Hand Internal Wiring And Piping Set (Rh-3Frh/6Frh/12Frh/20Frh Series); Installation Procedure - Mitsubishi Electric RH-FRH Series Instruction Manual

3.7 Hand internal wiring and piping set (RH-3FRH/6FRH/12FRH/20FRH series)

Remove the No. 2 arm cover U and fix this option to the plate on the No. 2 arm.
Turn the controller's power OFF before this operation. Refer to
cover"for removing/ installing the cover.

(1) Installation procedure

The installation procedure is shown below.
Refer to the installation diagram shown from the next section, and perform the installation correctly. Installation
diagram of RH-3FRH series is shown in
series is shown in Fig.
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 secondary piping air hoses and hand input 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) Cut the secondary piping air hoses in appropriate length, and connect the air hoses to the solenoid valve.
The diagram shows the connection to the optional solenoid valve as an example. The air hoses can also be
pulled out from the rear of the No. 2 arm by using another option: an external wiring and piping box. For the
details, refer to
For the connection to the optional solenoid valve, connect the air hoses to the A and B ports of the sole -
noid valve.
8) When using the hand input cable connect the connectors (HC1, HC2) of optional hand input cable to
connectors (HC1, HC2) of robot side. Connect with the same names. The connectors of robot side and
cables are tied up by cable tie at (c) portion. Cut the cable tie and pull them out.
The connected connectors are stored to the (c) portion.
When the hand input cable is not used tie up the connector and fix to the plate by cable tie.
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.
Fig. 3-19, and RH-6FRH series is shown in
3-21.
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
Page 89, "3.8 External Wiring and Piping Box (RH-3FRH/6FRH/12FRH/20FRH
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
Hand internal wiring and piping set (RH-3FRH/6FRH/12FRH/20FRH series) 3-84
3Installing the option devices
Page 101, "5.3.2 Installing/removing the
Fig. 3-20, RH-12FRH/20FRH
Page 91, "3.9 Connector
installed").
series)".