ......................................................................................................................... 3-80
3.6.2 Operating range change of J2 axis ......................................................................................................................... 3-82
3.7 Hand internal wiring and piping set (RH-3FRH/6FRH/12FRH/20FRH series) ........................................... 3-84
(1) Installation procedure .............................................................................................................................................. 3-84
(2) RH-3FRH series ........................................................................................................................................................ 3-86
(3) RH-6FRH series ........................................................................................................................................................ 3-87
(4) RH-12FRH/20FRH series ...................................................................................................................................... 3-88
3.8 External Wiring and Piping Box (RH-3FRH/6FRH/12FRH/20FRH series) ................................................... 3-89
3.9 Connector protection when the option devices are installed ............................................................................. 3-91
4 Basic operations ............................................................................................................................................................................ 3-93
5 Maintenance and Inspection ..................................................................................................................................................... 4-94
5.1 Type of inspection and maintenance works ............................................................................................................... 4-94
5.2 Inspection items ..................................................................................................................................................................... 4-95
5.2.1 Daily inspection items .................................................................................................................................................. 4-95
5.2.2 Periodic inspection ........................................................................................................................................................ 4-96
(1) Inspection item ........................................................................................................................................................... 4-96
(2) Schedule ........................................................................................................................................................................ 4-97
5.3 Maintenance and inspection procedures ..................................................................................................................... 4-98
5.3.1 Robot arm structure ..................................................................................................................................................... 4-98
(1) RH-3FRH series ........................................................................................................................................................ 4-98
(2) RH-6FRH/12FRH/20FRH series ........................................................................................................................ 4-99
(3) RH-3FRHR series .................................................................................................................................................. 4-100
5.3.2 Installing/removing the cover ................................................................................................................................ 4-101
(1) RH-3FRH/6FRH/12FRH/20FRH series ....................................................................................................... 4-101
(2) RH-3FRHR series .................................................................................................................................................. 4-103
5.3.3 Packing Replacement Procedure ......................................................................................................................... 4-105
(1) Packing Replacement Instructions .................................................................................................................. 4-105
5.3.4 Inspection replacement of timing belt ................................................................................................................ 4-109
(1) Timing belt replacement period ...................................................................................................................... 4-110
(2) Timing belt tension measurement ................................................................................................................... 4-111
(3) RH-3FRH series: Inspecting the J3 axis timing belt ............................................................................... 4-112
(4) RH-3FRH series: Replacing the J3 axis timing belt ................................................................................ 4-113
(5) RH-6FRH/12FRH/20FRH series: Inspecting the J3 axis timing belt .............................................. 4-116
(6) RH-6FRH/12FRH/20FRH series: Replacing the J3 axis timing belt ................................................ 4-117
(7) RH-3FRH/6FRH/12FRH/20FRH series: Inspecting the J4 axis timing belt ................................. 4-119
(8) RH-3FRHR series: Inspection of J1 axis timing belt .............................................................................. 4-120
(9) RH-3FRHR series: Inspection of J2 axis timing belt .............................................................................. 4-121
ii
CONTENTS
Page