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Mitsubishi Electric MELFA RH-3FHR3515 Instruction Manual

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Mitsubishi Industrial Robot
RH-3FHR3515/3512C/3512W
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8993-Q

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Summary of Contents for Mitsubishi Electric MELFA RH-3FHR3515

  • Page 1 Mitsubishi Industrial Robot RH-3FHR3515/3512C/3512W INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8993-Q...
  • 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.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.
  • Page 6 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection. Controller Controller Three phase Single phase AC200V AC200V...
  • Page 7 CAUTION Be careful of interference with peripheral equipment. Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged. Collision detection function is valid condition for both of automatic and jog operation at shipping in RH-3FHR series.
  • Page 8 Revision history Date of Point Instruction Manual No. Revision Details 2013-09-20 BFP-A8993 ・ First print 2014-01-07 BFP-A8993-A ・ Notes about antirust grease were added to "2.2 Installation." ・ T slot cover was added to “Table 2-1: standard configuration”. ・ The illustration of the dummy connector was corrected. ・...
  • Page 9 Please contact your nearest dealer if you find any doubtful, wrong or skipped point. ･ This specifications is original. ・ Company names and production names in this document are the trademarks or registered trademarks of their respective owners. Copyright(C) 2013 MITSUBISHI ELECTRIC CORPORATION...

  • Page 10: 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 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 ................................
  • Page 11 CONTENTS Page 5.2.2 Periodic inspection ................................ 5-71 5.3 Maintenance and inspection procedures ........................5-72 5.3.1 Robot arm structure ..............................5-72 5.3.2 Installing/removing the cover ........................... 5-73 5.3.3 Inspection, maintenance and replacement of timing belt ................5-75 (1) Timing belt replacement period ......................... 5-75 (2) Inspection and maintenance of J1 axis timing belt ..................

  • Page 12: 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. Moreover, handling and operation of a teaching pendant (T/B) are described based on R32TB (R33TB) in instruction manuals. If using other T/B, such as R56TB (R57TB), refer to a supplied instruction manual of the T/B.

  • Page 13: Symbols Used In Instruction Manual

    1Before starting use 1.1.2 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 Terminology Item/Symbol Meaning iQ Platform...

  • Page 14: 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.

  • Page 15: 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 When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 16 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involv- ing robot trouble and system trouble by unauthorized access, DoS attacks, com- puter viruses, and other cyberattacks.

  • Page 17: 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 18: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking <3> Packing <2> Upper cover <1> Tape material (two) (Cardboard) Packing box <6> Tape (two) Cut the tape Remove the upper cover. Remove the packing material. Robot-arm base section <5> Packing material <4>hanging tools Open the vinyl.

  • Page 19: Transportation Procedures (Transporting With A Crane)

    2Unpacking to Installation 2.2.2 Transportation procedures (Transporting with a crane) Mass RH-3FHR3515: Approx. 24kg RH-3FHR3512C/3512W: Approx. 28kg <4> Transporting jig (two places) <7> Fixing plate Note) Install Hoisting Transport <9> Installation bolt, Nut <8> Installation stage (four places) *The grease for preventing rust is applied at the tip of the shaft (J3 axis) in general-purpose environ - ment robot.
  • Page 20 2Unpacking to Installation CAUTION If it is difficult to follow the transportation procedure shown in this section, take countermeasures not to allow the joints of the robot arm freely move by fixing the robot arm in such a way as to take advantage of the screw holes for fixing plates or the like. Otherwise, applying an excessive power on the joints by external forces may cause a malfunction.

  • Page 21: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. Maintenance space (Installation reference) Ra6.3 4-φ9 installation hole Note1) 2-M12 hole for hanging tools 4-M8 hole for the jack- Installation stage Maintenance space 据付架台（例） (example) Note1) General environment type: 180mm...
  • Page 22 2Unpacking to Installation 6) If you operate the robot at a high speed, reaction forces are applied to the installation stand by the robot's operation. Make sure that the installation stand on which the robot is placed has sufficient strength and rigidity.

  • Page 23: Grounding Procedures

    2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-4, but the dedicated grounding (Fig. 2-4 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Controller Controller Controller...

  • Page 24: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller (1) CR750 controller Robot arm Motor power Motor signal Motor signal モータパワー モータ信号 Motor power ロボット本体 モータ信号 モータパワー (Rear of the base.) (CN1) (CN2) (CN2) （CN2） （ベース部背面） （CN2） （CN1） (CN1) （CN1） Latch ラッチ...
  • Page 25 2Unpacking to Installation To remove the cable, insert a minus screwdriver into the hook while padding with a cloth, and remove the cable by lifting the Hook hook. Projection Minus screwdriver CAUTION When installing or removing the connector, to the connector of the other party in parallel, install or remove.

  • Page 26: Cr751 Controller

    2Unpacking to Installation (2) CR751 controller Controller コントローラ モータパワー モータ信号 ロボット本体 モータ信号 モータパワー Motor signal Robot arm （CN2） モータ信号 （ベース部背面） （CN2） Motor signal （CN1） ロボット本体 Motor power (CN1) Motor power モータ電源(CN1) （CN1） モータ信号(CN2) モータパワー （CN2） (Rear of the base) （ベース部背面） (CN2) （CN1）...
  • Page 27 2Unpacking to Installation The connection of machine cables is completed. CAUTION The machine cable connectors are dedicated for the controller side and robot arm side, so take special care when connecting. If connected incorrectly, the connector pins could bend or break. Thus, even if connected correctly, the robot will not operate correctly, creating a dangerous situation.

  • Page 28: Ethernet Cables

    2Unpacking to Installation 2.2.6 Ethernet Cables As spare wiring four pairs of cab tire cables (AWG#27(0.1mm ), Total is eight cores both) are preinstalled between the base section and the No.2 arm rear section. Customer can utilize it. The cable clamp (customer preparation) is necessary to use.
  • Page 29 2Unpacking to Installation CAUTION When No.2 arm cover is installed, please keep too much load from being applied to the cables inside the robot, and the air hoses. If too much load is added, the breaking of a wire and the air hose break, and the robot cannot operate normally.

  • Page 30: Base Area

    2Unpacking to Installation 2.2.8 Base area 1) Remove the base cover B (R). Remove base cover B (R) ベースカバーB（R)を外す ベース部 Base section Cable tie 結束バンド (If length is short cut it.) （長さ不足時は解いてください） Grommet グロメット Spare wire (ADD) 予備配線（ADD） Spare wiring 予備配線...
  • Page 31 2Unpacking to Installation CAUTION When base cover B (R) is installed, please keep too much load from being applied to the cables inside the robot, and the air hoses. If too much load is added, the breaking of a wire and the air hose break, and the robot cannot operate normally.

  • Page 32: Setting The Origin

    2Unpacking to Installation 2.3 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 33: Cr751 Controller

    2Unpacking to Installation (2) CR751 controller Explain the installation method of T/B below. 1) Check that the POWER (power supply) switch of the robot controller is OFF. 2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the hand locks (in 2 places), as shown in Fig.

  • Page 34: Setting The Origin With The Origin Data Input Method

    2Unpacking to Installation 2.3.2 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 35: Preparing The T/B

    2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B 1) Set the mode of the controller to "MANUAL". (The figure is example for CR750 controller) MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear.

  • Page 36: 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 　 123 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 37: Inputting The Origin Data

    2Unpacking to Installation (5) Inputting the origin data Origin data label T/B screen Input the value confirmed in section Page 23, "(1) (D,J1,J2,J3,J4,J5,J6,J7,J8) Confirming the origin data". The correspondence of the origin data label value and axis to <ORIGIN> DATA D:(■...

  • Page 38: Installing The Base Cover B (L)

    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( ) J6( ) J8( CLOSE <ORIGIN> DATA 7) Press [F1] (Yes) to end the origin setting CHANGE TO ORIGIN.

  • Page 39: Confirming The Operation

    2 Unpacking to Installation 2.4 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 40 2 Unpacking to Installation J1-axis J1軸 J2-axis J2軸 J3-axis J3軸 * Each axis moves independently. J4-axis J4軸 Fig.2-14 ： JOINT jog operation Confirming the operation 2-29...
  • Page 41 2 Unpacking to Installation ＋Z 直交座標系原点 Base coordinate system reference origin ＋Y ＋X －X －Y ＋Z －Z End axis 先端軸 * While maintaining the end axis posture, the axis ＋Y ＋X moves straight along the base coordinate －X system. －Y Also, while maintaining the end axis position, the end axis posture changes.
  • Page 42 2 Unpacking to Installation ＋Z Base coordinate system reference origin 直交座標系原点 ＋Y ＋X －X －Y ＋Z －Z End axis 先端軸 ＋Y ＋X * The axis moves straight along the base －X coordinate system. At this time, the end axis posture is not maintained. －Y J4 axis J４軸...
  • Page 43 2 Unpacking to Installation ＋Z ＋Y ＋X －X －Y ＋Z WORK coordinate system －Z ＋Zw －Yw ＋Xw Tool length ツール長 －Xw Control point －Z －Zw ＋Yw * While maintaining the end axis posture, the axis moves straight along the work coordinate system. Also, while maintaining the end axis position, the end axis posture changes.

  • Page 44: 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 45 2 Unpacking to Installation J2 axis jog operation J2軸回転 J2 axis ・ When the [+Y (J2)] keys are pressed, the J2 axis will rotate in the plus direction. When the [-Y (J2)] keys are pressed, rotate in the minus direction. ◇◆◇...
  • Page 46 2 Unpacking to Installation J4 axis jog operation J4 axis J4軸回転 ・ When the [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction. When the [-A (J4)] keys are pressed, rotate in the minus direction. ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇...

  • Page 47: 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 48 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 ＋Y...

  • Page 49: 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 50 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section Page 33, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.

  • Page 51: 3-Axis Xyz Jog Operation

    2 Unpacking to Installation (4) 3-axis XYZ jog operation Select 3-axis XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) 3-XYZ <CURRENT> JOINT 100% M1 T0 Check that the "3-XYZ" in jog mode is displayed +0.00 +0.00 on the screen.
  • Page 52 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 53: 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> CYLNDER JOINT 100% M1 T0 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 54 2 Unpacking to Installation Changing the flange surface posture ＋Z ＋Y ＋X －Y －X Vertical 上下 －Z Radius 半径 円弧 － ＋ *The position of the end axis will not change. ・ 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.

  • Page 55: 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 56 2 Unpacking to Installation 2) Press the [2] keys in the menu screen and select "2. WORK COORD." <EMHANCED>　　 　 <WORK COORD> WORK NUMBER (1) TEACHING POINT (WO) 1.SQ DIRECT 2.WORK COORD. X: 0.00 Y: 0.00 Z: 0.00 　 123 TEACH 　...
  • Page 57 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 58 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 59 2 Unpacking to Installation When the software version is R5 (F-Q series)/S5 (F-D series) or later, the additional WORK jog operation, Ex-T jog, is available. The conventional WORK jog operation and the Ex-T jog operation can be switched by setting the parameters WK1JOGMD to WK8JOGMD of each work coordinates system. The respective operations are as follows.
  • Page 60 2 Unpacking to Installation Changing the end axis posture ＋Z <1> Work jog mode ＋Y ＋X －Y －X ＋Z Work coordinates system －Z ＋Zw －Yw ＋Xw Tool length ツール長 Control point －Xw * The position of the control point － ＋...
  • Page 61 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to section Page 33, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.

  • Page 62: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices 3.1 Installing the solenoid valve set Installation summary of the solenoid valve set of general environment specification (RH-3FHR3515) is shown in Fig. 3-1 and is shown in Fig. 3-2 about clean / waterproof specification (RH-3FHR3512C/3512W). <General environment type (RH-3FHR3515)>...
  • Page 63 3Installing the option devices <7> P port <Clean/ Waterproof type (RH-3FHR3512C/3512W)> <6> R port B port ４ ６ ８ ３ ５ ７ １ A port <1> Solenoid valve set <4> Hand output cable GR1,GR2 Solenoid valve set installation position 2-M5 Screw (for fixing) 10mm <12>...
  • Page 64 3Installing the option devices It is necessary to set the parameters (HIOTYPE, HANDYPE) in accordance with solenoid valve type (sink type/ source type) and output signal before using the solenoid valve set. Refer to the separate volume, "Instruction Manual/Detailed Explanations of Functions and Operations" for how to set parameters.
  • Page 65 3Installing the option devices *1） Screw (2-M5) and nut for T slots Nylon clamp Solenoid valve set (option) Air hose for secondary piping Air hose for secondary piping (customer preparation) (customer preparation) *1) Fixing the air hose (customer preparation) using the T slot by nylon clamp etc. Fig.3-4 ：...
  • Page 66 3Installing the option devices 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 Hand 2 nd row CLOSE OPEN Hand 3 rd row CLOSE...

  • Page 67: Installation Of Hand Tube

    3Installing the option devices 3.2 Installation of hand tube The installation procedure of the hand tube is as follows. In use of solenoid valve set and hand input cable optional, please operate with referring to the Page 51, "3.1 Installing the solenoid valve set" and the Page 60, "3.3 Installing the hand input cable"...
  • Page 68 3Installing the option devices 1) To protect the fixing place of the hand tube, roll the attached rubber sheet. If using the hand input cable, roll together. The hand tube and the hand input cable having the mark at the position which rolls the rubber sheet. The hand tube is the four places, a), b), c), and d) sequentially from the union side.
  • Page 69 3Installing the option devices 4) Install the union (φ 4 to φ3) side of the tube to secondary piping coupling (φ4 x 4 place) <2> on the No.2 arm inside motor cover <1>. The number of 1 to 4 is printed to the marking tube of the hand tube. Connect together with the number of coupling on 2nd arm.
  • Page 70 3Installing the option devices * On the Clean/ Waterproof specifications seal the aperture of shaft end by liquefied gasket. Enlargement Hand flange Metal plate for tool Nylon clamp side fixing Union (φ 4 to φ3) Rubber sheet Tool Fig.3-8 ： Tool side fixing image of hand tube (example) Installation of hand tube 3-59...

  • Page 71: Installing The Hand Input Cable

    3Installing the option devices 3.3 Installing the hand input cable The installation procedure of the hand input cable is as follows. In use of solenoid valve set and hand tube optional, please operate with referring to the Page 51, "3.1 Installing the solenoid valve set" and the Page 56, "3.2 Installation of hand tube"...
  • Page 72 3Installing the option devices 8) Align the top of hand input cable with the upper end of the piping fixing bracket <3> by the drawer side at the end of the shaft. 9) At the tool side of customer preparation should roll the rubber sheet (attachments) in the same way, and fix it by cable tie etc (attachments) with maintaining this adjustment position.

  • Page 73: Installing The Hand Output Cable

    3Installing the option devices 3.4 Installing the hand output cable The installation procedure of the hand output cable is as follows. Please operate with referring to the Page 51, "3.1 Installing the solenoid valve set" and the Page 62, "3.4 Installing the hand output cable" together.
  • Page 74 3Installing the option devices Note : Please see the hand output cable from the arm cover A (2) <4> side, and store it outside the bracket. If the cable enters within the bracket, it will rub to the timing belt and will become the cause of breaking down. Bracket Cable should be stored in View from A...

  • Page 75: Changing The Operating Range

    3Installing the option devices 3.5 Changing the operating range The operating range change optional installing method is shown below. The jog operation is necessary for this option installing. Installing this option after installing the robot and completing origin setting. The procedure is shown below. Note) Be sure to install the operating range change optional according to the procedure.
  • Page 76 3Installing the option devices Note : This operation is necessary for position adjustment of the mechanism stopper. Although it is not alteration visible especially, performs sure. Because to move correctly, move at 10% or less speed. a) First, move to +130 degree or more. <CURRENT>...

  • Page 77: Operating Range Change Of J2 Axis

    3Installing the option devices 3.5.2 Operating range change of J2 axis Upper face of No.1 arm Ａ Arm cover A <1> side Fixing with the Pin cover The hole for operating range change original fixing optional insertion (plus side) screw Fixing screw Note) The hole for operating range change...
  • Page 78 3Installing the option devices b) Next, move within -125 to -130 degree. <CURRENT> JOINT 100% M1 T0 B* +0.00 J2: -130.00 Within -125 to -130 degree J3: -560.00 +0.00 3-XYZ CYLNDR TOOL ⇒ c) Finally stop within -5 to +5 degree. (Position adjustment of the mechanism stopper is completed now) <CURRENT>...

  • Page 79: 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. 4-68...

  • Page 80: 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 81: 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 82: 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 83: 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 84: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover <3> No.1 Arm cover A <1> Base cover B (L) <4> Arm cover A (1) <2> Base cover B (R) <7> Motor cover J3 <9> Arm cover A (3) <5> No.1 Arm cover B <6>...
  • Page 85 5Maintenance and Inspection [Caution] When you remove the cover, don't remove other than the screw shown in Fig. 5-3 Table 5-3. (1) Refer to Fig. 5-3 and remove the covers. The names of the covers and installation screws are given in Table 5-3.

  • Page 86: Inspection, Maintenance And Replacement Of Timing Belt

    5 Maintenance 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 87: Inspection And Maintenance Of J1 Axis Timing Belt

    5 Maintenance and Inspection (2) Inspection and maintenance of J1 axis timing belt The reference figure at inspection and adjustment of the timing belt is shown in Fig. 5-4. <3>Tension adjustment screw <1> Idler fixing screw With the fixing nut (two places) Base cover B (R) side Idler...

  • Page 88: Inspection And Maintenance Of J2 Axis Timing Belt

    5 Maintenance and Inspection (3) Inspection and maintenance of J2 axis timing belt The reference figure at inspection and adjustment of the timing belt is shown in Fig. 5-5. <5> Timing pulley <4> Timing pulley Inside of the No.1 arm Idler Upper face of No.1 arm <A>...

  • Page 89: Inspection And Maintenance Of J3 Axis Timing Belt

    5 Maintenance and Inspection (4) Inspection and maintenance of J3 axis timing belt The reference figure at inspection and adjustment of the timing belt is shown in Fig. 5-6. <6> The hole for belt maintenance (Push the belt) <2> Timing belt No.2 arm Upper face of No.2 <A>...

  • Page 90: Inspection And Maintenance Of J4 Axis Timing Belt

    5 Maintenance and Inspection (5) Inspection and maintenance of J4 axis timing belt The reference figure at inspection and adjustment of the timing belt is shown in Fig. 5-7. There are the two belts of the motor side and the shaft side, in the J4 axis. Perform inspection and adjustment of two belts simultaneously.
  • Page 91 5 Maintenance and Inspection ■ Inspecting the J4 axis timing belt 1) Confirm that the robot controller power is OFF. 2) Refer to Page 73, "5.3.2 Installing/removing the cover", and remove the No.2 arm cover and the belt pulley cover J4. 3) Visually confirm that the symptoms indicated in "(1)Timing belt replacement period"...

  • Page 92: Timing Belt Tension

    5 Maintenance and Inspection (6) Timing belt tension ｆ ： Pressing force ｓ ： Span ｄ ： Slack T ： Tension Pressing force New belt Used belt Axis Belt type Sepang ： s mm Pressing force ： Pressing force ： Slack ：...

  • Page 93: Replacing The Bellows

    5 Maintenance and Inspection 5.3.4 Replacing the bellows 1) Turn off the controller's power supply. 2) Refer to Page 86, "Fig.5-16 ： Installing/removing the cover", and remove the belt pulley cover J4.. 3) Loosen the two fixing (M4) screws of bellows, and remove the bellows to downward together with belt pulley cover J4.

  • Page 94: Lubrication

    5 Maintenance and Inspection 5.3.5 Lubrication (1) Lubrication position and specifications The grease nipple position is shown in Fig. 5-10. The lubrication specifications for each place are shown in Table 5-4. Refer to the Page 73, "5.3.2 Installing/removing the cover" for the method of removing and installing the cover.

  • Page 95: Lubrication Method To The J1, J2 Axis

    5 Maintenance and Inspection (2) Lubrication method to the J1, J2 axis 1) The positions of lubrication ports are shown in the Fig. 5-10. Move the robot to the posture in which it can supply the grease easy. 2) Refer to Page 73, "5.3.2 Installing/removing the cover", and remove the covers necessary.

  • Page 96: Replacing The Backup Battery

    5 Maintenance and Inspection 5.3.6 Replacing the backup battery An absolute encoder is used for the position detector, so while power of controller is turned off the position must be saved by the backup battery. The controller also uses a backup battery to save the program, etc. The battery is the lithium battery.

  • Page 97: Replacing The Battery (Robot Arm)

    5 Maintenance and Inspection (1) Replacing the battery (robot arm) CAUTION The power supply for the encoder is supplied by cable connected with battery board. The cable must be connected while replacing the battery or operating usually. Thus, if the cable connection is incomplete, the encoder position data will be lost, and reset - ting the origin is necessary.

  • Page 98: About Overhaul

    5 Maintenance and Inspection 5.4 About Overhaul Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci - fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin - ued use.

  • Page 99: Maintenance Parts

    Type Usage place Q'ty Supplier Timing belt J1 axis J2 axis J3 axis J4 axis motor side Mitsubishi Electric J4 axis shaft side Grease Reduction gears of each axis A small amount Lithium battery ER6V In base cover B(L) Table 5-7 ： Spare parts list...

  • Page 100: Resetting The Origin

    5 Maintenance and Inspection 5.6 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 101: Mechanical Stopper Method

    5 Maintenance and Inspection 5.6.1 Mechanical stopper method The method for setting the origin with the transportation jig is explained below. This operation is carried out with the T/B. Set the mode of the controller to "MANUAL", and set the T/B [ENABLE] switch to "ENABLE"...
  • Page 102 5 Maintenance and Inspection <ORIGIN> MECH 5) Input "1" into the J1 axis. Set "0" to other axes. 6) Press the [EXE] key, and display Confirmation SPACE screen. CLOSE <ORIGIN> MECH 7) Press the [F1] key , and the origin position is set CHANGE TO ORIGIN.

  • Page 103: J2 Axis Origin Setting (Mechanical Stopper)

    5 Maintenance and Inspection (2) J2 axis origin setting (mechanical stopper) <MENU>　　 　 1) Press the [4] key on the menu screen, and dis - play the Origin/Break selection screen. 1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 2) With both hands, slowly move the J2 axis in + Ｊ2 (plus) direction , and contact the axis against （＋）...
  • Page 104 5 Maintenance and Inspection 8) Setting of the origin is completed. <ORIGIN> MECH COMPLETED 9) Refer to Page 109, "5.6.5 Recording the origin data" in this manual, and record the origin data on the origin data seal. CLOSE ◇◆◇ Release the brake ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key.

  • Page 105: J3 And J4 Axis Origin Setting (Mechanical Stopper)

    5 Maintenance and Inspection (3) J3 and J4 axis origin setting (mechanical stopper) Always perform origin setting of the J3 axis and the J4 axis simultaneously. <MENU>　　 　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Break selection screen.
  • Page 106 5 Maintenance and Inspection General environment type 7) Hold the J4 axis with your hand and rotate it slowly to match the alignment marks. *Move the J4 axis with maintaining the condition that the releasing brake of the J3 axis and the J3 axis contact to the mechanical stopper.
  • Page 107 5 Maintenance and Inspection <ORIGIN> MECH 13) Press the [F1] key, and the origin position is set up. CHANGE TO ORIGIN. OK? 14) Setting of the origin is completed. <ORIGIN> MECH COMPLETED 15) Refer to Page 109, "5.6.5 Recording the origin data"...

  • Page 108: All Axis Origin Setting

    5 Maintenance and Inspection (4) All axis origin setting 1) Refer to the paragraphs from Page 90, "(1) J1 axis origin setting (mechanical stopper)" Page 94, "(3) J3 and J4 axis origin setting (mechanical stopper)" above for the description of how to adjust the origins of the J1 to J4 axes.

  • Page 109: Jig Method

    5 Maintenance and Inspection 5.6.2 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. 5-13. Fig.5-13 ： Reference dimension of origin setting tool The procedure of setting the origin with the origin setting tool is shown below.

  • Page 110: 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 　　　　　　　　　 2) Move the J1 axis slowly toward the front using both hands.
  • Page 111 5 Maintenance and Inspection ◇◆◇ Release the brake ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and display a "0".

  • Page 112: 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 No.1 arm 第1アーム Pin hole 2) Slowly rotate the J2 axis 0 degree with both ピン穴...

  • Page 113: J3 And J4 Axis Origin Setting

    5 Maintenance and Inspection *After origin setting should always install the plug in pin hole as before. Roll the seal tape onto the plug and install. ◇◆◇ Release the brake ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for the axis for which a "1"...

  • Page 114: All Axis Origin Setting

    5 Maintenance and Inspection (4) All axis origin setting 1) Refer to the paragraphs from Page 99, "(1) J1 axis origin setting" Page 102, "(3) J3 and J4 axis origin setting" above for the description of how to adjust the origins of the J1 to J4 axes. At this point, the robot will have the posture shown below.

  • Page 115: Abs Origin Method

    5 Maintenance and Inspection 5.6.3 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 116: 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 117 5 Maintenance and Inspection CAUTION If the ABS marks on axes other than the J4 axis have peeled off, use the jig method to set the origin. The joint coordinates are the same between the ABS origin method and the jig method. Resetting the origin 5-106...

  • Page 118: User Origin Method

    5 Maintenance and Inspection 5.6.4 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 89, "Table 5-8 ： Origin setting method". The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant.
  • Page 119 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 120: Recording The Origin Data

    5 Maintenance and Inspection 5.6.5 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 121: 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 122 6Appendix Configuration flag Appendix-111...
  • Page 124 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN Apr. 2023 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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