Mitsubishi Electric RH-6FHM-SE Series Instruction Manual page 33

【Precautions for implementation of moving part】
1) The internal air hoses and cables are bent
and twisted according to the operations of
the J3 and J4 axes. Structurally, the
twisting occurs inside the shaft, and the
bending occurs inside the expanding sleeve.
Without the expanding sleeve, the twisted
air hoses and cables may run onto the guide
portion of the fixing plate, and the air hoses
may be bent or broken.
2) Do not place the connector connecting part
and the air hose relay part in the binding or
twisting range.
(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.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) Pass the tool (hand) side of the internal air hoses and cables through the shaft. Make sure that the air hoses
and the cables are not twisted or crossed.
4) Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm
away from the opening of the shaft.
5) The highest point of the curved section of the air hoses and cables should be matched up with the top of
the fixing plate.
CAUTION
6) In the state of the steps
with cable ties. For the (a) portion, wrap the air hoses and the cables with cushion rubber before fixing.
7) When using the hand input signal or the optional solenoid valve, refer to
and piping set".
8) The connected connectors are stored to the (c) portion.
CAUTION
9) Carry out piping and wiring on the tool side.
Fix the air hoses and the cables, which are pulled out from the shaft lower end, to the hand side. Check
again that the highest point of the curved section of the air hoses and the cables reaches the height of the
fixing plate upper end, and then fix the air hoses and the cables at the outlet of the shaft.
If the air hoses and the cables are not long enough or too long, when the robot oper -
ates, excessive bending and friction with the shaft upper end or the cover may result
in a break or abnormal operations of the tool (hand).
4) and 5), fix the air hoses and the cables to the (a) and (b) portions of the plate
Do not remove the cable ties which fixing connectors.
Fix the plate on the No. 2 arm, other cables and air hoses with cable ties. In this way,
the internal cables and connectors do not touch the plate edge and others, or break
due to the vibration during the robot operation (Refer to
protection when the option devices are
Bending range
Twisting
range
installed").
2Unpacking to Installation
Expanding sleeve
Plate for fixation
Page 64, "3.5 Hand internal wiring
Page 70, "3.7 Connector
Installation
2-22