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Mitsubishi Electric MELFA RH-2FRH Series Instruction Manual
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Mitsubishi Electric MELFA RH-2FRH Series Instruction Manual

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Mitsubishi Electric Industrial Robot
RH-2FRH Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A3888-A

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Summary of Contents for Mitsubishi Electric MELFA RH-2FRH Series

  • Page 1 Mitsubishi Electric Industrial Robot RH-2FRH Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A3888-A...
  • 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. Controller rear Single phase ACIN cable connection AC200V Groove for main <1>...
  • 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 2024-07-08 BFP-A3888-A ・ First print...
  • 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) 2024 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 manual ........................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 4.4 About Overhaul ..................................4-64 4.5 Maintenance parts ................................. 4-65 4.6 Resetting the origin ................................4-66 4.6.1 Setting the origin with the origin data input method ..................4-67 (1) Confirming the origin data ............................. 4-67 (2) Selecting the origin setting method ........................4-68 (3) Inputting the origin data ............................

  • 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. Handling and operation of the teaching pendant (T/B) described in instruction manuals are based on the R32TB.

  • 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

    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 19: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking <1>Tape <5> Controller set storage box <4> Tape <6> Cable tie <2> Outer box <3> Cardboard insert Robot arm <5> Controller set storage box <8> Machine cable <9> Controller box <7> Hexagon socket bolts (4 pcs.) Fig.2-1 ：...

  • Page 20: Transportation Procedures

    2Unpacking to Installation 2.2.2 Transportation procedures No.2 arm Base Fixing plate Fig.2-2 ： Transportation of robot arm 1) The robot must be transported by two workers with putting the fixing plate. Place the robot on a cart, etc., and move it to near the installation place. Transporting the robot with the following should be limited to placing the robot on the frame or cart, and to positioning.
  • Page 21 2Unpacking to Installation Table 2-2 ： Transportation posture Axis Posture -25° 115° 150mm Not fixed Installation...

  • Page 22: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. Fig.2-3 ： Installation dimensions 1) The robot installation surface has been machine finished. Use the installation holes (4-φ9 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 Table 2-3 ： Magnitude of each reaction force Unit Value Item Tilt moment N ･ m Torsional moment N ･ m Horizontal direction translation force Vertical direction translation force : F CAUTION Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.

  • 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. 2-4, but the dedicated grounding (Fig. 2-4 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"...

  • Page 25: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller 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) Ensure that the robot controller is powered off. 2) Refer to Page 47, "4.3.2 Installing/removing the cover", and remove the cable cover.
  • Page 26 2Unpacking to Installation 5) Connect the machine cable connectors (CN1, CN21, and 1M) to the robot. Remove the M4 × 8 ground screw already installed in the robot, then install the FG wire of the machine cable. (Tightening torque: 1.65 N ･ m) 6) Re-install the cable cover.

  • Page 27: Connection Of Controller And Machine Cable

    2Unpacking to Installation (2) Connection of controller and machine cable Fig.2-6 ： 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: Installing The Hand Cable

    2Unpacking to Installation 2.2.6 Installing the hand cable (1) Installation procedure The installation procedure is shown below. Refer to the installation figure (Fig. 2-7) to install the hand cable 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 hand cable through the inside of the shaft.

  • Page 29: Installation Diagram

    2Unpacking to Installation (2) Installation diagram Refer to Page 16, "(1) Installation procedure" and install the hand cable correctly. The numbers in Fig. 2-7 correspond to the same numbers in "(1) Installation procedure". Turn the controller’s power OFF before this operation. Fixing the cable Top end of the J3 axis Adjusting the peak of the cable to the height...

  • Page 30: 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 31: 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 32: 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 33 2 Unpacking to Installation J2 axis J1 axis J3 axis J4 axis * Each axis moves independently. Fig.2-9 ： JOINT jog operation End axis Base coordinate system reference　origin * While maintaining the end axis posture, the axis moves straight along the base coordinate system. Also, while maintaining the end axis position, the end axis posture changes.
  • Page 34 2 Unpacking to Installation End axis Tool coordinate system reference origin * While maintaining the end axis posture, the axis moves straight along the tool coordinate system. Also, while maintaining the end axis position, the end axis posture changes Fig.2-11 ： TOOL jog operation End axis J4 axis Base coordinate...
  • Page 35 2 Unpacking to Installation Vertical Radius * The current position is set as the arc centering on the Z axis, and the axis moves along that arc, expands and contracts in the radius direction, and moves vertically. At this time, the end axis posture is maintained.

  • Page 36: 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 37 2 Unpacking to Installation ・ 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. ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area.

  • Page 38: 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 39 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 *The position of the end axis will not change.

  • Page 40: 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 41 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 *The Position of the end axis will not change.

  • Page 42: 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 43 2 Unpacking to Installation Changing the end axis posture J4 axis *The Position of the end axis will not change. ・ 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. Confirming the operation 2-31...

  • Page 44: 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 45 2 Unpacking to Installation Vertical Radius *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. Confirming the operation 2-33...

  • Page 46: 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 47 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 48 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 49 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 50 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 51 2 Unpacking to Installation Changing the end axis posture <1> Work jog mode Control point Work coordinate system Tool length * The position of the control point does not change. The end axis is rotated. ・ When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate system. When the[-C (J6)] keys are pressed, rotate in the minus direction.

  • Page 52: 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 24, "(1) JOINT jog operation"", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.

  • Page 53: Basic Operations

    3Basic operations 3 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. 3-41...

  • Page 54: Maintenance And Inspection

    4Maintenance and Inspection 4 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. 4.1 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 55: Inspection Items

    4Maintenance and Inspection 4.2 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. 4.2.1 Daily inspection items shows the procedure and inspection items.

  • Page 56: Periodic Inspection

    4Maintenance and Inspection 4.2.2 Periodic inspection The inspection items and timings for the robot arm are shown below. (1) Inspection item Carry out periodic inspection given in Table 4-3. Table 4-3 ： 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 57: Schedule

    4Maintenance 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 2-year...

  • Page 58: Maintenance And Inspection Procedures

    4Maintenance and Inspection 4.3 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 59: Installing/Removing The Cover

    4Maintenance and Inspection 4.3.2 Installing/removing the cover Fig.4-2 ： Installing/removing the cover Table 4-4 ： Cover name and installation screw list Note1) Cover name Qty. Remarks Installation screw name <1> No.2 arm cover U Stainless hexagon socket button head screw, M4 x 8 Stainless hexagon socket screw, M4 x 30 <2>...

  • Page 60: Inspection Replacement Of Timing Belt

    4 Maintenance and Inspection 4.3.3 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 61: Timing Belt Replacement Period

    4 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 62: Timing Belt Tension Measurement

    4 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 63 4 Maintenance and Inspection (3) Inspecting timing belts Fig. 4-5 Fig. 4-6 show parts related to timing belt inspection. No.2 arm cover U has been removed in both figures. <2> J3 timing pulley A <1> Timing belt Fig.4-5 ： Inspecting the J3 axis timing belt <2>...

  • Page 64: Replacing The J3 Axis Timing Belt

    4 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 65 4 Maintenance and Inspection 7) Install the new timing belt in reverse procedure of removal. Install the new belt to the timing pulley A <5> and timing pulley B <6> securely. Fix the shaft side pulley <8> by tightening the original six fixing screws <7> securely. When using the hand cable, connect it as before.

  • Page 66: Replacing The J4 Axis Timing Belt

    4 Maintenance and Inspection (5) Replacing the J4 axis timing belt The procedure for replacing the J4 axis timing belt is shown below. The figure which removed the No. 2 arm cover U is shown. When replacing the timing belt of J4 axis, it is necessary to remove the timing belt of J3 axis. After replacing the J4 axis timing belt the resetting the origin of J3 and J4 axis is necessary.
  • Page 67 4 Maintenance and Inspection 8) Install the new timing belt in reverse procedure of removal. Install the new belt to the timing pulley A <5> and timing pulley B <6> securely. 9) Install the J4 axis motor <3> by tightening lightly the J4 axis motor fixing screw <2> (three screws). 10) Install the tension adjustment screw and nut <1>.

  • Page 68: Timing Belt Tension

    4 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 4-6 ： Belt tension Preset value Tension for new belt Replacement guideline...

  • Page 69: Amount Of Movement Of Each Axis During The Timing Belt Tension Measurement

    4 Maintenance and Inspection (7) Amount of movement of each axis during the timing belt tension measurement The amount of movement of each axis when the timing pulley A is rotated 90 degrees are shown in Table 4-7. Table 4-7 ： Amount of movement of each axis during the tension measurement Amount of movement Model J3 axis...

  • Page 70: Lubrication

    4 Maintenance and Inspection 4.3.4 Lubrication ■ Lubrication position and specifications Inside of No.2 arm cover U <4>J4 axis lubri - cation port <2>J2 axis lubri - cation port Inside of cover J1 grease <1>J1 axis lubrication port <3> Application area on ball screw spline Fig.4-7 ：...
  • Page 71 4 Maintenance and Inspection ■ Lubrication method to the J1, J2, and J4 axes 1) Turn off the controller's power supply. 2) Refer to the Page 47, "4.3.2 Installing/removing the cover" and remove the covers. 3) Insert the grease shown in Table 4-8 using a grease gun from the lubrication grease nipple.
  • Page 72 4 Maintenance and Inspection ■ Lubrication method to the shaft 1) Move the J3 axis to the bottom end with a jog operation and shut off the controller's power supply. 2) Refer to Page 47, "4.3.2 Installing/removing the cover", remove the No. 2 arm cover U. 3) Wipe the old grease off the shaft.
  • Page 73 4 Maintenance and Inspection 9) Wipe off the grease adhering around the shaft ends or the nuts of the ball screw spline (indicated with the arrows below). When the ball spline and the ball screw are moved with extra grease on them, a large amount of grease is scattered inside the arm.

  • Page 74: Replacing The Backup Battery

    4 Maintenance and Inspection 4.3.5 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 75: Replacing The Battery Of The Robot Arm

    4 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 76: About Overhaul

    4 Maintenance and Inspection 4.4 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 77: Maintenance Parts

    A small "4.3.4 Lubrication" amount Shaft A small amount Lithium battery Base section "4.3.5 Replacing the backup Mitsubishi Electric (ER6V) battery" Timing belt J3 axis "4.3.3 Inspection replacement of timing belt" J4 axis Hand cable From the top of No.2 arm cover U to...

  • Page 78: Resetting The Origin

    5 Maintenance and Inspection 4.6 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 4-12.

  • Page 79: Setting The Origin With The Origin Data Input Method

    5 Maintenance and Inspection 4.6.1 Setting the origin with the origin data input method (1) Confirming the origin data The origin data to be input is noted in the origin data sheet. (See Fig. 4-10.) ● Origin data history table (Origin Data History) Serial No.ES804008 Date Default .

  • Page 80: 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 81: 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 67, "(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 82: 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 83: Jig Method

    5 Maintenance and Inspection 4.6.2 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. 4-12. RZ6.3 Fig.4-12 ：...

  • Page 84: 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 85 5 Maintenance and Inspection <TOOL> 8) Setting of the origin is completed. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 9) Refer to Page 83, "4.6.5 Recording the origin J7:( )J8:( data" in this manual, and record the origin data CLOSE REL. on the origin data seal.

  • Page 86: 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 position around ±0°.
  • Page 87 5 Maintenance and Inspection <TOOL> 8) Setting of the origin is completed. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 9) Refer to Page 83, "4.6.5 Recording the origin J7:( )J8:( data" in this manual, and record the origin data on the origin data seal. REL.

  • Page 88: 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. <MENU>　　 　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Break selection screen.
  • Page 89 5 Maintenance and Inspection 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. Note) If the J3 axis has slid, move the J3 axis against the mechanical stopper, and con - tact again.
  • Page 90 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 91: Abs Origin Method

    5 Maintenance and Inspection 4.6.3 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 92: 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 93: User Origin Method

    5 Maintenance and Inspection 4.6.4 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 66, "Table 4-12 ： 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 94 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 95: Recording The Origin Data

    5 Maintenance and Inspection 4.6.5 Recording the origin data Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is enclosed with the following cover. Robot model Cover RH-2FRH series Cable 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.

  • Page 96: How To Release The Brake In An Emergency

    5 Maintenance and Inspection 4.7 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 97 5 Maintenance and Inspection [Note] 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 98: 5Appendix

    5Appendix 5 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 100 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 Jul. 2024 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.