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(2) RH-12FH/20FH series ............................................................................................................................................ 3-58
3.5 External Wiring and Piping Box ........................................................................................................................................ 3-60
4 Basic operations ............................................................................................................................................................................ 4-62
5 Maintenance and Inspection ..................................................................................................................................................... 5-63
5.1 Maintenance and inspection interval ............................................................................................................................. 5-63
5.2 Inspection items ..................................................................................................................................................................... 5-64
5.2.1 Daily inspection items .................................................................................................................................................. 5-64
5.2.2 Periodic inspection ........................................................................................................................................................ 5-65
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-66
5.3.1 Robot arm structure ..................................................................................................................................................... 5-66
5.3.2 Installing/removing the cover ................................................................................................................................... 5-68
5.3.3 Packing Replacement Procedure ............................................................................................................................ 5-70
(1) Packing Replacement Instructions ..................................................................................................................... 5-70
5.3.4 Inspection, maintenance and replacement of timing belt .............................................................................. 5-74
(1) Timing belt replacement period ......................................................................................................................... 5-74
(2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt ................................................................ 5-75
(3) RH-3FH series: Replacing the J3 axis timing belt ...................................................................................... 5-76
(4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt ..................................... 5-79
(5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt ............................................................ 5-80
(6) RH-3FH/6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt ........................... 5-82
(7) Timing belt tension ................................................................................................................................................... 5-85
5.3.5 Replacing the bellows ................................................................................................................................................... 5-86
(1) Clean specification ................................................................................................................................................... 5-86
(2) Oil mist specification ............................................................................................................................................... 5-87
5.3.6 Lubrication ........................................................................................................................................................................ 5-88
(1) Lubrication position and specifications ............................................................................................................ 5-88
(2) Lubrication method to the J1, J2 axis ............................................................................................................. 5-90
(3) Lubrication method to the shaft ......................................................................................................................... 5-90
5.3.7 Replacing the backup battery ................................................................................................................................... 5-91
(1) Replacing the battery (robot arm) ...................................................................................................................... 5-92
5.4 About Overhaul ...................................................................................................................................................................... 5-93
5.5 Maintenance parts ................................................................................................................................................................. 5-94
5.6 Resetting the origin .............................................................................................................................................................. 5-96
5.6.1 Mechanical stopper method ...................................................................................................................................... 5-97
(1) J1 axis origin setting(mechanical stopper) ..................................................................................................... 5-97
(2) J2 axis origin setting(mechanical stopper) ..................................................................................................... 5-99
(3) J3 and J4 axis origin setting (mechanical stopper) ................................................................................. 5-101
(4) All axis origin setting ............................................................................................................................................. 5-104
5.6.2 Jig method ..................................................................................................................................................................... 5-105
(1) J1 axis origin setting ............................................................................................................................................. 5-106
(2) J2 axis origin setting ............................................................................................................................................. 5-108
(3) J3 and J4 axis origin setting ............................................................................................................................. 5-109
5.6.3 ABS origin method ..................................................................................................................................................... 5-110
(1) Select the T/B ........................................................................................................................................................ 5-111
5.6.4 User origin method ..................................................................................................................................................... 5-112
5.6.5 Recording the origin data ........................................................................................................................................ 5-114
(1) Confirming the origin data label ........................................................................................................................ 5-114
(2) Confirming the origin data .................................................................................................................................. 5-114
(3) Recording the origin data .................................................................................................................................... 5-114
(4) Installing the cover ................................................................................................................................................ 5-114
6Appendix ............................................................................................................................................................................ Appendix-115
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-115
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CONTENTS
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