Installation Procedure - Mitsubishi Electric RH-FRH Series Instruction Manual

(3) Installation procedure

The installation procedure is shown below.
Refer to the installation diagram shown from the next section, and perform the installation correctly.
1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is
necessary for space standard settings when feeding the air hose and hand input cable through the inside of
the shaft.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) Pass the tool (hand) side of the internal air hoses and cables through the shaft. Make sure that the air hoses
and the cables are not twisted or crossed.
4) Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm
away from the opening of the shaft.
5) The highest point of the curved section of the air hoses and cables should be matched up with the top of
the fixing plate.
CAUTION
6) In the state of the steps
with cable ties. For the (a) portion, wrap the air hoses and the cables with cushion rubber before fixing.
7) When using the hand input signal or the optional solenoid valve, refer to
and piping set (RH-3FRH/6FRH/12FRH/20FRH
8) The connected connectors are stored to the (c) portion.
CAUTION
9) Carry out piping and wiring on the tool side.
Fix the air hoses and the cables, which are pulled out from the shaft lower end, to the hand side. Check
again that the highest point of the curved section of the air hoses and the cables reaches the height of the
fixing plate upper end, and then fix the air hoses and the cables at the outlet of the shaft.
In the case of oil-mist and clean specification models, to avoid mists entering and ensure the cleanliness
level, use liquid gasket and others to seal the outlet on the shaft tip where the air hoses and the cables are
pulled out.
10) Apply silicon grease to the contact surface between the air hoses of the fixing plate and the cables, the
cable sliding portion from the shaft upper end to the fixed portion, and the opening on the shaft upper end.
11) Power on the controller, perform the jog operation for the J3 and J4 axes, and check that the air hoses
and the cables do not interfere with other components.
CAUTION
12) Turn off the controller's power supply, then install the No.2 arm cover U securely as before with fixing
screws (tightening torque: 1.39 to 1.89 Nm).
When installing the cover, check that no air hose or cable is pinched, and no air hose is bent.
Note) The installation surface of a clean and a oil-mist specification covers is using sealing material. In the
event that the sealing material has been removed or has been bent or broken to the extent that it
cannot be return to the original form, be sure to replace the sealing material. Please contact dealer
when the sealing material needs to be replaced.
Installing cables and air hoses inside the robot's shaft is completed.
If the air hoses and the cables are not long enough or too long, when the robot oper -
ates, excessive bending and friction with the shaft upper end or the cover may result
in a break or abnormal operations of the tool (hand).
4) and 5), fix the air hoses and the cables to the (a) and (b) portions of the plate
Do not remove the cable ties which fixing connectors.
Fix the plate on the No. 2 arm, other cables and air hoses with cable ties. In this way,
the internal cables and connectors do not touch the plate edge and others, or break
due to the vibration during the robot operation (Refer to
protection when the option devices are
Do not power on the controller when the internal cables are connected to the con -
nectors on the robot.
If the end of the cables on the tool side is not processed, troubles such as fuse blown
by ground fault or short circuit may occur. Check that the end of the cables has been
processed before powering on the controller.
Page 84, "3.7 Hand internal wiring
series)".
installed").
2Unpacking to Installation
Page 91, "3.9 Connector
Installation 2-30