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MISUMI RSH1C User Manual

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MISUMI SINGLE-AXIS ROBOT
RSH1C/RSH2C/RSH3C
E
User's Manual
ENGLISH
MISUMI Corporation
4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan
ME4-Ver. 1.03
URL http://www.misumi.co.jp/english/company/office/

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  • Page 1 MISUMI SINGLE-AXIS ROBOT RSH1C/RSH2C/RSH3C User’s Manual ENGLISH MISUMI Corporation 4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan ME4-Ver. 1.03 URL http://www.misumi.co.jp/english/company/office/...
  • Page 3 However, when the controller power is turned on in the following cases, return-to-origin must be performed just the very first time. (1) When robot cable was first connected after delivery from MISUMI. (2) When robot cable was disconnected from the controller and then reconnected.
  • Page 4 MEMO...

  • Page 5: Table Of Contents

    General Contents Introduction Chapter 1 Using the Robot Safely Safety information Essential precautions Industrial robot operating and maintenance personnel 1-9 Robot safety functions 1-10 Safety measures for the system 1-11 Trial operation 1-11 Work within the safety enclosure 1-12 Automatic operation 1-13 Warranty 1-14...
  • Page 6 Applying grease 4-10 Replacing the shutter 4-13 Replacing the motor 4-16 Chapter 5 Troubleshooting Positioning error Chapter 6 Specifications Main unit specifications 6-1-1 RSH1C 6-1-2 RSH2C 6-1-3 RSH3C AC servo motor specifications 6-10 6-2-1 AC servo motor termination 6-10 6-2-2...
  • Page 7 This user's manual describes the safety measures, handling, adjustment and maintenance of the RSH1C/RSH2C/RSH3C robots for correct, safe and effective use. Be sure to read this manual carefully before installing the RSH1C/RSH2C/RSH3C robots. Even after you have read this manual, keep it in a safe and convenient place for future reference.
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  • Page 9 Chapter 1 Using the Robot Safely Contents 1-1 Safety information 1-2 Essential precautions 1-3 Industrial robot operating and maintenance personnel 1-9 1-4 Robot safety functions 1-10 1-5 Safety measures for the system 1-11 1-6 Trial operation 1-11 1-7 Work within the safety enclosure 1-12 1-8 Automatic operation 1-13...

  • Page 11: Safety Information

    1-1 Safety information Safety information To ensure correct and safe use of MISUMI industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS included in this manual. Failure to take necessary safety measures...
  • Page 12 1-1 Safety information Refer to the user's manual by any of the following methods to operate or adjust the robot safely and correctly. 1. Operate or adjust the robot while referring to the printed version of the user's manual (available for an additional fee). 2.

  • Page 13: Essential Precautions

    1-2 Essential precautions Essential precautions Particularly important cautions for handling or operating the robot are described below. In addition, precautions during installation, operation, inspection and maintenance are also provided in each chapter. Be sure to comply with these instructions to ensure safe use of the robot.
  • Page 14 1-2 Essential precautions Warning label 2 WARNING Moving parts can pinch or crush. Keep hands away from robot arms. Follow the instructions on warning labels and in this manual. • Be sure to read the warning labels and this manual carefully and make sure you thoroughly understand their contents before attempting installation and operation of the robot.
  • Page 15 1-2 Essential precautions Do not remove, alter or stain the warning labels. WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN, RESULTING IN ACCIDENTS. • DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE ROBOT. •...
  • Page 16 1-2 Essential precautions Provide safety measures for end effector (gripper, etc.). WARNING • END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CREATE NO HAZARDS (FOR EXAMPLE, A WORKPIECE THAT COMES LOOSE) EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS SHUT OFF OR POWER FLUCTUATIONS OCCUR.
  • Page 17 WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS, CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT YOUR MISUMI SALES OFFICE OR DEALER FOR CORRECTIVE ACTION. Damage or Trouble Possible Danger Damage to machine harness or robot cable...
  • Page 18 1-2 Essential precautions (17) Location for installing the controller and the Handy Terminal The robot controller and the Handy Terminal should be installed at a location that is outside the robot movement range yet where it is easy to operate and view the robot performing tasks.

  • Page 19: Industrial Robot Operating And Maintenance Personnel

    1-3 Industrial robot operating and maintenance personnel 2. Ensure the safety of workers performing tasks within the robot movement range 3. Clearly specify position and posture during work Position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error/problem occurs 4.

  • Page 20: Robot Safety Functions

    1-4 Robot safety functions Robot safety functions Overload detection This function detects an overload applied to the motor and shuts off the servo power. Abnormal temperature detection This detects an abnormal temperature rise in the controller driver and shuts off the servo power.

  • Page 21: Safety Measures For The System

    1-5 Safety measures for the system WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CREATING A HAZARDOUS SITUATION. • PRESS THE EMERGENCY STOP BUTTON AND PROP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE. •...

  • Page 22: Work Within The Safety Enclosure

    1-7 Work within the safety enclosure After the controller is turned on, check the following points from outside the safety enclosure. 1. Does the robot start and stop as intended? Can the operation mode be selected correctly? 2. Does each axis move as intended within the soft limits? 3.

  • Page 23: Automatic Operation

    1-8 Automatic operation Automatic operation Automatic operation described here includes all operations in AUTO mode. Check the following before starting automatic operation. 1. No one is within the safety enclosure. 2. The Handy Terminal and tools, etc., are in their prescribed positions. 3.

  • Page 24: Warranty

    1-9 Warranty Warranty The MISUMI robot and/or related product you have purchased are warranted against defects or malfunctions as described below. Warranty description : This warranty conforms to the "warranty description" listed at the end of the MISUMI "FA Mechanical Standard Components"...
  • Page 25 Chapter 2 Product Over view Contents 2-1 Checking the product 2-2 Robot part names...

  • Page 27: Checking The Product

    Also check the product for any damage on the exterior which might have occurred during shipping. If there are any missing parts or damage due to shipping, please notify your MISUMI sales office or representative immediately. WARNING •...
  • Page 28 MEMO...
  • Page 29 Chapter 3 Installation and Connections Contents 3-1 Carrying the robot 3-2 Robot installation conditions 3-2-1 Installation environments 3-2-2 Installation base 3-3 Installing the robot 3-4 Connecting the robot to the controller 3-5 Suction hoses connection 3-10 3-6 Setting the operating conditions 3-11 3-6-1 Payload 3-11...

  • Page 31: Carrying The Robot

    3-1 Carr ying the robot Carr ying the robot Always use two people to carry the robot unit. Each person should grip the robot unit near one end from the lower side and carry with the load well balanced. Carry with the robot facing upward (slider side upwards).

  • Page 32: Robot Installation Conditions

    3-2 Robot installation conditions Robot installation conditions 3-2-1 Installation environments Be sure to install the robot in the following environments. Items Specifications Allowable ambient 0 to 40°C temperature Allowable ambient humidity 35 to 85% RH (no condensation) Altitude 0 to 1000 meters above sea level Avoid installing near water, cutting water, oil, dust, metallic chips and organic solvent.

  • Page 33: Installation Base

    3-2 Robot installation conditions WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE. MALFUNCTIONS MAY OTHERWISE OCCUR. WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION. ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE ROBOT TO FALL OVER.
  • Page 34 3-2 Robot installation conditions Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts. Avoid installing the robot with less than the specified number of bolts or installing the robot closer to one end as shown at the lower right.

  • Page 35: Installing The Robot

    3-3 Installing the robot Installing the robot WARNING • BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROBOT CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE CONTROLLER IS OFF. SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT STARTS TO OPERATE DURING INSTALLATION.
  • Page 36 3-3 Installing the robot ● Protective bonding WARNING ALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT ELECTRICAL SHOCK. Always use the ground terminal (M4 screw) on the robot unit to make ground connection. The ground terminal location is shown below. Ground terminal Robot cable CAUTION...

  • Page 37: Connecting The Robot To The Controller

    3-4 Connecting the robot to the controller Connecting the robot to the controller Connect the robot cables to the mating connectors on the controller as shown. Refer to the robot controller user's manual for the controller connectors. WARNING • BEFORE CONNECTING THE CABLES, CHECK THAT THERE ARE NO BENDS OR BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED.
  • Page 38 2) After making the connections, fit the connector hoods together securely. Hood ● Robot cable connections Handy Terminal C21/C22 controller FUNC STOP Single-axis robot RSH1C/RSH2C/RSH3C Hood * After making connections, fasten the hoods securely. Robot cable (power cable) Robot cable (signal cable)
  • Page 39 RGEN Input 16 general-purpose pins 7 custom-purpose pins Output 16 general-purpose pins RS-Manager 3 custom-purpose pins communication software External control (PLC) The controller is supplied with the robot as Single-axis robot a standard unit. RSH1C/RSH2C/RSH3C The Handy Terminal is optional.

  • Page 40: Suction Hoses Connection

    3-5 Suction hoses connection Suction hoses connection The RSH1C/RSH2C/RSH3C robots are designed to connect to an air unit that suctions air inside the robot to maintain cleanliness. When using the robot in a clean room, adjust the suction air to the following flow rate.

  • Page 41: Setting The Operating Conditions

    Setting the operating conditions 3-6-1 Payload Optimal acceleration for the MISUMI single-axis robots RSH1C/RSH2C/RSH3C is automatically determined by setting the controller payload parameter. Set the total weight of the workpiece and the end effectors such as grippers attached to the robot slider in the payload parameter as shown below.

  • Page 42: Maximum Speed Setting

    Do not operate the robot if the ball screw is vibrating. The ball screw may otherwise wear out prematurely. 3-6-3 Duty To achieve maximum service life for the MISUMI single-axis robots, it is recommended to operate the robot within the allowable duty (50%). The duty is calculated as follows: Operation time...
  • Page 43 Chapter 4 Periodic Inspection and Maintenance Contents 4-1 Before beginning work 4-2 Periodic inspection 4-2-1 Daily inspection 4-2-2 Three-month inspection 4-2-3 Six-month inspection 4-2-4 Three-year inspection 4-3 Adjusting shutter looseness 4-4 Applying grease 4-10 4-5 Replacing the shutter 4-13 4-6 Replacing the motor 4-16...

  • Page 45: Before Beginning Work

    Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of MISUMI robots. This chapter describes periodic inspection items and procedures for the RSH1C/RSH2C/RSH3C. Before beginning work, read the precautions below and also in Chapter 1 "Using the Robot Safely" and follow the instructions.
  • Page 46 4-1 Before beginning work When applying grease to the ball screw and linear guide, take the following precautions. WARNING PRECAUTIONS WHEN HANDLING GREASE: • INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES. BEFORE HANDLING THE GREASE, WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL NOT COME IN CONTACT WITH THE EYES.

  • Page 47: Periodic Inspection

    4-2 Periodic inspection Periodic inspection 4-2-1 Daily inspection Check the following points on a daily basis, before and after robot operation. Checkpoints Check items Notes Cables and shutter Check for scratches, dents, and Replace if excessively tight bends. necessary. Stain or grime on the shutter surface *1 Ball screws and Check for unusual vibration and noise.

  • Page 48: Three-Month Inspection

    4-2 Periodic inspection 4-2-2 Three-month inspection Take the following precautions when performing 3-month inspection. WARNING THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CAUSING A HAZARDOUS SITUATION. DO NOT RELEASE THE BRAKE WHEN LUBRICATING VERTICAL USE ROBOT PARTS. When applying grease to the ball screws and linear guide, take the following precautions.
  • Page 49 (not dry). Apply grease if necessary. Clean room robots: LG2 (NSK) Shutter • Check for looseness or slack. Adjust See "4-3" in this if necessary. chapter. CAUTION Failing to use MISUMI-recommended grease can shorten the life of the ball screw and the linear guide.

  • Page 50: Six-Month Inspection

    4-2 Periodic inspection 4-2-3 Six-month inspection Take the following precautions when performing 6-month inspection. WARNING THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CAUSING A HAZARDOUS SITUATION. DO NOT RELEASE THE BRAKE WHEN LUBRICATING THE VERTICAL USE ROBOT PARTS. When applying grease to the ball screws and linear guide, take the following precautions.

  • Page 51: Three-Year Inspection

    Adjust if necessary. chapter. CAUTION Failing to use MISUMI-recommended grease can shorten the life of the ball screw and the linear guide. 4-2-4 Three-year inspection Check the following points every 3 years or more often if the robot is used frequently.

  • Page 52: Adjusting Shutter Looseness

    4-3 Adjusting shutter looseness Adjusting shutter looseness The shutter may elongate or develop a slight stretch after long-term use. Continuous operation with a stretched shutter may cause a "slack" (or a gap between the shutter and the cover of the robot) and degrade the degree of cleanliness. In such cases, adjust looseness in the shutter as explained below.
  • Page 53 4-3 Adjusting shutter looseness 8) While moving the slider back and forth by hand a few times, check that no looseness or slack occurs in the shutter and also that the shutter does not sway right or left. If any abnormality is found, repeat the adjustment in steps 6) and 7). 9) Go outside the safety enclosure.

  • Page 54: Applying Grease

    4-4 Applying grease Applying grease When applying grease to the ball screw according to periodic inspection, follow the procedure below. Grease can be applied to the ball screw nut section using the grease nipples. Prepare a grease gun in this case. 1) Prepare the required tools and grease.
  • Page 55 4-4 Applying grease 3. Wipe away old grease with a clean cloth. Then apply grease by hand to the ball screw threads and move the slider back and forth to spread the grease. ● Greasing the linear guide There are two methods of greasing the linear guide. (1)Remove only the end cover to grease the linear guide (2)Open the cover by pulling it up to grease the linear guide.
  • Page 56 4-4 Applying grease Method (2) : When opening the shutter by pulling it up to grease the linear guide 1. Remove the 2 screws securing the shutter clamp plate on the non-motor side. 2. Open the shutter by pulling it up from the side where the screws were removed. CAUTION When opening the shutter, be careful not to scratch the shutter surface.

  • Page 57: Replacing The Shutter

    4-5 Replacing the shutter Replacing the shutter 1) Turn off the controller. 2) Place a sign indicating that the robot is being inspected, to keep others from operating the controller switch. 3) Enter the safety enclosure. 4) Remove the 8 screws (4 screws on each side) securing the slider cover and remove the cover.
  • Page 58 4-5 Replacing the shutter 7) Remove the shutter. 8) Attach the new shutter in place. NOTE Attach the shutter so it is positioned in the center of the cover. 9) Reattach the roller that was removed in step 6). 10) Reattach the shutter clamp plates that were removed in step 5. Finger-tighten the screws (do not tighten securely).
  • Page 59 4-5 Replacing the shutter 11) Move the slider back and forth by hand a few times so that the shutter fits in the center of the cover. NOTE As a general guide, the shutter tension is appropriate when the shutter surface is Step approximately 1mm below the upper step in the slider.

  • Page 60: Replacing The Motor

    4-6 Replacing the motor Replacing the motor CAUTION A positional shift occurs by replacing the motor. It is therefore necessary to perform return-to-origin and set point data again after replacing the motor. When removing the parts, note their positional relation and assembly order. 1) Turn off the controller.
  • Page 61 4-6 Replacing the motor 7) Remove the ground wire. 8) Remove the 4 bolts securing the motor and remove the motor. 9) Remove the wave washer and flat washer. CAUTION When removing the motor, the fl at washer might be left in the bearing inside the motor, so use caution.
  • Page 62 4-6 Replacing the motor 10) Remove the 4 bolts securing the rotor and pull out the rotor. 11) Install the new rotor. 12) Install the wave washer and flat washer in the correct order. 13) Install the new motor. 14) Reassemble in the reverse order (steps 12 to 4). 4-18...
  • Page 63 4-6 Replacing the motor ● Checking the machine reference 1) On the main menu screen, select "Operation". The "Operation" menu screen appears showing selectable menu items. Menu [01] Point Operation Parameter Monitor Run mode Connection Terminal 2) Move the cursor to "Origin search" and press ■ . The "Origin search"...
  • Page 64 4-6 Replacing the motor 4) When origin search is complete, check the message. The message "OK" and machine reference (Ref. = ** %) appear when the origin search has ended successfully. Origin search [01] Method: TORQUE Direction: CCW Origin search Coordinates: Ref.
  • Page 65 Chapter 5 Troubleshooting Contents 5-1 Positioning error...

  • Page 67: Positioning Error

    5-1 Positioning error Positioning error If a positioning error occurs, check the following points to find the solution before you determine the robot or controller has malfunctioned. If the trouble still exists even after checking these points, please contact us with a detailed description of the trouble. Position deviates.
  • Page 68 MEMO...
  • Page 69 Chapter 6 Specifications Contents 6-1 Main unit specifications 6-1-1 RSH1C 6-1-2 RSH2C 6-1-3 RSH3C 6-2 AC servo motor specifications 6-10 6-2-1 AC servo motor termination 6-10 6-2-2 Brake cable specifications 6-11 6-3 Robot cables 6-12...

  • Page 71: Rsh1C

    6-1 Main unit specifications Main unit specifications 6-1-1 RSH1C ● Basic specifications Motor output AC (W) Repeated positioning accuracy (mm) ±0.02 Ball screw φ12(Class C10) Deceleration mechanism Ball screw lead (mm) Maximum speed (mm/sec) 1000 Horizontal installation Maximum payload (kg) Vertical installation –...
  • Page 72 6-1 Main unit specifications ● Static loading moment (Unit: N•m) ● Allowable overhang* * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■...
  • Page 73 6-1 Main unit specifications...

  • Page 74: Rsh2C

    6-1 Main unit specifications 6-1-2 RSH2C ● Basic specifications Motor output AC (W) Repeated positioning accuracy (mm) ±0.01 Ball screw φ15(Class C7) Deceleration mechanism Ball screw lead (mm) Maximum speed (mm/sec) 1000 Horizontal installation Maximum payload (kg) Vertical installation Rated thrust (N) Stroke (mm) 150 to 1050 (50 pitch) Horizontal installation...
  • Page 75 6-1 Main unit specifications ● Allowable overhang* * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■...
  • Page 76 6-1 Main unit specifications...

  • Page 77: Rsh3C

    6-1 Main unit specifications 6-1-3 RSH3C ● Basic specifications Motor output AC (W) Repeated positioning accuracy (mm) ±0.01 Ball screw φ15(Class C7) Deceleration mechanism Ball screw lead (mm) Maximum speed (mm/sec) 1000 Maximum payload Horizontal installation (kg) Rated thrust (N) Stroke (mm) 150 to 1050 (50 pitch) Total length (mm)
  • Page 78 6-1 Main unit specifications ● Static loading moment (Unit: N•m) ● Allowable overhang* * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■...
  • Page 79 6-1 Main unit specifications...

  • Page 80: Ac Servo Motor Specifications

    6-2 AC servo motor specifications AC ser vo motor specifications 6-2-1 AC ser vo motor termination ■ Connector specifications Parts Type No. Maker Notes Servo motor Receptacle housing SMR-07V-B CN1 (7 polarities) Pin contact BYM-001T-P0.6 CN1, CN2 Plug housing 176273-1 CN3 (4 polarities) Receptacle 175156-2...

  • Page 81: Brake Cable Specifications

    6-2 AC servo motor specifications 6-2-2 Brake cable specifications ■ Connector specifications Parts Type No. Maker Note Brake parts Receptacle housing SMR-02V-B Pin contact BYM-001T-P0.6 ■ Connector wiring Connector Pin No. Signal Wire Color Yellow (black) Yellow (black) 6-11...

  • Page 82: Robot Cables

    6-3 Robot cables Robot cables ■ Signal cable To robot To controller Parts Signal Connection Parts Wire Controller CN1 Resolver 0.3sq Blue SPMCU-14(K) Orange Green Brown Grey Drain wire Brake Black Yellow Pink White GND24 Blue/Red ■ Power cable To controller To robot Parts Signal...
  • Page 83 Appendix Contents About machine reference Moment of inertia calculation...
  • Page 85 (return-to-origin) is complete. (See the figure below.) NOTE The RSH1C/RSH2C/RSH3C robots use an absolute type position detector. There is no need to perform an origin search each time the robot controller is turned on and readjust the machine reference value. If for some reason the machine reference adjustment becomes necessary, please contact us.
  • Page 86 Moment of inertia calculation CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coeffi cients according to the manipulator tip mass and moment of inertia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual vibration during positioning may result.
  • Page 87 When the object’s center line is offset from the rotation center. The moment of inertia (J) when the center of the cylinder is offset by a distance "x" from the rotation center as shown below is given by center line rotation center (kgf .
  • Page 88 All rights reserved. No part of this publication may be reproduced in any form without the permission of MISUMI Corporation Information furnished by MISUMI in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual,...

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