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MISUMI RS1 User Manual

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MISUMI SINGLE-AXIS ROBOT
RS1/RS2/RS3
RSD1/RSD2/RSD3
RSDG1/RSDG2/RSDG3
User's Manual
MISUMI Corporation
4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan
URL http://www.misumi.co.jp/english/company/office/
E
ENGLISH
ME1-Ver. 2.00

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  • Page 1 MISUMI SINGLE-AXIS ROBOT RS1/RS2/RS3 RSD1/RSD2/RSD3 RSDG1/RSDG2/RSDG3 User’s Manual ENGLISH MISUMI Corporation 4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan ME1-Ver. 2.00 URL http://www.misumi.co.jp/english/company/office/...

  • Page 3: Table Of Contents

    Trial operation 1-11 Work within the safety enclosure 1-12 Automatic operation 1-13 Warranty 1-14 Chapter 2 Installation and Connections (RS1/2/3 series) Checking the product Robot part names Robot installation conditions Installation base Installing the robot The "Emergency Stop" stopping distance Connections...
  • Page 4 3-10 Setting the operating conditions 3-25 3-10-1 Payload 3-25 3-10-2 Duty 3-25 3-10-3 Push force vs. current limit value during stop 3-26 Chapter 4 Periodic Inspection and Maintenance (RS1/2/3 series) Before beginning work Periodic inspection 4-2-1 Daily inspection 4-2-2 Three-month inspection 4-2-3...
  • Page 5 Applying grease Replacing the shutter 4-4-1 4-4-2 RS2/RS3 Adjusting shutter looseness Replacing the motor 4-10 4-6-1 4-10 4-6-2 RS2/RS3 4-13 4-6-3 Verifying the machine reference 4-16 Replacing the coupling 4-18 4-7-1 4-18 4-7-2 RS2/RS3 4-20 Chapter 5 Periodic Inspection and Maintenance (RSD1/2/3 series) Before beginning work Periodic inspection 5-2-1...
  • Page 6 Motor specifications 6-23 6-2-1 Motor termination 6-23 6-2-2 Brake cable termination 6-25 Robot cables 6-26 Chapter 7 Troubleshooting Positioning error...
  • Page 7 Thank you for purchasing the MISUMI single-axis robot RS series. This manual describes the safety measures, handling, adjustment, inspection, and maintenance of RS1/2/3 or RSD1/2/3 series robots for correct, safe and effective use. Be sure to read this manual carefully before installing the RS1/2/3 or RSD1/2/3 series robot.
  • Page 8 MEMO...
  • 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 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 or mishandling due to not following the instructions in this manual may result in trouble or damage to the robot and injury to personnel (robot operator or service personnel) including fatal accidents.
  • 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 (11) Consult us for corrective action when the robot is damaged or malfunctions occur. WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS, CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT MISUMI CORPORATION FOR CORRECTIVE ACTION. Damage or Trouble Possible Danger Damage to machine harness or robot cable...
  • Page 17 1-2 Essential precautions (12) Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK. (13) Be sure to make correct parameter settings. CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coeffi...
  • 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 Detects motor overload conditions and shuts off the power. Abnormal temperature detection This function detects abnormally high temperatures at the controller's driver, and shuts off the power. The following measures should be taken when an error (overload error, abnormal temperature error) occurs.

  • 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 Installation and Connections (RS1/2/3 series) Contents 2-1 Checking the product 2-2 Robot part names 2-3 Robot installation conditions 2-4 Installation base 2-5 Installing the robot 2-6 The "Emergency Stop" stopping distance 2-6 2-7 Connections 2-7-1 Connecting the robot to the controller...

  • Page 27: Checking The Product

    After unpacking, make sure that all components and accessories are included (as specified in your order). 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 MISUMI Corporation. WARNING •...

  • Page 28: Robot Part Names

    2-2 Robot part names Robot part names Shutter Slider Motor cover 1 End cover Side cover Motor cover 2 Shutter Slider Motor cover 1 End cover Side cover Motor cover 2 Shutter End cover Slider Motor cover 1 Side cover Motor cover 2...

  • Page 29: Robot Installation Conditions

    2-3 Robot installation conditions Robot installation conditions 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 30: Installation Base

    2-4 Installation base Installation base To mount the robot, use an installation base that satisfies the following conditions. The installation base is subjected to a great deal of stress while the robot is in operation. Prepare a sufficiently rigid and stable installation base, taking into account the robot weight including the end effector (gripper) and workpiece.

  • Page 31: Installing The Robot

    Drill holes into the surface of the installation base as shown in the figure below, and secure the robot with the prescribed bolts which are inserted from the installation base's bottom face. The bolts and tightening torques are shown below. • RS1 Robot Installation bolt Tightening torque Hex socket head cap M5 bolt, Strength: 8.8T...

  • Page 32: The "Emergency Stop" Stopping Distance

    2-6 The "Emergency Stop" stopping distance • RS2/RS3 Robot Installation bolt Tightening torque Hex socket head cap M6 bolt, Strength: 8.8T 100kgf•cm to RS2/RS3 Length: Installation base thickness + 8mm or less 130kgf•cm M6 bolt The "Emergency Stop" stopping distance The maximum stopping distance is 195mm (RS3: payload of 6kg, operation speed of 1m/sec) when the "emergency stop"...
  • Page 33 2-7 Connections Intermediate connector (signal wire) Intermediate connector (motor wire) 1) Connect the robot cables (motor and signal wires) to the mating connectors coming out from the robot. Robot cable Robot cable connector connector (signal wire) (motor wire) 2) After making the connections, fit the connector hoods together securely. Hood...

  • Page 34: Robot Cable Connections

    Handy Terminal H1 controller FUNC STOP COM2 COM1 MP24V CP24V RS1/RS2/RS3 Hood * After making connections, Robot cable (signal cable) fasten the hoods securely. Robot cable (power cable) 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 35: Robot System Configuration Drawing

    Power supply DC24V MP24V CP24V Input 16 general-purpose pins Output 16 general-purpose pins RS-Manager communication software External control (PLC) The robot positioner is provided with the machine unit as standard equipment. The RS1/RS2/RS3 Handy Terminal H1 is an optional item.

  • Page 36: Setting The Operating Conditions

    2-8-2 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 37: Push Force Vs. Current Limit Value During Stop

    2-8 Setting the operating conditions 2-8-3 Push force vs. current limit value during stop ■ RS1 push thrust Lead 2 Lead 6 Lead 12 Current limit value (%) ■ RS2 push thrust Lead 6 Lead 12 Lead 20 Current limit value (%)
  • Page 38 2-8 Setting the operating conditions ■ RS3 push thrust Lead 6 Lead 12 Lead 20 Current limit value (%) The values in the above graph are not a guarantee of the push force accuracy during stop. Use these values for reference. •...
  • Page 39 Chapter 3 Installation and Connections (RSD1/2/3 series) Contents 3-1 Checking the product 3-2 Robot part names 3-3 Operating precautions 3-4 Robot installation conditions 3-5 Installation base 3-6 Installing the robot (RSD1/RSD2/RSD3) 3-6-1 Installing the bottom of the robot main unit 3-6-2 Installing the robot using the main unit installation taps (End face installation) 3-10...

  • Page 41: Checking The Product

    After unpacking, make sure that all components and accessories are included (as specified in your order). 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 MISUMI Corporation. WARNING •...

  • Page 42: Robot Part Names

    3-2 Robot part names Robot part names RSD1/2/3 series Greasing port T-slot (RSD2/RSD3/RSDG2/RSDG3 only) Maintenance hole Mechanical stopper clamp bolt RSD1/2/3 series (Specifications with brake) Brake RSDG1/2/3 series with support guide (Specifications with brake) Support guide...

  • Page 43: Operating Precautions

    3-3 Operating precautions Operating precautions (1) Strictly observe the specified payload. (For details regarding the payload, refer to “6-1 Main unit specifications” in Chapter 6.) (2) Input appropriate parameters. (For details regarding the parameters, refer to the C1 Controller User's Manual.) (3) Take appropriate measures so that the robot does not interfere with an external object during return-to-origin.
  • Page 44 3-3 Operating precautions (4) Cautions on installation • Install the robot so that any radial load is not applied to the rod. • Do not apply any rotational moment to the rod. • When installing the main unit horizontally, support the load by the linear guide or bushing.

  • Page 45: Robot Installation Conditions

    3-4 Robot installation conditions Robot installation conditions 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 46: Installation Base

    3-5 Installation base Installation base To mount the robot, use an installation base that satisfies the following conditions. The installation base is subjected to a great deal of stress while the robot is in operation. Prepare a sufficiently rigid and stable installation base, taking into account the robot weight including the end effector (gripper) and workpiece.

  • Page 47: Installing The Robot (Rsd1/Rsd2/Rsd3)

    3-6 Installing the robot (RSD1/RSD2/RSD3) Installing the robot (RSD1/RSD2/RSD3) 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 48 3-6 Installing the robot (RSD1/RSD2/RSD3) ■ RSD2/RSD3 Drill holes into the robot installation surface of the base as shown in the figure below, and use the specified bolts which are inserted from the bottom of the base and the T-slots on the side surface of the main unit to secure the robot. Use square nuts supplied with the robot for the installation nuts.
  • Page 49 3-6 Installing the robot (RSD1/RSD2/RSD3) WARNING THE MOTOR PART OF THE RSD3 IS WIDER THAN THE ROBOT MAIN UNIT AS SHOWN IN THE FIGURE ON THE RIGHT. WHEN INSTALLING THE ROBOT ON A FLAT Root part of motor Motor SURFACE, THE MAIN UNIT IS INCLINED AND AN EXCESSIVE LOAD IS APPLIED TO THE ROOT PART OF THE MOTOR, Shaft...

  • Page 50: Installing The Robot Using The Main Unit Installation Taps (End Face Installation)

    3-6 Installing the robot (RSD1/RSD2/RSD3) Example of robot installation 3-6-2 Installing the robot using the main unit installation taps (End face installation) Use the main unit installation taps (4 locations) in the end face of the main unit to install the robot.

  • Page 51: Installing The Robot Using The Feet (Option)

    3-6 Installing the robot (RSD1/RSD2/RSD3) 3-6-3 Installing the robot using the feet (option) Use optional feet to install the robot. For details regarding how to install the feet, refer to the dimensional outline drawings in “6-1 Main unit specifications” of Chapter 6. ■...

  • Page 52: Installing The Robot Using The Flange (Option)

    3-6 Installing the robot (RSD1/RSD2/RSD3) ■ Installing the robot main unit with the feet installed on the base Drill holes into the robot installation surface of the base as shown in the figure below, and secure the robot main unit with the feet installed using the specified bolts.
  • Page 53 3-6 Installing the robot (RSD1/RSD2/RSD3) ■ Installing the flange on the robot main unit Use the installation bolts (4 pcs.) to install the flange on the robot main unit. The bolts and tightening torques are shown below. Nominal length of Robot Installation bolt Tightening torque...

  • Page 54: Installing The Robot (Rsdg1/Rsdg2/Rsdg3)

    3-7 Installing the robot (RSDG1/RSDG2/RSDG3) Installing the robot (RSDG1/RSDG2/RSDG3) 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 55 3-7 Installing the robot (RSDG1/RSDG2/RSDG3) ■ RSDG2/RSDG3 Drill holes into the robot installation surface of the base as shown in the figure below, and use the specified bolts which are inserted from the bottom of the base and the T-slots on the side surface of the main unit to secure the robot. Use square nuts supplied with the robot for the installation nuts.
  • Page 56 3-7 Installing the robot (RSDG1/RSDG2/RSDG3) WARNING THE MOTOR PART OF THE RSDG3 IS WIDER THAN THE ROBOT MAIN UNIT AS SHOWN IN THE FIGURE ON THE RIGHT. WHEN INSTALLING THE ROBOT ON A Root part of motor Motor FLAT SURFACE, THE MAIN UNIT IS INCLINED AND AN EXCESSIVE LOAD IS APPLIED TO THE ROOT PART OF THE Shaft...

  • Page 57: Installing The Robot Using The Main Unit Installation Taps (End Face Installation)

    3-7 Installing the robot (RSDG1/RSDG2/RSDG3) Example of robot installation 3-7-2 Installing the robot using the main unit installation taps (End face installation) Use the main unit installation taps (4 locations) in the end face of the main unit to install the robot.

  • Page 58: Installing The Robot Using The Feet (Option)

    3-7 Installing the robot (RSDG1/RSDG2/RSDG3) 3-7-3 Installing the robot using the feet (option) Use optional feet to install the robot. For details regarding how to install the feet, refer to the dimensional outline drawings in “6-1 Main unit specifications” of Chapter 6. ■...
  • Page 59 3-7 Installing the robot (RSDG1/RSDG2/RSDG3) ■ Installing the robot main unit with the feet installed on the base Drill holes into the robot installation surface of the base as shown in the figure below, and secure the robot main unit with the feet installed using the specified bolts.

  • Page 60: Installing The End Effector

    3-8 Installing the end effector Installing the end effector Drill holes into the end effector and install the end effector. RSD1/RSD2/RSD3 Two-side part * Insert the end effector into the tap at the top end of the rod and tighten the nut to secure the end effector. RSDG1/RSDG2/RSDG3 (Tap holes (4 locations) are used.) Tap holes at top end of rod (8 locations) * Appropriate nut sizes are shown in the table below.

  • Page 61: Connections

    3-9 Connections Nominal length of Robot Installation bolt Tightening torque installation bolt Hex socket head cap M4 bolt, RSDG1 38kgf•cm Installation tap depth: 10 mm Strength: 8.8T or more Hex socket head cap M5 bolt, RSDG2 60 to 90kgf•cm Installation tap depth: 10 mm Strength: 8.8T or more Hex socket head cap M5 bolt, RSDG3...
  • Page 62 3-9 Connections Connect the robot cables (motor and signal wires) to the mating connectors coming out from the robot. Robot cable Robot cable connector connector (signal wire) (motor wire) After making the connections, fit the connector hoods together securely. Hood 3-22...

  • Page 63: Robot Cable Connections

    3-9 Connections 3-9-2 Robot cable connections Connect the robot unit's robot cable to the C1 controller connector as shown in the figure below. For details regarding the controller-side connector, refer to the C1 Controller User's Manual. controller FUNC STOP COM2 COM1 MP24V CP24V...

  • Page 64: Robot System Configuration Drawing

    3-9 Connections 3-9-3 Robot system configuration drawing C1 controller COM2 RS-232C communication control COM1 Handy Terminal RS-232C or FUNC Resolver signal communication control Motor power (communication cable) STOP Power supply DC24V MP24V CP24V Input 16 general-purpose pins Output 16 general-purpose pins RS-Manager communication software External control...

  • Page 65: Setting The Operating Conditions

    The RS1/2/3 or RSD1/2/3 series robot uses a step motor. In particular, the RSD1/2/3 series has characteristics that the torque decreases during high-speed rotation. Set the operating conditions while referring to “Speed vs.

  • Page 66: Push Force Vs. Current Limit Value During Stop

    3-10 Setting the operating conditions 3-10-3 Push force vs. current limit value during stop ■ RSD1/RSDG1 push thrust Lead 6 Lead 12 Current limit value (%) ■ RSD2/RSDG2 push thrust Lead 2 Lead 6 Lead 12 Current limit value (%) 3-26...
  • Page 67 3-10 Setting the operating conditions ■ RSD3/RSDG3 push thrust 1000 Lead 2 Lead 6 Lead 12 Current limit value (%) The values in the above graph are not a guarantee of the push force accuracy during stop. Use these values for reference. •...
  • Page 68 MEMO 3-28...
  • Page 69 Chapter 4 Periodic Inspection and Maintenance (RS1/2/3 series) 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 Applying grease 4-4 Replacing the shutter 4-4-1 RS1 4-4-2 RS2/RS3 4-5 Adjusting shutter looseness...

  • Page 71: Before Beginning Work

    Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of robots. This chapter describes periodic inspection items and procedures for the RS1/2/3 series robots. Before beginning work, read the precautions below and also in Chapter 1, "Using the Robot Safety", and always follow the instructions.
  • Page 72 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 73: Periodic Inspection

    Check for slack. Adjust if See "4-5" in this necessary. chapter. Coupling Check if the bolts are loose. Tighten See "4-7" 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 74: Six-Month Inspection

    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 75: Applying Grease

    4-3 Applying grease Applying grease Follow these steps when applying grease to the robot ball screws and linear guides according to periodic maintenance. 1) Remove the robot's end cover, then pull off the side cover. 2) Coat the ball screw and linear guides with grease by hand and move the slider back and forth to spread the grease.

  • Page 76: Replacing The Shutter

    Use the following procedure when the shutter must be replaced. Make sure that the controller power switch is off before beginning work. 4-4-1 RS1 1) Push the slider cover to one side, then remove while pressing at the center. Slider cover...
  • Page 77 4-4 Replacing the shutter 4) Remove the shutter. 5) Pass the new shutter through it. 6) Reinstall the shutter, motor cover 1 and slide cover by reversing their removal procedures. NOTE Do not fully tighten the screws to secure the shutter at this time. Fully tighten these screws after adjusting for shutter looseness in step 7.

  • Page 78: Rs2/Rs3

    4-4 Replacing the shutter 4-4-2 RS2/RS3 1) Push the slider cover to one side, then remove while pressing at the center. Slider cover Slider cover 2) Remove a screw that secures motor cover 1, then remove motor cover 1 by sliding it toward the rear.

  • Page 79: Adjusting Shutter Looseness

    4-5 Adjusting shutter looseness 4) Remove the shutter. 5) Pass the new shutter through it. 6) Reinstall the shutter, motor cover 1 and slide cover by reversing their removal procedures. NOTE Do not fully tighten the screws to secure the shutter at this time. Fully tighten these screws after adjusting for shutter looseness in step 7.

  • Page 80: Replacing The Motor

    4-6 Replacing the motor Replacing the motor 4-6-1 RS1 1) Remove a screw that secures motor cover 1, then remove motor cover 1 by sliding it toward the rear. Motor cover 1 Motor cover 1 2) Remove the lower-side motor cover 2 by sliding it toward the rear.
  • Page 81 4-6 Replacing the motor 4) Remove the motor. When the motor is equipped with the brake, follow the steps below to remove the brake. ■ Removing the brake q Disconnect the connector. Connector w Remove the bolts (4 pcs.) that secure the brake to the motor and take out the brake.
  • Page 82 4-6 Replacing the motor e Loosen the set screws (2 locations) that secure the brake hub. Brake hub Set screw r Remove the brake hub from the motor shaft. 5) Install the new motor and secure it with the screws. Reattach motor covers 1 and 2 by reversing their removal procedures.

  • Page 83: Rs2/Rs3

    4-6 Replacing the motor 4-6-2 RS2/RS3 1) Remove a screw which secures motor cover 1, then remove motor cover 1. Motor cover 1 Motor cover 1 2) Remove the lower-side motor cover 2 by sliding it toward the rear. Motor cover 2 Motor cover 2 3) Remove the two screws which secure the motor.
  • Page 84 4-6 Replacing the motor 4) Remove the motor. When the motor is equipped with the brake, follow the steps below to remove the brake. ■ Removing the brake q Disconnect the connector. Connector w Remove the bolts (4 pcs.) that secure the brake to the motor and take out the brake.
  • Page 85 4-6 Replacing the motor e Loosen the set screws (2 locations) that secure the brake hub. Brake hub Set screw r Remove the brake hub from the motor shaft. 5) Install the new motor and secure it with the screws. Reattach motor covers 1 and 2 by reversing their removal procedures.

  • Page 86: Verifying The Machine Reference

    4-6 Replacing the motor 4-6-3 Verifying the machine reference The method for verifying the machine reference is shown below. For details regarding Handy Terminal operation procedures, refer to the H1 Operation Guide section of the C1 Controller User's Manual. 1) At the main menu screen, select Operation. The operation mode screen then opens, displaying operations which can be selected.
  • Page 87 4-6 Replacing the motor 4) A message displays when the return-to-origin operation is completed. If ended without error, "OK" and the machine reference (Ref. = xx%) displays. Origin search [01] Method: TORQUE Direction: CCW Origin search Coordinates: Ref. = 50 % RUN:Origin search start Current pos.

  • Page 88: Replacing The Coupling

    4-7 Replacing the coupling Replacing the coupling 4-7-1 RS1 1) Remove the motor. (See section 4-6 "Replacing the motor" for this procedure.) 2) Remove the four screws which secure the plate motor. Plate motor 3) Loosen the set screw (M4), then remove the coupling.
  • Page 89 4-7 Replacing the coupling 5) Install a new coupling, and push the ballscrew side against the end-face. Secure the motor side at a position which is 7mm from the end-face. 6) Mount the plate motor and tighten its mounting screws. 7) Mount the motor and secure it with the screws.

  • Page 90: Rs2/Rs3

    4-7 Replacing the coupling 4-7-2 RS2/RS3 1) Remove the motor. (See section 4-6 "Replacing the motor" for this procedure.) 2) Remove the screws (4 locations) which secure the plate motor. Plate motor 3) Remove the set screw (M4), then remove the coupling. Set screw Set screw 4) Remove one of the side covers by sliding it in the direction indicated by the arrow...
  • Page 91 4-7 Replacing the coupling 5) Loosen the set screw (M4) at the ballscrew side, then remove the coupling. Set screw 6) Install a new coupling, and push the ballscrew side against the end-face. Secure the motor side at a position which is 3mm from the end-face. 7) Mount the plate motor and secure it with the screws.
  • Page 92 MEMO 4-22...
  • Page 93 Chapter 5 Periodic Inspection and Maintenance (RSD1/2/3 series) Contents 5-1 Before beginning work 5-2 Periodic inspection 5-2-1 Daily inspection 5-2-2 Three-month inspection 5-2-3 Six-month inspection 5-2-4 Three-year inspection 5-3 Applying grease 5-4 Replacing the motor 5-4-1 Replacing the motor 5-4-2 Verifying the machine reference 5-4-3 Adjusting the machine reference 5-10...

  • Page 95: Before Beginning Work

    MECHANICAL MOVEMENT OF THE ROBOT, KEEP THE EMERGENCY STOP BUTTON PRESSED. • USE ONLY LUBRICANT AND GREASES SPECIFIED BY MISUMI. • WHEN REPLACING PARTS, USE ONLY THE PARTS SPECIFIED BY MISUMI. TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO CONTAMINATE THEM DURING ADJUSTMENT, PARTS REPLACEMENT OR REASSEMBLY.
  • Page 96 5-1 Before beginning work When applying grease to the ball screws, pay special attention to the cautions listed below. 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 97: Periodic Inspection

    Recommended grease is as follows: AFF (THK) Check if the bolts are loose. Tighten Coupling if necessary. CAUTION Failing to use MISUMI-recommended grease may shorten the service life of the ball screw.

  • Page 98: Six-Month Inspection

    CAUTION Failing to use MISUMI-recommended grease may shorten the service life of the ball screw. 5-2-4 Three-year inspection Check the following points every 3 years or more often if the robot is used frequently.

  • Page 99: Applying Grease

    5-3 Applying grease Applying grease Follow the steps below when applying grease to the ball screws according to the periodic maintenance. 1) Manually pull out the shaft from the origin position. The pull-out dimensions necessary to apply grease are shown in the table below. For details, refer to the positions described on the dimensional outline drawings in “6-1 Main unit specifications”...

  • Page 100: Replacing The Motor

    5-4 Replacing the motor Replacing the motor 5-4-1 Replacing the motor 1) Remove the screws that secure the motor cover (4 locations for the motor without brake, 3 locations for the motor with brake). Raise the motor cover slightly to remove Motor without brake Motor with brake CAUTION...
  • Page 101 5-4 Replacing the motor w Remove the bolts (2 pcs.) that secure the brake to the motor and take out the brake. Brake cable lead-out direction 2 locations e Loosen the set screws (2 locations) that secure the brake hub. Brake hub Set screw r Remove the brake hub from the motor shaft.
  • Page 102 5-4 Replacing the motor 2) Push and pull the top end of the rod repeatedly to rotate the coupling to a position where the coupling fastening bolt can be seen through the maintenance hole, and then loosen the bolt. Coupling fastening bolt (1 location) Maintenance hole Push and pull the top end of the rod Push and pull the top end of the rod...

  • Page 103: Verifying The Machine Reference

    5-4 Replacing the motor 5-4-2 Verifying the machine reference The method for verifying the machine reference is shown below. For details regarding Handy Terminal operation procedures, refer to the H1 Operation Guide section of the C1 Controller User's Manual. 1) At the main menu screen, select Operation. The operation mode screen then opens, displaying operations which can be selected.

  • Page 104: Adjusting The Machine Reference

    5-4 Replacing the motor 4) A message displays when the return-to-origin operation is completed. If ended without error, "OK" and the machine reference (Ref. = xx%) displays. Origin search [01] Method: TORQUE Direction: CCW Origin search Coordinates: Ref. = 50 % RUN:Origin search start Current pos.
  • Page 105 Chapter 6 Specifications Contents 6-1 Main unit specifications 6-1-1 RS1 6-1-2 RS2 6-1-3 RS3 6-1-4 RSD1/RSDG1 6-10 6-1-5 RSD2/RSDG2 6-14 6-1-6 RSD3/RSDG3 6-19 6-1-7 About noise level 6-23 6-2 Motor specifications 6-23 6-2-1 Motor termination 6-23 6-2-2 Brake cable termination...

  • Page 107: Main Unit Specifications

    6-1 Main unit specifications Main unit specifications 6-1-1 RS1 ● Basic specifications Motor 42 Step motor Repeated positioning accuracy (mm) ±0.02 Ball screw φ8(Class C10) Deceleration mechanism Maximum motor torque (N•m) 0.27 Ball screw lead (mm) Maximum speed (mm/sec) Horizontal installation...
  • Page 108 6-1 Main unit specifications ● Allowable overhang* * Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of 10,000 km (Service life is calculated for 400mm stroke models). ■ Horizontal installation Horizontal installation (Unit: mm) Lead 12 Lead 6 Lead 2...
  • Page 109 6-1 Main unit specifications...

  • Page 110: Rs2

    6-1 Main unit specifications 6-1-2 RS2 ● Basic specifications Motor 42 Step motor Repeated positioning accuracy (mm) ±0.02 Ball screw φ12(Class C10) Deceleration mechanism Maximum motor torque (N•m) 0.27 Ball screw lead (mm) Maximum speed (mm/sec) 1000 Horizontal installation Maximum payload (kg) Vertical installation –...
  • Page 111 6-1 Main unit specifications ● Allowable overhang* * Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of 10,000 km (Service life is calculated for 600mm stroke models). ■ Horizontal installation Horizontal installation (Unit: mm) Lead 20 Lead 12 Lead 6...
  • Page 112 6-1 Main unit specifications...

  • Page 113: Rs3

    6-1 Main unit specifications 6-1-3 RS3 ● Basic specifications Motor 42 Step motor Repeated positioning accuracy (mm) ±0.02 Ball screw φ12(Class C10) Deceleration mechanism Maximum motor torque (N•m) 0.47 Ball screw lead (mm) Maximum speed (mm/sec) 300 (250) 600 (500) 1000 Horizontal installation Maximum payload...
  • Page 114 6-1 Main unit specifications ● Allowable overhang* * Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of 10,000 km (Service life is calculated for 600mm stroke models). ■ Horizontal installation Horizontal installation (Unit: mm) Lead 20 Lead 12 Lead 6...
  • Page 115 6-1 Main unit specifications...

  • Page 116: Rsd1/Rsdg1

    6-1 Main unit specifications 6-1-4 RSD1/RSDG1 ● Basic specifications RSD1 RSDG1 Motor 42 Step motor Repeated positioning accuracy (mm) ±0.02 φ8, Rolling C10 Ball screw specifications Ball screw lead (mm) Maximum speed (mm/sec) Horizontal installation Maximum payload (kg) Vertical installation Max.
  • Page 117 6-1 Main unit specifications ● Traveling life The following describes examples that the traveling life is less than 5000 km due to payload. ■ RSD1 Lead 12 (Vertical installation) 6000 5000 4000 3000 2000 1000 Payload (kg) ■ RSDG1 Lead 12 (Vertical installation) 6000 5000 4000...
  • Page 118 6-1 Main unit specifications 6-12...
  • Page 119 6-1 Main unit specifications 6-13...

  • Page 120: Rsd2/Rsdg2

    6-1 Main unit specifications 6-1-5 RSD2/RSDG2 ● Basic specifications RSD2 RSDG2 Motor 42 Step motor Repeated positioning accuracy (mm) ±0.02 φ8, Rolling C10 Ball screw specifications Ball screw lead (mm) Maximum speed (mm/sec) 250 1 500 Horizontal installation Maximum payload (kg) Vertical installation Max.
  • Page 121 6-1 Main unit specifications ● Speed vs. payload graph ■ RSD2/RSDG2 (Horizontal installation) Lead 2 Lead 6 Lead 12 Speed (mm/s) ■ RSD2 (Vertical installation) ■ RSDG2 (Vertical installation) Lead 2 Lead 2 Lead 6 Lead 6 Lead 12 Lead 12 Speed (mm/s) Speed (mm/s) ●...
  • Page 122 6-1 Main unit specifications ■ RSD2 Lead 12 (Vertical installation) 6000 5000 4000 3000 2000 1000 Payload (kg) ■ RSDG2 Lead 2 (Vertical installation) 6000 5000 4000 3000 2000 1000 Payload (kg) ■ RSDG2 Lead 12 (Vertical installation) 6000 5000 4000 3000 2000...
  • Page 123 6-1 Main unit specifications 6-17...
  • Page 124 6-1 Main unit specifications 6-18...

  • Page 125: Rsd3/Rsdg3

    6-1 Main unit specifications 6-1-6 RSD3/RSDG3 ● Basic specifications RSD3 RSDG3 Motor 56 Step motor Repeated positioning accuracy (mm) ±0.02 φ12, Rolling C10 Ball screw specifications Ball screw lead (mm) Maximum speed (mm/sec) Horizontal installation Maximum payload (kg) Vertical installation 28.5 18.5 Max.
  • Page 126 6-1 Main unit specifications ● Traveling life The following describes examples that the traveling life is less than 5000 km due to payload. ■ RSD3 Lead 2 (Vertical installation) 6000 5000 4000 3000 2000 1000 Payload (kg) ■ RSDG3 Lead 2 (Vertical installation) 6000 5000 4000...
  • Page 127 6-1 Main unit specifications 6-21...
  • Page 128 6-1 Main unit specifications 6-22...

  • Page 129: About Noise Level

    6-2 Motor specifications 6-1-7 About noise level The maximum sound pressure level is 70dB or less when the RS1/2/3 or RSD1/2/3 series robot moves at its maximum speed (RS1/2/3: 1000 mm/s, RSD1/2/3 or RSDG1/2/3: 500 mm/s). (Maximum sound pressure level is measured in accordance with EN 292-2.)
  • Page 130 6-2 Motor specifications ■ Connector wiring Connector Pin No. Signal Wire Color Connection Black Motor wire ACOM Yellow BCOM White Green Blue Blue Signal wire Orange Green Brown Gray Transparent Drain wire shrinkable tube Black Brake wire Yellow 2, 3 4, 5 6, 5 7, 8...

  • Page 131: Brake Cable Termination

    6-2 Motor specifications 6-2-2 Brake cable termination ■ Connector specifications Parts Type No. Maker Note BRAKE Receptacle housing SMR-02V-B 2 poles BYM-001T-P0.6 or Manual tool: Pin contact SYM-001T-P0.6 YC-12 ■ Connector wiring Signal Wire Color Connection Yellow Yellow 2, 3 6-25...

  • Page 132: Robot Cables

    6-3 Robot cables Robot cables To robot To controller Parts Signal Connection Signal Parts Wire Controller CN1 Resolver Drain wire 0.15sq Blue Orange Green Brown Grey Brake Black Yellow Motor 0.3sq White 1 White 2 ACOM ACOM White 3 BCOM BCOM White 4 White 5...
  • Page 133 Chapter 7 Troubleshooting Contents 7-1 Positioning error...
  • Page 135 7-1 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 136 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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