Table Of Contents - Mitsubishi Electric MELFA RH-6SQH Series 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 ........................................................................................................................ 1-3
1.2 Safety Precautions ................................................................................................................................................................. 1-4
1.2.1 Precautions given in the separate Safety Manual ............................................................................................. 1-5
2 Unpacking to Installation .............................................................................................................................................................. 2-7
2.1 Confirming the product ......................................................................................................................................................... 2-7
2.2 Installation .................................................................................................................................................................................. 2-8
2.2.1 Unpacking ............................................................................................................................................................................ 2-8
2.2.2 Transportation procedures(Transportation by people: RH-6SQH series) ............................................... 2-9
2.2.3 Transportation procedures(Transporting with a crane: RH-12SQH/18SQH series) ........................ 2-10
2.2.4 Installation procedures ................................................................................................................................................ 2-11
2.2.5 Grounding procedures .................................................................................................................................................. 2-13
(1) Grounding methods ................................................................................................................................................... 2-13
(2) Grounding procedures ............................................................................................................................................. 2-13
2.2.6 Connecting with the controller ................................................................................................................................ 2-14
2.2.7 Procedure for wiring the hand output cables .................................................................................................... 2-16
2.3 Spare wiring ............................................................................................................................................................................. 2-17
2.3.1 No.2 arm area .................................................................................................................................................................. 2-17
2.3.2 Base area .......................................................................................................................................................................... 2-19
2.3.3 Connection of piping for air pressurization ......................................................................................................... 2-21
2.3.4 Connection of piping for suction ............................................................................................................................. 2-21
2.4 Setting the origin ................................................................................................................................................................... 2-22
2.4.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-22
2.4.2 Setting the origin with the origin data input method ...................................................................................... 2-23
(1) Confirming the origin data ..................................................................................................................................... 2-23
(2) Turning ON the control power ............................................................................................................................. 2-23
(3) Preparing the T/B ..................................................................................................................................................... 2-24
(4) Selecting the origin setting method ................................................................................................................... 2-25
(5) Inputting the origin data ......................................................................................................................................... 2-26
(6) Installing the J1 cover ........................................................................................................................................... 2-27
2.5 Confirming the operation .................................................................................................................................................... 2-28
(1) JOINT jog operation ................................................................................................................................................. 2-32
(2) XYZ jog operation ...................................................................................................................................................... 2-34
(3) TOOL jog operation .................................................................................................................................................. 2-36
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-38
(5) CYLNDER jog operation ......................................................................................................................................... 2-40
(6) Work jog operation ......................................................................................................... 2-42
3 Installing the option devices ..................................................................................................................................................... 3-48
3.1 Installing the solenoid valve set (1S-VD04M(E)-03, 1S-VD04M(E)-04) ....................................................... 3-48
3.2 Installing the hand input cable ......................................................................................................................................... 3-51
3.3 Installing the hand output cable ...................................................................................................................................... 3-52
3.4 Changing the operating range .......................................................................................................................................... 3-53
3.4.1 J1 and J2 axis ................................................................................................................................................................. 3-53
(1) Operating range changeable angle ..................................................................................................................... 3-53
(2) Installing the mechanical stopper ....................................................................................................................... 3-54
(3) Setting the operation range parameter ............................................................................................................ 3-54
(4) Setting the mechanical stopper origin parameter ....................................................................................... 3-55
(5) Confirming the operation range ........................................................................................................................... 3-55
4 Basic operations ............................................................................................................................................................................ 4-56
5 Maintenance and Inspection ..................................................................................................................................................... 5-57
5.1 Maintenance and inspection interval ............................................................................................................................. 5-57
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