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Mitsubishi Electric MELFA RH-6SQH Series Instruction Manual
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Mitsubishi Electric MELFA RH-6SQH Series Instruction Manual

Mitsubishi Electric MELFA RH-6SQH Series Instruction Manual

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MITSUBISHI ELECTRIC
Industrial Robot
Instruction Manual
RH-6SQH/12SQH/18SQH Series
Robot Arm Setup & Maintenance
BFP-A8695
INDUSTRIAL AUTOMATION
MITSUBISHI ELECTRIC
29 10 2009
Version B

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Summary of Contents for Mitsubishi Electric MELFA RH-6SQH Series

  • Page 1 MITSUBISHI ELECTRIC Industrial Robot Instruction Manual RH-6SQH/12SQH/18SQH Series Robot Arm Setup & Maintenance BFP-A8695 INDUSTRIAL AUTOMATION MITSUBISHI ELECTRIC 29 10 2009 Version B...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) Enforcement of safety training CAUTION...
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) CAUTION Transport the robot with the designated transportation posture.
  • Page 5 CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.
  • Page 6 Revision history Date of Point Instruction Manual No. Revision Details 2008-10-30 BFP-A8695 First print 2009-06-20 BFP-A8695-A The caution at pulling out spare wiring was added. 2009-10-29 BFP-A8695-B The EC Declaration of Conformity was changed. (Correspond to the EMC directive; 2006/42/EC) Work jog function was added.
  • Page 7 Please interpret that items not described in this document "cannot be performed." or "alarm may occur". Please contact your nearest dealer if you find any doubtful, wrong or skipped point. ・ This specifications is original. Copyright(C) 2008-2009 MITSUBISHI ELECTRIC CORPORATION...

  • Page 8: Table Of Contents

    Contents Page 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 ........................1-3 1.2 Safety Precautions ................................. 1-4 1.2.1 Precautions given in the separate Safety Manual .....................
  • Page 9 Contents Page 5.2 Inspection items ..................................5-58 5.2.1 Daily inspection items ..............................5-58 5.2.2 Periodic inspection ............................... 5-59 5.3 Maintenance and inspection procedures ........................5-60 5.3.1 Robot arm structure ..............................5-60 5.3.2 Installing/removing the cover ..........................5-61 5.3.3 Inspection, maintenance and replacement of timing belt ................5-62 (1) Timing belt replacement period .........................

  • Page 10: Before Starting Use

    1Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the safety precautions. 1.1 Using the instruction manuals 1.1.1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

  • Page 11: Terminological Definition

    1Before starting use 1.1.2 Terminological definition Explain the term currently used in this manual. Robot controller........The controller which controls the robot arm It consists of the robot CPU system and the drive unit.(SQ series) Robot CPU （Unit） ......... The CPU unit for the robots which installed to the sequencer base unit. （Q3*DB）...

  • Page 12: Symbols Used In Instruction Manual

    1Before starting use 1.1.3 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1 ： Symbols in instruction manual Symbol Meaning Precaution indicating cases where there is a risk of operator fatality or...

  • Page 13: Safety Precautions

    1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) Enforcement of safety training CAUTION...

  • Page 14: Precautions Given In The Separate Safety Manual

    1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER If the automatic operation of the robot is operated by two or more control equipment, design the right management of operation of each equipment of the customer.
  • Page 15 1Before starting use CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.

  • Page 16: Unpacking To Installation

    2Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1. Confirm the parts. Users who have purchased optional products should refer to the separate "Standard Specifications". Table 2-1 ：...

  • Page 17: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking Pull off <2> Upper lid <1> Tape Fixing base （ａ） （ｂ） Robot arm Fixing plate A CAUTION Always unpack the <3> Hexagon socket bolts robot at a flat place. Fixing plate B (Four positions) The robot could tilt over if unpacked at an unstable place.
  • Page 18 2Unpacking to Installation 2.2.2 Transportation procedures(Transportation by people: RH-6SQH series) Mass RV-6S H3520 series : Approx. 23kg RV-6S H4520 series : Approx. 24kg RV-6S H5520 series : Approx. 24kg RV-6S H3517C series : Approx. 23kg No.1 arm RV-6S H4517C series : Approx. 24kg RV-6S H5517C series : Approx.

  • Page 19: Transportation Procedures(Transporting With A Crane: Rh-12Sqh/18Sqh Series)

    2Unpacking to Installation 2.2.3 Transportation procedures(Transporting with a crane: RH-12SQH/18SQH series) Wire Mass RV-12S H5535 series : Approx. 49kg Wire hook RV-12S H7035 series : Approx. 51kg Cushioning material RV-12S H8535 series : Approx. 53kg for ball screws RV-12S H5530C series : Approx. 49kg RV-12S H7030C series : Approx.

  • Page 20: Installation Procedures

    2Unpacking to Installation 2.2.4 Installation procedures Ｆ Ｖ Ｍ Ｔ RH-6SDH：4-M8×40 RH-12SDH/18SDH：4-M12×45 Ｍ Ｌ (Four positions) Ｆ Ｈ Spring washer Ｆ Ｈ Plain washer Ｍ Ｌ Ｆ Ｆ Ｈ Ｈ Ｆ Ｖ RH-6SDH series RH-12SDH/18SDH series Installation Installation reference surface 6.3a reference surface 6.3a 4-φ9 installation hole 4-φ16 installation hole...
  • Page 21 2Unpacking to Installation Table 2-4 ： Magnitude of each reaction force Unit Value RH-6SQH series Tilt moment N ･ m Torsional moment N ･ m Horizontal direction translation force Vertical direction translation force : F RH-12SQH/18SQH series Tilt moment N ･ m 1,310 Torsional moment N ･...

  • Page 22: Grounding Procedures

    2Unpacking to Installation 2.2.5 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-5, but the dedicated grounding (Fig. 2-5 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Controller Controller Controller...

  • Page 23: Connecting With The Controller

    2Unpacking to Installation 2.2.6 Connecting with the controller Connection of the machine cable Drive unitDU3-700 series Robot controller CR3D-700 series Robot arm Motor signal cable（5ｍ） Motor power cable（5ｍ） Drive unitDU1-700 series Drive unitDU2-700 series Fig.2-7 ： Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"...
  • Page 24 2Unpacking to Installation Robot arm Connector on the robot arm side 1) Make sure that the power switch on the front of the controller is turned OFF. Hook Projection 2) Connect the machine cable to its corresponding connector on the robot arm side. Connector on the machine cable side 3) After connecting the connector, insert the hook attached...

  • Page 25: Procedure For Wiring The Hand Output Cables

    2Unpacking to Installation 2.2.7 Procedure for wiring the hand output cables The hand output cables (GR1 and GR2) are coming out from the rear of the No. 2 arm. If these cables are not used, put the cables inside the arm according to the following procedure. The procedure for using these cables are described in "3 Installing the option devices"...

  • Page 26: Spare Wiring

    2Unpacking to Installation 2.3 Spare wiring The interior of the spare wiring (AWG#24(0.2mm ) x4 pair (a total of eight cores) cab tire cable) is carried out to the robot arm from the base portion to the No.2 arm rear piece. The customer can use this wire. In this case, the cable clamp (refer to the following) is needed separately for wiring leading about out of the robot.
  • Page 27 2Unpacking to Installation CAUTION Please check packing not being broken or not having stripped at the time of cover installing and removing. Please contact the dealer, if it is broken or has stripped. If you use it, packing broken or stripped, oil mist etc. will invade in the arm and will cause failure.

  • Page 28: Base Area

    2Unpacking to Installation 2.3.2 Base area 1) Remove installation bolt and remove CONBOX cover. CAUTION CONBOX cover is completely inseparable with the robot arm. When you install and remove the cover, be careful of the cable etc. If too much power is applied, the robot may malfunction by the breaking of the cable.
  • Page 29 2Unpacking to Installation CAUTION When CONBOX cover is installed, please keep too much load from being applied to the cables and the air hoses. If too much load is applied, the cable will be broken and the hose is bent, therefore robot and pneumatic drive equipment cannot operate normally.

  • Page 30: Connection Of Piping For Air Pressurization

    2Unpacking to Installation 2.3.3 Connection of piping for air pressurization In use in oil mist environment, protection performance can be improved by pressurizing the inside of the robot arm. Please connect the phi8 air hose to the joint for pressurization of the robot arm base portion "AIR PURGE", and pressurize the inside of the robot arm.

  • Page 31: Setting The Origin

    2Unpacking to Installation 2.4 Setting the origin The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work. This step must also be carried out if the combination of robot and controller being used is changed.

  • Page 32: Setting The Origin With The Origin Data Input Method

    2Unpacking to Installation 2.4.2 Setting the origin with the origin data input method (1) Confirming the origin data ● Origin data history table (Origin Data History) Serial No.ES804008 The origin data to be input is noted in the Date Default .

  • Page 33: Preparing The T/B

    2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B 1) Set the [MODE] switch on the front of the controller to "MANUAL". MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear.

  • Page 34: Selecting The Origin Setting Method

    2Unpacking to Installation (4) Selecting the origin setting method <MENU> 1) Press the [4] key on the menu screen, and display the 1.FILE/EDIT 2.RUN ORIGIN/BRAKE screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED CLOSE <ORIGIN/BRAKE> 2) Press the [1] key on the ORIGIN/BRAKE screen, and 1.ORIGIN 2.BRAKE display the origin setting method selection screen.

  • Page 35: Inputting The Origin Data

    2Unpacking to Installation (5) Inputting the origin data Origin data label T/B screen Input the value confirmed in section "(1) Confirming the (D,J1,J2,J3,J4,J5,J6,J7,J8) origin data" on page The correspondence of the origin data label value and axis to <ORIGIN> DATA D:(■...

  • Page 36: Installing The J1 Cover

    2Unpacking to Installation <ORIGIN> DATA 6) After inputting all of the values, press the [EXE] key. The D:( V!%S29) origin setting confirmation screen will appear. J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V) J4( T6!MSY) J5( Z21J%Z) J6( A12%Z0) ) J8( CLOSE 7) Press [F1] (Yes) to end the origin setting <ORIGIN>...

  • Page 37: Confirming The Operation

    2 Unpacking to Installation 2.5 Confirming the operation In this section, the robot will be moved manually using the T/B to confirm that the operation is correct. Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis, the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate system, and the CYLNDER jog that moves along the circular arc.
  • Page 38 2 Unpacking to Installation ＋Z ＋Z End axis －X －Y Base coordinate system － ＋ reference origin ＋Y ＋X －X －Y －Z ＋Y ＋X －Z * While maintaining the end axis posture, the axis moves straight along the base coordinate system.
  • Page 39 2 Unpacking to Installation ＋Z ＋Z End axis －X －Y Base coordinate system － ＋ reference origin ＋Y ＋X －X －Y J４ axis －Z ＋Y ＋X －Z * The axis moves straight along the base coordinate system. At this time, the end axis posture is not maintained.
  • Page 40 2 Unpacking to Installation Tool length Controll － ＋ point * While maintaining the end axis posture, the axis moves straight along the work coordinate system. WORK coordinate system Also, while maintaining the end axis position, the end axis posture changes.

  • Page 41: Joint Jog Operation

    2 Unpacking to Installation (1) JOINT jog operation Select joint jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "joint" in jog mode is displayed on +0.00 +0.00 the screen.
  • Page 42 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area. Move these axes toward the inner side of the movement area. J3 axis jog operation ＋ J3 axis －...

  • Page 43: Xyz Jog Operation

    2 Unpacking to Installation (2) XYZ jog operation Select XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "XYZ" in jog mode is displayed on +0.00 +0.00 the screen.
  • Page 44 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the end axis posture ＋Z ＋Z...

  • Page 45: Tool Jog Operation

    2 Unpacking to Installation (3) TOOL jog operation Select TOOL jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "TOOL" in jog mode is displayed +0.00 +0.00 on the screen.
  • Page 46 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the end axis posture ＋Z －X...

  • Page 47: 3-Axis Xyz Jog Operation

    2 Unpacking to Installation (4) 3-axis XYZ jog operation Select XYZ456 jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "XYZ456" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 48 2 Unpacking to Installation ◇◆◇ The flange surface end axis posture cannot be maintained with 3-axis XYZ jog. ◇◆◇ With 3-axis XYZ jog, the flange surface end axis posture (orientation) is not maintained when moving linearly in the X, Y or Z axis direction. Use XYZ jog to maintain the posture.

  • Page 49: Cylnder Jog Operation

    2 Unpacking to Installation jog operation CYLNDER Select cylindrical jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 50 2 Unpacking to Installation Changing the flange surface posture 上下 ＋Z － ＋ －X －Y +C(J6) - C(J6) ＋Y ＋X －Z ・ When the [+C (J6)] keys are pressed, The Z axis will rotate in the plus direction. When the [-C (J6)] keys are pressed, Rotates in the minus direction. Confirming the operation 2-41...

  • Page 51: Work Jog Operation

    2 Unpacking to Installation (6) Work jog operation Setting of the work coordinates system is necessary. By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching operations get easier. When jog operation, select by which work coordinates the robot moves The setting method of the work coordinates system using T/B (R32TB) is shown in the following.
  • Page 52 2 Unpacking to Installation 1) Select "6.ENHANCED" screen on the <MENU> screen. <MENU>　　 　 <EMHANCED>　　 　 1.FILE/EDIT 2.RUN 1.SQ DIRECT 2.WORK COORD. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 　 123 CLOSE 2) Press the [2] keys in the menu screen and select "2. xxxxx." <EMHANCED>　　...
  • Page 53 2 Unpacking to Installation Presses the function key corresponding to"Yes", the robot's current position is registered, and the registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed. <WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) TEACHING POINT (WO)
  • Page 54 2 Unpacking to Installation Although setting of work coordinates is finishing above, confirmation of work coordinates can be done by press - ing the function key corresponding to "W GRID."([F2]) <WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) WORK COORDINATES DATA X: 214.12...
  • Page 55 2 Unpacking to Installation The jog movement based on work coordinates system ＋Z Tool length －X －Y Controll point 制御点 ＋Y ＋X －Z * The direction of the end axis will not change. Move the control point Work coordinates system with a straight line in accordance with the work coordinates system ・...
  • Page 56 2 Unpacking to Installation Changing the end axis posture Tool length Controll point 制御点 － ＋ Work coordinates system * The position of the control point does not change. The end axis is rotated. ・When the[+C (J6)] keys are pressed, The Z axis will rotate in the plus direction of the XYZ coordinate system. When the[-C (J6)] keys are pressed, Rotate in the minus direction.

  • Page 57: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices The installation of the solenoid valve set, the hand input cable, the hand output cable and retrieval of the spare wiring require removal of the same cover. Therefore, it is better to install them simultaneously. 3.1 Installing the solenoid valve set (1S-VD04M(E)-03, 1S-VD04M(E)-04) Electrical wiring opening (grommet)

  • Page 58: Installing The Solenoid Valve Set (1S-Vd04M(E)-03, 1S-Vd04M(E)-04)

    3Installing the option devices Please note that neither the hand input cables nor the hand output cables can be installed once the solenoid valve set is installed. Solenoid valve 1) Using a cutter knife, cut the centers of the grommets that come with the robot arm.
  • Page 59 3Installing the option devices The connection correspondence after installation is as shown in Table 3-1. Table 3-1 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports Hand Hand port Solenoid valve port Solenoid valve used OPEN Hand 1 st row CLOSE OPEN...

  • Page 60: Installing The Hand Input Cable

    3Installing the option devices 3.2 Installing the hand input cable Grommet №2 arm cover U Remove CON plate F Rear of the No.2 arm Hand input cable Cble clamp CON plate F Lock nut View C Fig.3-2 ： Installing the hand input cable 1) Remove the hexagon socket bolts (ten M4 x 10: 10 pcs (RH-6SQH series), M4 x 10: 11 pcs (RH-12SQH/ 18SQH series)) that hold the No.

  • Page 61: Installing The Hand Output Cable

    3Installing the option devices 3.3 Installing the hand output cable Grommet №2 arm cover U Remove CON plate F Rear of the No.2 arm Hand output cable Cble clamp CON plate F Lock nut View C Fig.3-3 ： Installing the hand output cable 1) Remove the hexagon socket bolts (ten M4 x 10: 10 pcs (RH-6SQH series), M4 x 10: 11 pcs (RH-12SQH/ 18SQH series)) that hold the No.

  • Page 62: Changing The Operating Range

    3Installing the option devices 3.4 Changing the operating range 3.4.1 J1 and J2 axis The operating ranges of both the J1, J2 and J3 axes can be limited. Change the mechanical stopper and the oper - ating range to be set inside of that area. If the operating range must be limited for example, to avoid interference with peripheral devices or to ensure safety--set up the operating range as shown below.

  • Page 63: Installing The Mechanical Stopper

    3Installing the option devices Axis Type Direction Standard Changeable angle J3 RH-18SQH standard + side +340 Change is impossible. specifications - side +115 to+ 285mm RH-18SQH clean, oil- + side +290 Change is impossible. mist specifications - side +115 to+ 235mm Note1) The * symbols next to the robot types indicate the up/down stroke length, environment specification, specification with controller protection box (RH-6SQH series) or controller specification with countermea - sure against oil mist (RH-12SQH/18SQH series).

  • Page 64: Setting The Mechanical Stopper Origin Parameter

    3Installing the option devices (4) Setting the mechanical stopper origin parameter If the movement range of either the minus (-) side of the J1 axis or the plus (+) side of the J2 axis has been changed, change the mechanical stopper origin parameter MORG. 1) Change the parameter MORG to the angle of the mechanical stopper position that has been set.

  • Page 65: Basic Operations

    4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic operations" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary. 4-56...

  • Page 66: Maintenance And Inspection

    5Maintenance and Inspection 5 Maintenance and Inspection The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are described in this chapter. The types and replacement methods of consumable parts are also explained. 5.1 Maintenance and inspection interval Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 67: Inspection Items

    5Maintenance and Inspection 5.2 Inspection items The inspection items for the robot arm are shown below. Also refer to section "5. Maintenance and inspection" in the "Controller setup, basic operation, and maintenance" manual, and inspect the controller. 5.2.1 Daily inspection items Carry out the daily inspections with the procedures given in Table 5-1.

  • Page 68: Periodic Inspection

    5Maintenance and Inspection 5.2.2 Periodic inspection Carry out periodic inspection with the procedures given in Table 5-2. Table 5-2 ： Periodic inspection items (details) Procedure Inspection item (details) Remedies Monthly inspection items Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.

  • Page 69: Maintenance And Inspection Procedures

    5Maintenance and Inspection 5.3 Maintenance and inspection procedures The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Depart - ment for a fee.

  • Page 70: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover (1)No.2 arm cover-U (3)J1 cover (2)No.2 arm cover-L (4)Base cover Ｊ4 axis（shaft） Fig.5-3 ： Installing/removing the cover Table 5-3 ： Cover names Cover name Q'ty Installation bolt name Remarks No.2 arm cover-U Hexagon socket bolts, 10-M4 x 10 (RH-6SQH series) Hexagon socket bolts, 11-M4 x 10 (RH-12SQH/18SQH series) No.2 arm cover-L...

  • Page 71: Inspection, Maintenance And Replacement Of Timing Belt

    5Maintenance and Inspection 5.3.3 Inspection, maintenance and replacement of timing belt This robot uses a timing belt for the drive conveyance system of the J5 axis. Compared to gears and chains, the timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjust - ment are inadequate, the life could drop and noise could be generated.

  • Page 72: Inspection, Maintenance And Replacement Of J3-Axis Timing Belt

    5Maintenance and Inspection (2) Inspection, maintenance and replacement of J3-axis timing belt (7)Shaft (6)Shaft inatallation screw (3)J3 motor (1)J3 motor inatallation screw (4)Timing pulley （Bottom of the J3 motor) (2)Timing belt (5)Timing pulley 　 （Bottom of the shaft） (7)Shaft (2)Timing belt Fig.5-4 ：...
  • Page 73 5Maintenance and Inspection ■ Replacing the J3 axis timing belt Fig. 5-4 shows the methods for inspecting, adjusting and replacing the timing belt. 2) Move the robot posture with the teaching pendant so that the J3 axis contacts the mechanical stopper of upside.

  • Page 74: Inspection, Maintenance And Replacement Of J4-Axis Timing Belt

    5Maintenance and Inspection (3) Inspection, maintenance and replacement of J4-axis timing belt (2)J4 axis motor (1)J4 axis installation screw (7)Timing belt （Motor side） (6)Timing pulley (5)Timing pulley (4)Idler (9)Timing pulley (3)Idler installation screw (10)Timing belt (8)Timing pulley （Shaft side） Fig.5-6 ： Inspection, maintenance and replacement of J4-axis timing belt ■...
  • Page 75 5Maintenance and Inspection ■ Replacing the J4 axis timing belt Fig. 5-6 shows the methods for inspecting, adjusting and replacing the timing belt. 2) Turn off the controller power. 3) To reduce dislocation, try to keep the relative positions of the timing pulleys (5), (6), (8) and (9) as much as possible.

  • Page 76: Timing Belt Tension

    5Maintenance and Inspection (4) Timing belt tension ｆ ： Pressing force ｓ ： Span ｄ ： Slack T ： Tension Slack Tension Axis Belt type Sepang ： s mm Remarks ： d mm ： T (N) RH-6SQH series 453-3GT-6 J4 （Motoe side） 357-3GT-6 J4 （Shuft side）...

  • Page 77: Replacing Bellows

    5Maintenance and Inspection 5.3.4 Replacing Bellows (1) How to Replace the Top Bellows Refer to Fig. 5-10 and replace the top bellows. 1) Move the J3 axis to the position where the clamp ring becomes visible. 2) Turn off the robot controller's power supply. 3) Remove the clamp ring.
  • Page 78 5Maintenance and Inspection RH-6SDH series: φ20 RH-12SDH/18SDH series :φ25 Ａ 4-Ｍ3 ｘ 8 <1> M4 set screws x 2 <2> D cut surface Top bellows Details of D cut surface Clamp ring Liquid gasket coating position 4-M3 x 8 screw No.

  • Page 79: How To Replace The Bottom Bellows

    5Maintenance and Inspection (2) How to Replace the Bottom Bellows Refer to Fig. 5-12 and replace the top bellows. 1) Turn off the robot controller's power supply. 2) Remove the installation screws (three M4 screws) of the No. 2 arm cover-L <3>. 3) Loosen the two M4 set screws installed beside the part <4>, 30 mm above from the bottom edge of the ball screw, and remove the bottom bellows from the No.

  • Page 80: Lubrication

    5Maintenance and Inspection 5.3.5 Lubrication (1) Lubrication position and specifications J2 axis air inlet <2>J2 axis lubrication port <3>Shaft lubrication <2> <3> <1> <1>J1 axis lubrication port J1 axis air inlet Fig.5-13 ： Lubrication positions Table 5-4 ： Lubrication specifications Parts to be Lubrication oil Lubrication...

  • Page 81: Lubrication Method To The Shaft

    5Maintenance and Inspection (3) Lubrication method to the shaft 1) Refer to "Fig. 5-3Installing/removing the cover" on page 61," remove the No. 2 arm cover-U. 2) Wipe the old grease off the shaft. At this time, wipe off the grease that has been scattered inside the No. 2 arm cover-U and the bracket attached vertically to the shaft fastening area.

  • Page 82: Replacing The Backup Battery

    5Maintenance and Inspection 5.3.6 Replacing the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery when the power is turned OFF. The controller also uses a backup battery to save the program, etc. These batteries are installed when the robot is shipped from the factory, but as these are consumable parts, they must be replaced periodically by the customer.

  • Page 83: Replacing The Robot Arm Battery

    5Maintenance and Inspection (1) Replacing the robot arm battery Don't disconnect connector, etc. While replacing the battery, the encoder position CAUTION data is saved by the power supplied from the controller. Thus, if the cable connection is incomplete, the encoder position data will be lost when the controller power is turned OFF.

  • Page 84: Maintenance Parts

    Table 5-5 ： Consumable part list Note1) Part name Type Usage place Q'ty Supplier Grease Reduction gears of each axis An needed Mitsubishi Electric Lithium battery A6BAT In base RH-6SQH series Timing belt J3 axis J4 axis motor side Mitsubishi Electric J4 axis shaft side...

  • Page 85: Resetting The Origin

    5 Maintenance and Inspection 5.5 Resetting the origin The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work. The origin must be reset if the combination of robot and controller being used is changed or if the motor is changed causing an encoder area.

  • Page 86: Jig Method

    5 Maintenance and Inspection 5.5.1 Jig method This method is using the origin setting tool. If the origin setting tool is required, please ask nearby dealer. The reference figure of the origin setting tool is shown in Fig. 5-15. RZ6.3 Fig.5-15 ：...

  • Page 87: J1 Axis Origin Setting

    5 Maintenance and Inspection (1) J1 axis origin setting <MENU>　　 　 1) Press the [4] key on the menu screen, and dis- 1.FILE/EDIT 2.RUN play the Origin/Break selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE Select ORIGIN/BRK 　　　　　　　　　 <ORIGIN/BRAKE> 2) Press the [2] key , and display the Break release 1.ORIGIN 2.BRAKE...
  • Page 88 5 Maintenance and Inspection 10) Input "1" into the J1 axis. Set "0" to other <TOOL> ～ axes. J1:( )J2:( )J3:( J4:( )J5:( )J6:( J7:( )J8:( 11) Press the [EXE] key , and display Confirmation SPACE screen. REL. CLOSE <ORIGIN> TOOL 12) Press the [F1] key , and the origin position is set up.

  • Page 89: J2 Axis Origin Setting

    5 Maintenance and Inspection (2) J2 axis origin setting <MENU>　　 　 1) Press the [4] key on the menu screen, and dis- 1.FILE/EDIT 2.RUN play the Origin/Break selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE <ORIGIN/BRAKE> 2) Press the [2] key , and display the Break release 1.ORIGIN 2.BRAKE selection screen.
  • Page 90 5 Maintenance and Inspection <ORIGIN/BRAKE> 9) Press the [1] key , and display the Origin setting 1.ORIGIN 2.BRAKE selection screen. CLOSE <ORIGIN> 10) Press the [3] key , and display the Tool selec- 1.DATA 2.MECH tion screen. 3.TOOL 4.ABS 5.USER CLOSE 11) Input "1"...

  • Page 91: J3 Axis Origin Setting

    5 Maintenance and Inspection (3) J3 axis origin setting <MENU>　　 　 1) Press the [4] key on the menu screen, and dis- 1.FILE/EDIT 2.RUN play the Origin/Break selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE <ORIGIN/BRAKE> 2) Press the [2] key , and display the Break release 1.ORIGIN 2.BRAKE selection screen.
  • Page 92 5 Maintenance and Inspection <ORIGIN/BRAKE> 9) Press the [1] key , and display the Origin setting 1.ORIGIN 2.BRAKE selection screen. CLOSE <ORIGIN> 10) Press the [3] key , and display the Tool selec- 1.DATA 2.MECH tion screen. 3.TOOL 4.ABS 5.USER CLOSE <TOOL>...

  • Page 93: J4 Axis Origin Setting

    5 Maintenance and Inspection (4) J4 axis origin setting <MENU>　　 　 1) Press the [4] key on the menu screen, and dis- 1.FILE/EDIT 2.RUN play the Origin/Break selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE <ORIGIN/BRAKE> 2) Press the [2] key , and display the Break release 1.ORIGIN 2.BRAKE selection screen.
  • Page 94 5 Maintenance and Inspection <ORIGIN> 10) Press the [3] key , and display the Tool selec- 1.DATA 2.MECH tion screen. 3.TOOL 4.ABS 5.USER CLOSE <TOOL> 11) Input "1" into the J4 axis. Set "0" to other ～ axes. J1:( )J2:( )J3:( J4:( )J5:(...

  • Page 95: J5 Axis Origin Setting

    5 Maintenance and Inspection (5) J5 axis origin setting <MENU>　　 　 1) Remove the No. 2 arm cover A (on the left side 1.FILE/EDIT 2.RUN facing the front of the robot). There is a pin 3.PARAM. 4.ORIGIN/BRK hole in the cover. 5.SET/INIT.
  • Page 96 5 Maintenance and Inspection <ORIGIN/BRAKE> 10) Press the [1] key , and display the Origin set- 1.ORIGIN 2.BRAKE ting selection screen. CLOSE <ORIGIN> 11) Press the [3] key , and display the Tool selec- 1.DATA 2.MECH tion screen. 3.TOOL 4.ABS 5.USER CLOSE <TOOL>...

  • Page 97: J6 Axis Origin Setting

    5 Maintenance and Inspection (6) J6 axis origin setting <MENU>　　 　 1) Install the bolts (two M5 bolts prepared by 1.FILE/EDIT 2.RUN customer) at opposing positions on the 3.PARAM. 4.ORIGIN/BRK mechanical interface. 5.SET/INIT. 6.ENHANCED 2) Press the [4] key on the menu screen, and dis- 　...
  • Page 98 5 Maintenance and Inspection <ORIGIN/BRAKE> 9) Press the [1] key , and display the Origin setting 1.ORIGIN 2.BRAKE selection screen. CLOSE <ORIGIN> 10) Press the [3] key , and display the Tool selec- 1.DATA 2.MECH tion screen. 3.TOOL 4.ABS 5.USER CLOSE 11) Input "1"...

  • Page 99: Abs Origin Method

    5 Maintenance and Inspection 5.5.2 ABS origin method When the origin setting of the robot is performed for the first time, this product records the angular position of the origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately.

  • Page 100: Select The T/B

    5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Select the T/B <MENU>　　 　 1) Press the [4] key on the menu screen, and dis- 1.FILE/EDIT 2.RUN play the Origin/Break selection screen. 3.PARAM.

  • Page 101: User Origin Method

    5 Maintenance and Inspection 5.5.3 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in "Table 5-6 ： Origin setting method" on page The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant.
  • Page 102 5 Maintenance and Inspection <USER> 8) Input "1" into the axis to origin setting. Press J1:( )J2:( )J3:( the [EXE] key , and display Confirmation screen. J4:( )J5:( )J6:( ～ J7:( )J8:( REL. CLOSE → 9) Press the [F1] key , and the origin position is set <ORIGIN>...

  • Page 103: Recording The Origin Data

    5 Maintenance and Inspection 5.5.4 Recording the origin data When the origin has been set with the jig method, record that origin data on the origin data label. With this, the ori- gin can be set with the origin data input method the next time. Confirm the origin data on the teaching pendant screen (origin data input screen).

  • Page 104: 6Appendix

    6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2).
  • Page 106 Phone: +31 (0)180 – 46 60 04 Fax: +31 (0)180 – 44 23 55 MITSUBISHI ELECTRIC Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com FACTORY AUTOMATION...

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