Table Of Contents - Mitsubishi RH-3SQHR3515 Instruction Manual

1 Before starting use ......................................................................................................................................................................... 1-1
1.1 Using the instruction manuals ............................................................................................................................................ 1-1
1.1.1 The details of each instruction manuals ................................................................................................................ 1-1
1.1.2 Terminological definition ............................................................................................................................................... 1-2
1.1.3 Symbols used in instruction manual ........................................................................................................................ 1-2
1.2 Safety Precautions ................................................................................................................................................................. 1-3
1.2.1 Precautions given in the separate Safety Manual ............................................................................................. 1-4
2 Unpacking to Installation .............................................................................................................................................................. 2-6
2.1 Confirming the product ......................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-7
2.2.1 Unpacking ............................................................................................................................................................................ 2-7
2.2.2 Transportation procedures(Transporting with a crane) ................................................................................... 2-8
2.2.3 Installation procedures .................................................................................................................................................. 2-9
2.2.4 Grounding procedures .................................................................................................................................................. 2-11
(1) Grounding methods ................................................................................................................................................... 2-11
(2) Grounding procedures ............................................................................................................................................. 2-11
2.2.5 Connecting with the controller ................................................................................................................................ 2-12
2.3 Spare wiring ............................................................................................................................................................................. 2-14
2.3.1 No.2 arm section ............................................................................................................................................................ 2-14
2.3.2 Base area .......................................................................................................................................................................... 2-16
2.4 Setting the origin ................................................................................................................................................................... 2-18
2.4.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-18
2.4.2 Setting the origin with the origin data input method ...................................................................................... 2-19
(1) Confirming the origin data ..................................................................................................................................... 2-19
(2) Turning ON the control power ............................................................................................................................. 2-19
(3) Preparing the T/B ..................................................................................................................................................... 2-20
(4) Selecting the origin setting method ................................................................................................................... 2-21
(5) Inputting the origin data ......................................................................................................................................... 2-22
(6) Installing the base cover B(L). ........................................................................................................................... 2-23
2.5 Confirming the operation .................................................................................................................................................... 2-24
(1) JOINT jog operation ................................................................................................................................................. 2-28
(2) XYZ jog operation ...................................................................................................................................................... 2-30
(3) TOOL jog operation .................................................................................................................................................. 2-32
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-34
(5) CYLNDER jog operation ......................................................................................................................................... 2-36
(6) Work jog operation ......................................................................................................... 2-38
3 Installing the option devices ..................................................................................................................................................... 3-44
3.1 Installing the solenoid valve set ..................................................................................................................................... 3-44
3.2 Installation of hand tube ..................................................................................................................................................... 3-48
3.3 Installing the hand input cable ......................................................................................................................................... 3-52
3.4 Installing the hand output cable ...................................................................................................................................... 3-54
3.5 Changing the operating range .......................................................................................................................................... 3-56
3.5.1 Operating range change of J1 axis ......................................................................................................................... 3-56
3.5.2 Operating range change of J2 axis ......................................................................................................................... 3-58
4 Basic operations ............................................................................................................................................................................ 4-60
5 Maintenance and Inspection ..................................................................................................................................................... 5-61
5.1 Maintenance and inspection interval ............................................................................................................................. 5-61
5.2 Inspection items ..................................................................................................................................................................... 5-62
5.2.1 Daily inspection items .................................................................................................................................................. 5-62
5.2.2 Periodic inspection ........................................................................................................................................................ 5-63
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-64
5.3.1 Robot arm structure ..................................................................................................................................................... 5-64
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