Mitsubishi Electric RH-1FRHR Instruction Manual
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Mitsubishi Electric RH-1FRHR Instruction Manual

Mitsubishi Electric RH-1FRHR Instruction Manual

Mitsubishi electric industrial robot
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Mitsubishi Electric Industrial Robot
RH-1FRHR Series INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A3539-J

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  • Page 1 Mitsubishi Electric Industrial Robot RH-1FRHR Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A3539-J...
  • 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 WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
  • Page 6 (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 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. ACIN cable connection Groove for main Three phase Single phase <1> <2> Controller rear key (wide) AC200V...
  • Page 8 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. Take care also of the following items.
  • Page 9 Revision history Date of Point Instruction Manual No. Revision Details 2017-06-26 BFP-A3539 ・ First print 2018-06-01 BFP-A3539-A ・ Description of countermeasures against unauthorized access was added. ・ Mechanical stopper position in Fig 3-4 were corrected. 2018-12-25 BFP-A3539-B ・ Added further explanation of the ACIN cable. 2019-04-19 BFP-A3539-C ・...
  • Page 10 Please contact your nearest dealer if you find any doubtful, wrong or skipped point. ･ This is the original document. ・ Company names and production names in this document are the trademarks or registered trademarks of their respective owners. Copyright(C) 2017 MITSUBISHI ELECTRIC CORPORATION...

  • Page 11: 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 12 CONTENTS Page 5.1 Type of inspection and maintenance works ....................... 5-62 5.2 Inspection items ..................................5-63 5.2.1 Daily inspection items ..............................5-63 5.2.2 Periodic inspection ................................ 5-64 (1) Inspection item ................................5-64 (2) Schedule ..................................5-65 5.3 Maintenance and inspection procedures ........................5-66 5.3.1 Robot arm structure ..............................

  • Page 13: 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 in instruction manuals. If using other T/B, such as R56TB, refer to a supplied instruction manual of the T/B.

  • Page 14: 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 compatible type...

  • Page 15: 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 16: 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 17 (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 18: Unpacking To Installation

    Users who have purchased optional products should refer to the separate "Special Specifications". Table 2-1 ： Standard configuration Part name Type Qty. Remarks Robot arm RH-1FRHR series 1 unit Installation bolts M12 x 45 4 pcs. For robot arm installation Spring washer for installation bolts For M12 4 pcs.

  • Page 19: Installation

    2Unpacking to Installation 2.2 Installation DANGER Install the robot with a safety fence or enclosure around it. Otherwise, operators may be injured due to unintended access to the robot. 2.2.1 Unpacking <2> Upper lid Pull out ②上ブタ 引き抜く <1> Tape ①テープ...

  • Page 20: Transportation Procedures

    2Unpacking to Installation 2.2.2 Transportation procedures (1) Transporting with a crane Mass RH-1FHR series: Approx. 56kg Wire Fixing plate Wire hook Transporta - Eye bolt tion tool Fig.2-2 ： Transportation of robot arm 1) Hook the wires to each of the four eyebolts attached to the transportation tool. (Make sure the bolts are securely hooked.) 2) Lift with a crane to transport the robot to the designated location.

  • Page 21: Transporting With A Manual Pallet Jack

    2Unpacking to Installation (2) Transporting with a manual pallet jack Mass RH-1FHR series: Approx. 56kg Fixing plate Transportation tool Forks <Fork insertion segment> View A View B Fork insertion segment Fig.2-3 ： Transportation of robot arm 1) Insert the forks of a manual pallet jack surely into the fork insertion segment of the transportation tool. 2) Lift up the robot with a manual pallet jack to transport it to the designated location.

  • Page 22: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. <Detail of installation dimension> (Base section of a robot arm) Fig.2-4 ： Installation dimensions 1) The robot installation surface has been machine finished. Use the installation holes (4-φ16 holes) opened at the four corners of the base, and securely fix the robot with the enclosed installation bolts (hexagon socket bolts).
  • Page 23 2Unpacking to Installation rigidity. Table 2-3 shows the maximum reaction force (design values) that may be applied to an installation stand. Please use these values as reference when designing the installation stand. Table 2-3 ： Magnitude of each reaction force Unit Value Item...

  • Page 24: Grounding Procedures

    2Unpacking to Installation 2.2.4 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 Setup, Basic Operation and Maintenance"...

  • Page 25: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller Robot arm (Base section rear) Controller rear 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" manual. (1) Connection of robot arm and machine cable 1) Make sure that the power of the controller is turned OFF.
  • Page 26 2Unpacking to Installation If load strong against one side is applied, the connector pin may be damaged and it may not be connected securely. 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.

  • Page 27: Connection Of Controller And Machine Cable

    2Unpacking to Installation (2) Connection of controller and machine cable Fig.2-8 ： Connecting with the controller 1) Make sure that the power of the controller is turned OFF. 2) Connect the controller side connector of the machine cable to CN1 connector on the rear side of the con - troller.

  • Page 28: Ethernet Cables

    2Unpacking to Installation 2.2.6 Ethernet Cables Ethernet cables (4 pairs, totaling 8 lines, of AWG#26 (0.13mm ) cabtyre cables) are installed within the robot arm from the base unit up to the No. 2 arm, and can be used. LAN connectors are mounted to both ends of the cables, and can therefore be used to connect to LAN connection devices.

  • Page 29: Base Area

    2Unpacking to Installation CAUTION When installing the No. 2 arm cover U to its original position please take care not to trap any cables or air hoses. If the cables/hoses are trapped when fixing the cover then cables may be disconnected or hoses punctured, leading to the robot and air driving devices to not operate properly.
  • Page 30 2Unpacking to Installation 5) Remove the grommet of ADD cover. After removing the grommet please remove the sealant material that remains in the hole in the plate. 6) Feed the Ethernet cable through the hole that was created by removing the grommet. 7) Feed the end of the Ethernet cable through the cable clamp and securely fasten the ADD cover with the lock nut.

  • Page 31: Passing Air Hoses And Cables Through The Shaft

    Minimum R of Operating angle of Model diameter (recommended) J3 axis bending J4 axis RH-1FRHR φ11mm 50% or less 1,100mm/sec 20mm ±360deg (2) Customer prepared products Table 2-5 shows the necessary products for passing air hoses and cables through the shaft. The user needs to prepare the products.
  • Page 32 2Unpacking to Installation (3) Installation procedure The installation procedure is shown below. Refer to the installation diagram shown from the next section, and perform the installation correctly. 1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is necessary for space standard settings when feeding the air hose and hand input cable through the inside of the shaft.

  • Page 33: Installation Procedure

    2Unpacking to Installation Refer to Page 20, "(3) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 2- are correspond to the same numbers in "(3) Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 67, "5.3.2 Installing/removing the cover"...

  • Page 34: Confirming The Operation

    2 Unpacking to Installation 2.3 Confirming the operation After the robot is connected to the controller, the origin data is automatically written. Then, manually move the robot 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, the Work jog that moves along the work coordinate system, and the CYLNDER jog that moves along the circular arc.

  • Page 35: Installing The Teaching Pendant (T/B)

    2 Unpacking to Installation 2.3.1 Installing the teaching pendant (T/B) Installing the T/B, with turning off the controller power. CAUTION Please do not pull the cable of T/B strongly or do not bend it too much. It becomes the breaking of a wire of the cable and the cause of breakage of the connector.

  • Page 36: Preparing The T/B

    2 Unpacking to Installation 2.3.3 Preparing the T/B Next, prepare to use the T/B 1) Set the mode of the controller to "MANUAL". 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear. The following operations are carried out with the T/B. 上：DISABLE Disable Down: Enable...
  • Page 37 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.2-13 ： JOINT jog operation Base coordinate system reference origin 直交座標系原点 ＋Z ＋Z －X －Y ＋Y ＋X End axis...
  • Page 38 2 Unpacking to Installation ＋Z 先端軸 End axis ツール座標原点 Tool coordinate reference origin －X －Y ＋Y － ＋ ＋X * While maintaining the end axis posture, the axis moves straight along the tool coordinate system. Also, while maintaining the end axis position, the end －Z axis posture changes Fig.2-15 ：...
  • Page 39 2 Unpacking to Installation ＋Z Vertical 上下 －X －Y ＋Y ＋X * The current position is set as the arc centering on the Z axis, and the axis moves along that arc, expands and －Z contracts in the radius direction, and moves vertically.

  • Page 40: 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 41 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 J3軸...

  • Page 42: 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 43 2 Unpacking to Installation Changing the end axis posture ＋Z ＋Z －X －Y ＋Y ＋X －X －Z －Y ＋Y ＋X － ＋ －Z *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, rotate in the minus direction.

  • Page 44: 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) TOOL <CURRENT> JOINT 100% M1 T0 Check that the "TOOL" in jog mode is displayed +0.00 +0.00 on the screen.
  • Page 45 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 46: 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 47 2 Unpacking to Installation Changing the end axis posture ＋Z ＋Z －X －Y ＋Y ＋X －Z －X －Y ＋Y ＋X － ＋ J4 axis J4軸 *The Position of the end axis will not change. －Z ・ When the[+C (J6)] keys are pressed, the J4-axis will rotate in the plus direction. When the[-C (J6)] keys are pressed, rotate in the minus direction.

  • Page 48: 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) CYLNDER <CURRENT> JOINT 100% M1 T0 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 49 2 Unpacking to Installation Changing the flange surface posture ＋Z Vertical 上下 －X －Y ＋Y ＋X －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 50: 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 51 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. WORK COORD." <EMHANCED>　　...
  • Page 52 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 53 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 54 2 Unpacking to Installation The WORK jog operation and the Ex-T jog operation can be switched by setting the parameters WK1- JOGMD to WK8JOGMD of each work coordinates system. The respective operations are as follows. WORK jog operation mode Conventional WORK jog Ex-T jog Parameters WKnJOGMD (n is 1 to8) set- 0 (initial value)
  • Page 55 2 Unpacking to Installation Changing the end axis posture ＋Z <1> Work jog mode ＋Z －X －Y ＋Y ＋X Work coordinates system －Z Tool length ツール長 － ＋ Control point * The position of the control point does not －Z change.

  • Page 56: Setting The Hand Parameters

    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 28, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.

  • Page 57: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices 3.1 Installing the solenoid valve set The installation summary of the solenoid valve is shown below. Remove the No.2 arm cover U, and install the solenoid valve on the No.2 arm. Turn the controller’s power OFF before this installing operation. Refer to Page 67, "5.3.2 Installing/removing the cover"...
  • Page 58 3Installing the option devices 3) Connect the connector (GR1, GR2) of solenoid valve with connector of robot arm side (GR1, GR2). Connect with the same names. The hand output signal cables of the robot arm side are located close to where the solenoid valve is installed and are tied up with cable tie.

  • Page 59: Installing The Hand Input Cable

    3Installing the option devices 3.2 Installing the hand input cable Fig. 3-2 shows the hand input cable’s storage location on the robot. Please use the optional external wiring and piping box to pull the hand input cable out externally. After connecting the hand input cable connector, reference Page 54, "3.6 External Wiring and Piping Box", and pull it out from the...

  • Page 60: Installing The Hand Output Cable

    3Installing the option devices 3.3 Installing the hand output cable Fig. 3-3 shows the hand output cable’s storage location on the robot. Please use the optional external wiring and piping box to pull the hand output cable out externally. After connect - ing the hand output cable connector, reference Page 54, "3.6 External Wiring and Piping Box", and pull it out from...

  • Page 61: Changing The Operating Range

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

  • Page 62: The Change Method Of The Operating Range

    3Installing the option devices (2) The change method of the operating range ■ Installation of the mechanical stopper 1) Turn off power to the controller. 2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to Table 3-2 Fig.

  • Page 63: Hand Internal Wiring And Piping Set

    3Installing the option devices 3.5 Hand internal wiring and piping set Remove the No. 2 arm cover U and fix this option to the plate on the No. 2 arm. Turn the controller’s power OFF before this operation. Refer to Page 67, "5.3.2 Installing/removing the cover"for removing/ installing the cover.
  • Page 64 3Installing the option devices CAUTION Do not power on the controller when the internal cables are connected to the con - nectors on the robot. If the end of the cables on the tool side is not processed, troubles such as fuse blown by ground fault or short circuit may occur.
  • Page 65 3Installing the option devices Refer to Page 51, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3- are correspond to the same numbers in "(1)Installation procedure". Turn the controller’s power OFF before this operation. Refer to Page 67, "5.3.2 Installing/removing the cover"...

  • Page 66: External Wiring And Piping Box

    3Installing the option devices 3.6 External Wiring and Piping Box The air hose that is connected inside the robot, the optional hand output cable, the hand input cable, etc., can all be pulled out from the rear of the No. 2 arm. These can be used to connect a customer supplied solenoid valve to the hand output cable, etc.
  • Page 67 3Installing the option devices Fig. 3-6 shows the installation procedure for the external wiring and piping box. Remove the No. 2 arm cover B and install this option using the same screw holes. The installation procedure is shown below. Turn the controller’s power OFF before this operation. Refer to Page 67, "5.3.2 Installing/removing the cover"...
  • Page 68 3Installing the option devices CAUTION The parameter must be changed to limit J1 axis operating range to ±120 degree. If the parameter not be changed, this option and a robot could interfere and cause breakage. 10) After changing the parameter, turn off the controller power and turn on again. And, move the axis changed by joint jog operation to the limit of the operating range.

  • Page 69: Installing The Vacuum Valve Set

    3Installing the option devices 3.7 Installing the vacuum valve set The installation summary of the vacuum valve is shown bellow. Remove the No.2 arm cover U, and install the vac - uum valve on the No.2 arm. Turn the controller’s power OFF before this installing operation. Refer to Page 67, "5.3.2 Installing/removing the cover"...
  • Page 70 3Installing the option devices The installation procedure is detailed below. 1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is necessary for space standard settings when feeding the air hose and hand input cable through the inside of the shaft.

  • Page 71: Connector Protection When The Option Devices Are Installed

    3Installing the option devices 3.8 Connector protection when the option devices are installed The connectors for the hand input and output cables are stored inside the No. 2 arm so that they do not rub against peripheral parts under the vibrations generated by the robot movement. When an option device is installed, the stored connectors are pulled out for connection to the option device.
  • Page 72 3Installing the option devices 3) Arrange the expanding sleeve in a ring-like shape and fix it with a cable tie. 4) Store the expanding sleeve in the position shown in the figure below. 5) Fix the expanding sleeve with a cable tie using a hole on the metal plate. Connector protection is completed.

  • Page 73: 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 "Controller setup, basic operation, and maintenance" manual. Refer that manual as necessary. 4-61...

  • Page 74: 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 Type of inspection and maintenance works Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 75: 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 shows the procedure and inspection items.

  • Page 76: Periodic Inspection

    5Maintenance and Inspection 5.2.2 Periodic inspection The inspection items and timings for the robot arm are shown below. (1) Inspection item Carry out periodic inspection given in Table 5-3. Table 5-3 ： Periodic inspection items (details) Inspection item (details) Remedies Monthly inspection Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.

  • Page 77: Schedule

    5Maintenance and Inspection (2) Schedule The following shows the schedule for the periodic inspection works. Perform the periodic inspection works as appropriate according to the following table. Note2) Inspection schedule Type of periodic inspection works Operating time Note1) 15 hours per 8 hours per Monthly 6-month...

  • Page 78: 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 79: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover <1> No.2 arm cover U <4> ADD cover (Upper side of back of base) <6> CONBOX cover (Under side of back of base) <3> No.2 arm cover B (No.2 arm rear) Base section rear <5>...

  • Page 80: Packing Replacement Procedure

    5Maintenance and Inspection 5.3.3 Packing Replacement Procedure When signs of cracking or peeling are noted in the packing, they must be replaced.Replace the packing in accordance with the instructions given below. If the packing is not replaced in a timely manner, water or oil will be allowed to intrude the robot, possibly making it inoperative.
  • Page 81 5Maintenance and Inspection Sliding. Fig.5-4 ： Example of sticking packing (bad example) Some of the packings to be used are cord-like. Stick such packings by bending in line with the form. Location at which gasket Location at which is applied. packing is bent Stick the packing Cord-like packing...
  • Page 82 5Maintenance and Inspection A 1mm overlap [2] Apply liquid gasket to the cut edges. [1] Cut the packing so that there is a 1mm overlap at the end. Join by liquid gasket [3] Stick the packing so that there is no gap between the adjacent pieces.
  • Page 83 5Maintenance and Inspection Fig.5-7 ： Example of order which tighten bolts Maintenance and inspection procedures 5-71...

  • Page 84: Inspection Replacement Of Timing Belt

    5 Maintenance and Inspection 5.3.4 Inspection replacement of timing belt This robot uses a timing belt for the drive conveyance system. 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 adjustment are inade - quate, the life could drop and noise could be generated.

  • Page 85: Timing Belt Replacement Period

    5 Maintenance and Inspection (1) Timing belt replacement period The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if the following symptoms occur, replace the belt. 1) The belt tension value becomes less than the guideline value. 2) A position mismatch or gear teeth skipping occurs.

  • Page 86: Timing Belt Tension Measurement

    5 Maintenance and Inspection (2) Timing belt tension measurement Rotate the timing pulley A to one direction while visually checking its position, and measure the belt tension at every 90 degrees, four times in total. The average of the four measurements is used as the timing belt tension value.

  • Page 87: Inspecting The J3 Axis Timing Belt

    5 Maintenance and Inspection (3) Inspecting the J3 axis timing belt The section related to J3 axis timing belt is shown in Fig. 5-10. The picture is the image which removed the No.2 arm cover. <2> Timing pulley A <1> Timing belt Fig.5-10 ：...

  • Page 88: Replacing The J3 Axis Timing Belt

    5 Maintenance and Inspection (4) Replacing the J3 axis timing belt CAUTION It is possible for the customer to replace the timing belt, but precise adjustment is needed to prevent malfunction of the relevant parts. To ask for replacement of the timing belt, contact the dealer.
  • Page 89 5 Maintenance and Inspection 6) Remove the timing belt <4> from the shaft to upward. Remove the fixing screw <7> of shaft fixing plates and lift up the shaft fixing plate <8>. When using the optional hand internal wiring and piping set remove the fixing screws fixed to the top. Remove the timing belt <4>...
  • Page 90 5 Maintenance and Inspection 7) Remove the timing belt <4> from the top of the shaft If using the optional hand internal wiring and piping set, temporarily remove the hand input cable connector <11> and air hoses <12> of solenoid valve side. And remove the timing belt to upward. Remove to upward <4>...

  • Page 91: Inspecting The J4 Axis Timing Belt

    5 Maintenance and Inspection (5) Inspecting the J4 axis timing belt As shown in Fig. 5-11, the J4 axis timing belt consists of two timing belts: timing belt A <1> and timing belt B <2>. When adjusting the timing belts, first adjust timing belt B <2> and then proceed to adjust timing belt A <1>. <The No.2 arm bottom view (Inside of the No.2 arm cover D)>...

  • Page 92: Timing Belt Tension

    5 Maintenance and Inspection (6) Timing belt tension The following table shows the preset values of the sonic belt tension gauge, the tension value for new belt installation, and the tension value as the replacement guideline. Table 5-6 ： Belt tension Preset value Tension for new belt Replacement guideline...

  • Page 93: Amount Of Movement Of Each Axis During The Timing Belt Tension Measurement

    Table 5-7 ： Amount of movement of each axis during the tension measurement Amount of movement Model J4 axis J4 axis J1 axis J2 axis J3 axis (Timing belt A) (Timing belt B) RH-1FRHR 2.9mm 8.4° 36.0° Maintenance and inspection procedures 5-81...

  • Page 94: Replacing The Bellows (Option)

    5 Maintenance and Inspection 5.3.5 Replacing the bellows (Option) Refer to , exchanges the bellows (option). Replacement method of bellows is shown below. Fig. 5-12 1) Loosen the two set screws (M4) and remove the shaft fixation part from the shaft. Remove the liquid gasket from the rim of the screw holes before removing the screws.

  • Page 95: Lubrication

    5 Maintenance and Inspection 5.3.6 Lubrication (1) Lubrication position and specifications ■ Lubrication position and specifications Inside of the battery cover <1> J1 axis lubrication port Inside of the No.2 arm cover U <2> J2 axis lubrication port <3>Shaft section application (ball screw spline) Fig.5-13 ：...
  • Page 96 5 Maintenance and Inspection lubrication interval in Table 5-8. For the overhaul, contact the dealer. ■ Lubrication method to the J1, J2 axis 1) Turn off the controller's power supply. 2) Refer to the "Fig.5-2 ： Installing/removing the cover" and remove the covers. 3) Insert the grease shown in Table 5-8 using a grease gun from the lubrication grease nipple.

  • Page 97: Replacing The Backup Battery

    5 Maintenance and Inspection 5.3.7 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. 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 98: Replacing The Battery Of The Robot Arm

    5 Maintenance and Inspection (1) Replacing the battery of the robot arm CAUTION The battery circuit board connection cable is used to supply power from the backup battery to the encoder. The cable must be connected while replacing the battery or operating usually.

  • Page 99: 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 100: Maintenance Parts

    Inside the battery cover "5.3.7 Replacing the backup (MR-BAT6V1) battery" Note1) Liquefied gasket A small "5.3.3 Packing Replacement Packing Mitsubishi Electric amount Procedure" Timing belt J3 axis "5.3.4 Inspection J4 axis motor side replacement of timing belt" J4 axis shaft side...

  • Page 101: 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. The origin is set so that the robot can be used with a high accuracy. Setting is required if the motor is replaced or an encoder error occurs. The origin setting methods and when each origin setting method is required are shown in Table 5-12.

  • Page 102: Setting The Origin With The Origin Data Input Method

    Fig.5-16 ： Origin data label (an example) The origin data history table is attached on the back of the following covers. Model Cover RH-1FRHR Battery cover Referring to Page 67, "5.3.2 Installing/removing the cover", remove the cover above and confirm the value.

  • Page 103: Selecting The Origin Setting Method

    5 Maintenance and Inspection (2) 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 104: Inputting The Origin Data

    5 Maintenance and Inspection (3) Inputting the origin data Origin data label T/B screen Input the value confirmed in section Page 90, "(1) (D,J1,J2,J3,J4,J5,J6,J7,J8) Confirming the origin data". The correspondence of the origin data label value and axis <ORIGIN> DATA D:(■...

  • Page 105: Installing The Cover

    5 Maintenance and Inspection <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>...

  • Page 106: 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. 5-18. Fig.5-18 ： Reference dimension of origin setting tool The procedure of setting the origin with the origin setting tool is shown below.

  • Page 107: 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 108 5 Maintenance and Inspection <TOOL> 8) Setting of the origin is completed. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 9) Refer to Page 106, "5.6.5 Recording the origin J7:( )J8:( data" in this manual, and record the origin data CLOSE REL. on the origin data seal.

  • Page 109: 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 2) Move the J2 axis slowly with both hands to the No.2 arm 第２アーム...
  • Page 110 5 Maintenance and Inspection <TOOL> 8) Setting of the origin is completed. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 9) Refer to Page 106, "5.6.5 Recording the origin J7:( )J8:( data" in this manual, and record the origin data on the origin data seal. REL.

  • Page 111: J3 And J4 Axis Origin Setting

    5 Maintenance and Inspection (3) J3 and J4 axis origin setting Always perform origin setting of the J3 axis and the J4 axis simultaneously.If the wiring and piping is passed in the shaft, remove the No.2 arm cover U and operate the origin setting. Note) If origin setting is carried out with the No.2 arm cover U installed, the origin may not be set up correctly because the wiring and the piping interfere with the No.2 arm cover U.
  • Page 112 5 Maintenance and Inspection CAUTION When the brake is released, the J3 axis falls by its own weight. To ensure safety, take appropriate measures such as supporting the axis to avoid the free fall. CAUTION If [F1] key or enable switch of T/B is released, the brakes will be work immediately. 8) Hold the J4 axis with your hand and rotate it slowly to match the alignment marks.
  • Page 113 5 Maintenance and Inspection TOOL <ORIGIN> MECH 14) Press the [F1] key, and the origin position is set up. CHANGE TO ORIGIN. OK? 15) When No.2 arm cover U was removed, installs as before. 16) Setting of the origin is completed. 17) Refer to Page 106, "5.6.5 Recording the origin data"...

  • Page 114: 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 115: Origin Setting Procedure

    5 Maintenance and Inspection (1) Origin setting procedure Do the following operations with pressing the enabling switch of T/B lightly. <MENU>　　 　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM.

  • Page 116: 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 5-12 ： 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 117 5 Maintenance and Inspection 6) Press the [1] key, and display the Origin setting <ORIGIN/BRAKE> selection screen. 1.ORIGIN 2.BRAKE CLOSE 7) Press the [5] key, and display the User selection <ORIGIN> screen. 1.DATA 2.MECH 3.TOOL 4.ABS 5.USER CLOSE <USER> 8) Input "1" into the axis to origin setting. Press J1:( )J2:( )J3:(...

  • Page 118: Recording The Origin Data

    Robot model Cover RH-1FRHR Battery cover The teaching pendant operation method and the cover removal method for confirming the origin data is the same as the methods for setting the origin with the origin data input method. Refer to Page 90, "5.6.1 Setting the origin...

  • Page 119: How To Release The Brake In An Emergency

    5 Maintenance and Inspection 5.7 How to release the brake in an emergency The following describes how to release the brake using the emergency power supply in an emergency. Using an emergency power supply system separated from the primary power supply of the robot prevents the robot from moving accidentally during the brake release operation, which contributes to enhancing customer safety.
  • Page 120 5 Maintenance and Inspection [Note] For using the R800-R controller, turn ON the 24V DC power supply, then the robot CPU system power on. 4) Release the brake using the teaching pendant. For the brake release operation using the teaching pendant, refer to "Explanation of operation methods" in the separate volume, "Instruction Manual/Detailed Explanations of Functions and Operations".

  • Page 121: 6Appendix

    6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the 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-110...
  • 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 Sep. 2023 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Rh-1frhr5515Rh-1frhr series

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