Mitsubishi MELFA RC-1000GHWDC-SA Instruction Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Manuals
  4. Robotics
  5. MELFA RC-1000GHWDC-SA
  6. Instruction manual
Mitsubishi MELFA RC-1000GHWDC-SA Instruction Manual

Mitsubishi MELFA RC-1000GHWDC-SA Instruction Manual

Hide thumbs Also See for MELFA RC-1000GHWDC-SA:
Table of Contents

Advertisement

Quick Links

Download this manual
MITSUBISHI
Mitsubishi Industrial Robot
RC-1000GHWDC-SA/GHWLC-SA
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8037-E

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MELFA RC-1000GHWDC-SA and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Mitsubishi MELFA RC-1000GHWDC-SA

Summary of Contents for Mitsubishi MELFA RC-1000GHWDC-SA

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot RC-1000GHWDC-SA/GHWLC-SA INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8037-E...

  • Page 2: Revisions Table

    Revisions Table Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. Some changes have been made to the “Mitsubishi industrial robot RC-1000GHWDC-SA/GHWLC-SA INSTRUCTION MANUAL “ (BFP-A8037). The details are given below. We ask that you please reflect these changes onto the Instruction Manuals on hand.
  • Page 3 Revisions Table Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. Some changes have been made to the Mitsubishi industrial robot “RC-1000GHWDC-SA/GHWLC-SA INSTRUCTION MANUAL “ (BFP-A8037). The details are given below. We ask that you please reflect these changes onto the Instruction Manual on hand.
  • Page 4 Caution Users of the robot given as a "Object Model" in "Table 1: List of origin position joint angles" must observe the details below. Warning Do not release the brakes from an external source and forcibly move the robot arm at a high speed. If the operation is carried out, a warning error indicating positional deviation (error No.: L1820) may occur.

  • Page 5: Safety Precautions

    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. (This also applies to maintenance work with the power source turned ON.) →...
  • Page 6 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ - ment, etc.) CAUTION Transport the robot with the designated transportation posture.

  • Page 7: Revision History

    Revision history Date of print BFP No. Details of revisions 2000-01-28 BFP-A8037Z First print. 2000-02-28 BFP-A8037 Error in writing correction. 2000-04-26 BFP-A8037-A Error in writing correction. 2000-06-20 BFP-A8037-B The attached place of origin data history table was added. The method of replacing the battery was added. Spare parts list was added..
  • Page 8 ■ Introduction Thank you for purchasing the Mitsubishi industrial robot. This instruction manual explains procedures to be taken for unpacking, installing, servicing and inspecting the robot arm. Always read through this manual before starting use to ensure correct usage of the robot.

  • Page 9: 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 10 Page 5.3.4 Replacing the backup battery ........................... 5-53 (1) Replacing the robot arm battery ......................... 5-53 5.4 Maintenance parts ................................. 5-54 5.5 Resetting the origin ................................5-55 5.5.1 ABS method ..................................5-55 5.5.2 User origin method ................................ 5-57 ii ii ii ii...

  • Page 11: 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. 1.1 Using the instruction manuals 1.1.1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

  • Page 12: 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 User's Manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1 ： Symbols in instruction manual Symbol Meaning Precaution indicating cases where there is a risk of operator fatality or...

  • Page 13: 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. (This also applies to maintenance work with the power source turned ON.) →...

  • Page 14: 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. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults.

  • Page 15: Unpacking To Installation

    2Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product The standard configuration of the robot arm section, 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 16: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking The robot is packaged in a wooden crate when shipped. Unpack the robot from the crate. Handle the robot arm following the section "2.2.2Transportation procedures" in this manual. (1) Remove the wood crate for transporting the robot arm. (2) Remove the hexagon nuts fixing the wood crate base and robot arm.
  • Page 17 2Unpacking to Installation (1) Transporting the robot Fig.2-1 ： Transportation posture(RC-1000GHWDC-SA/GHWLC-SA) Installation 2-7...
  • Page 18 2Unpacking to Installation (2) Transporting with a crane Catch four wires into the M20 eye bolts on the transportation fittings, and suspend the robot. At this time, make sure that the wires and robot do not interfere. After installing, remove the transportation fittings. ａ...

  • Page 19: Transportation With The Lifter

    2Unpacking to Installation (3) Transportation with the lifter Using the notches on the four corners of the robot arm base, lift up the robot arm with a claw jack, etc., and then place the robot arm on the lifter and transport. Claw jack Claw jack Claw jack...

  • Page 20: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures (1) Installation reference Maintaining the optimum functions of the robot is the most important point of installing the robot arm. In respect to the robot arm fixing and foundation, to maintain the path accuracy while withstanding the weight applied on the arm and the reaction during movement, the robot arm must be fixed with sufficient force so that it does not move.

  • Page 21: Base Plate

    2Unpacking to Installation Tilting moment Tilting moment Ｍ１ Ｍ２ Base plate Fig.2-5 ： Direction of robot tilting moment Installation 2-11...
  • Page 22 2Unpacking to Installation (2) Adjusting the levelness The robot arm levelness is adjusted with the following procedure. Install the installation adjustment jig as shown in Fig. 2-6, set the level on the jig, and install so that the front/back and left/right directions of the robot are 0.3mm/min. Level －...

  • 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. 2-7 3, but the dedicated grounding (Fig. 2-7 (a)) should be used for the robot arm and Controller Controller Controller Controller Controller Controller Controller...

  • Page 24: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller Controller Controller Controller Controller Robot arm Robot arm Robot arm Robot arm Motor signal cable Motor signal cable Motor signal cable Motor signal cable Motor power cable Motor power cable Motor power cable Motor power cable (7m) (7m)

  • Page 25: 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 26: 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 27: Preparing The T/B

    2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B. EMG.STOP STATUS NUMBER CHANG DISP 1) Set the [MODE] switch on the front of the controller to "TEACH". MODE SVO ON START RESET TEACH AUTO AUTO (Op.) (Ext.) REMOVE T/B SVO OFF...

  • Page 28: Selecting The Origin Setting Method

    2Unpacking to Installation (4) Selecting the origin setting method <T/B screen> [Keys used] <MENU> 1) Press the [5] key on the menu screen, and display the maintenance screen. 1.TEACH 2.RUN 3.FILE 4.MONI (J6) 5.MAINT 6.SET <MAINT> 1.PARAM 2.INIT 2) Press the [4] key on the maintenance screen, and display the origin setting method 3.BRAKE 4.ORIGIN selection screen.

  • Page 29: Inputting The Origin Data

    2Unpacking to Installation (5) Inputting the origin data Input the value confirmed in section Page 16, "(1) Confirming the origin Origin data table data". T/B screen (D,J1,J2,J3,J4,J5,J6) The correspondence of the origin data label value and axis to be input is <DATA>...

  • Page 30: Moving The Cursor

    2Unpacking to Installation ◇◆◇ Moving the cursor ◇◆◇ Press the [ ↑ ], [ ↓ ], [ ← ] and [ → ] keys. ◇◆◇ Inputting characters ◇◆◇ Hold down the [CHAR] key and press the key with the character to be input on the lower right. Three characters will scroll each time the character key is pressed.

  • Page 31: Confirming The Operation

    2Unpacking 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 32 2Unpacking to Installation JOINT jog operation XYZ jog operation J J J J 4 4 4 4 J J J J 4 4 4 4 － ＋ － ＋ － － J1(J1 axis) J1(J1 axis) J1(J1 axis) J1(J1 axis) Ｘ (J1 axis) Ｘ...

  • Page 33: Joint Jog Operation

    2Unpacking to Installation (1) JOINT jog operation Select the JOINT jog mode Press the [MOVE] + [JOINT] keys to select the JOINT JOINT jog mode. "JOINT" will appear at the upper +34.50 JOINT left of the screen. STEP ＋ +20.00 MOVE ( )? +80.00...
  • Page 34 2Unpacking to Installation When the [MOVE] + [+Y (J2)] keys are pressed, the J2 axis will rotate in the plus direction. When the [MOVE] + [-Y (J2)] keys are pressed, the J2 axis will rotate in the minus direction. When the [MOVE] + [+Z (J3)] keys are pressed, the vertical axis will rotate in the plus direction (up). When the [MOVE] + [-Z (J3)] keys are pressed, the vertical axis will rotate in the minus direction (down).

  • Page 35: Xyz Jog Operation

    2Unpacking to Installation (2) XYZ jog operation Select the XYZ jog mode Press the [MOVE] + [XYZ] keys to select the X +134.50 XYZ jog mode. "XYZ" will appear at the upper STEP Y +220.00 ＋ left of the screen. MOVE $": Z +280.00...
  • Page 36 2Unpacking to Installation * Moving the J2 axis When the [MOVE] + [+Y(J2)] keys are pressed, the J2 axis will move along the Y axis plus direction. When the [MOVE] + [-Y (J2)] keys are pressed, the J2 axis will move along the minus direction. * Moving the vertical axis When the [MOVE] + [+Z (J3)] keys are pressed, the vertical axis will move along the Z axis plus direction.

  • Page 37: Tool Jog Operation

    2Unpacking to Installation (3) TOOL jog operation Select the TOOL jog mode Press the [MOVE] + [TOOL] keys to select the TOOL TOOL jog mode. "TOOL" will appear at the upper left of the X +134.50 screen. STEP Y +220.00 ＋...

  • Page 38: 3-Axis Xyz Jog Operation

    2Unpacking to Installation (4) 3-axis XYZ jog operation Select the 3-axis XYZ jog mode XYZ456 Press the [MOVE] + [XYZ] keys, and then X +134.50 press only the [XYZ] key. "XYZ456" will appear STEP Y +220.00 ＋ at the upper left of the screen. MOVE $": $":...
  • Page 39 2Unpacking to Installation * Moving the J2 axis When the [MOVE] + [+Y(J2)] keys are pressed, the J2 axis will move along the Y axis plus direction. When the [MOVE] + [-Y (J2)] keys are pressed, the J2 axis will move along the minus direction. * Moving the vertical axis When the [MOVE] + [+Z (J3)] keys are pressed, the vertical axis will move along the Z axis plus direction.

  • Page 40: Cylnder Jog Operation

    2Unpacking to Installation jog operation CYLNDER Select the cylindrical jog mode CYLNDER Press the [MOVE] + [XYZ] keys, and then press R +134.50 only the [XYZ] key. "CYLNDER" will appear at the STEP T +220.00 ＋ upper left of the screen. MOVE $": Z +280.00...
  • Page 41 2Unpacking to Installation * Rotating the J4 axis When the [MOVE] + [+Y (J2)] keys are pressed, the J4 axis will rotate in the plus direction. When the [MOVE] + [-Y (J2)] keys are pressed, the J4 axis will rotate in the minus direction. ◇◆◇...
  • Page 42 2Unpacking to Installation 2-32 Confirming the operation...

  • Page 43: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices Refer to the standard specifications, and install the above options are needed. 3-33...
  • Page 44 3Installing the option devices 3-34...

  • Page 45: 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. 4-35...
  • Page 46 4Basic operations 4-36...

  • Page 47: 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 48: 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 49: Periodic Inspection

    Remove the cover at each section, and check the cables for wear Check and eliminate the cause. damage and adherence of foreign matter. If the cables are severely damaged, contact the Mitsubishi Service Department. Yearly inspection items Lubricate the grease at the harmonic reduction gears for each axis.

  • Page 50: 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 Department for a fee. (Never disassemble, etc., the parts not described in this manual.) The maintenance parts, etc., required for the user to carry out maintenance and inspection are described in...

  • Page 51: J1And J2 Axis Drive Mechanism

    5Maintenance and Inspection (2) J1and J2 axis drive mechanism The J1 and J2 axes have a function to move the hand installation section forward and backward. The rotation of the AC servomotor is transmitted to three reduction gears via the timing belt to move the hand installation section forward and backward.

  • Page 52: J4 Axis Drive Mechanism

    5Maintenance and Inspection (3) J4 axis drive mechanism The J4 axis has a function to swing the entire arm. The rotation of the AC servomotor is transmitted to the reduction gears via the spur gears to swing the arm. AC servo motor Spur gear Reduction gear Arm base...

  • Page 53: Lubrication

    5Maintenance and Inspection 5.3.2 Lubrication (1) Lubrication positions and lubrication amount The lubrication positions are shown in Fig. 5-5, and the lubrication positions and lubrication amounts are shown in Table 5-3. The method for lubricating each axis is explained in the following section. Spur gear １...

  • Page 54: J4 Axis Grease Replenishment Method

    5Maintenance and Inspection (2) J4 axis grease replenishment method 1) Remove the motor cover, and remove the hexagon socket plug. 2) Apply new grease on the spur gears from the hole (hole diameter approx. 10mm). 3) Wind sealing tape on the hexagon socket plug. (Wind two to three wraps around the area one-half from the end so that the sealing tape does not protrude outward after installing.) 4) Install the hexagon socket plug.

  • Page 55: Adjusting And Replacing The Timing Belt

    5Maintenance and Inspection 5.3.3 Adjusting and replacing the timing belt This robot uses a timing belt for the drive conveyance system of the retractable 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 adjustment are inadequate, the life could drop and noise could be generated.Sufficient aging to remove the initial elongation of the belt, and adjustment of the belt tension have been carried out before shipment from the factory.

  • Page 56: Removing The Timing Belt

    5Maintenance and Inspection Fig.5-8 ： Positional relationship between the hands of the J1 and J2 axes (2) Removing the timing belt The procedures for removing the timing belt are explained below.Refer toFig. 5-12 for matters that are not designated. 1) Set the J1 and J2 axes to the posture shown in Fig.

  • Page 57: Finely Adjusting The Directions Of The Two Retractable Axes

    5Maintenance and Inspection CAUTION Clamp the cables with sufficient allowance so that the cables do not catch even when the robot carries out full scroll movement. Take special care when installing the cables to avoid damaging the connectors. After assembling, check the movement to confirm that excessive stress is not applied on the cables.
  • Page 58 5Maintenance and Inspection J1, J2=72° Posture extending forward Cable clamp Cable clamp Cable clamp Silicon rubber Silicon rubber Silicon rubber Silicon rubber Provide enough allowance with the cable so that the silicon Apply G501 grease inside tube rubber cable touches the cover. Provide enough allowance with Apply G501 grease the cable so that the silicon...
  • Page 59 5Maintenance and Inspection D air tube White V1 air tube Transparent To the J1 motor HC1 to HC4 signal cable side To the J4 motor To the J2 motor Silicone rubber Silicone rubber D air tube White cable clump Double winding V2 air tube Transparent HC5 to HC8 signal cable side Air tube coupling position...
  • Page 60 5Maintenance and Inspection Tension 3 Timing belt 1 Tension 2 Tension 1 Timing belt 3 Timing belt 2 Timing belt 3 Cable support 3 Timing belt 2 AC servo motor Hand installation surface Cover5 Cover2 Cover6 Cable protection Cable protection plate 2 plate 1 Cover3...
  • Page 61 5Maintenance and Inspection Button bolt Button bolt Button bolt Button bolt Lock screw Lock screw Lock screw Lock screw Push screw Push screw Push screw Push screw Tention 2, 3 Tention 2, 3 Tention 2, 3 Tention 2, 3 Push bolt Push bolt Push bolt Push bolt...
  • Page 62 5Maintenance and Inspection No.2 arm No.2 arm No.2 arm No.2 arm No.1 arm No.1 arm No.1 arm No.1 arm Adjustment jig Adjustment jig Adjustment jig Adjustment jig Arm base Arm base Arm base Arm base Fig.5-14 ： Adjustment of timing belt 3 5-52 Maintenance and inspection procedures...

  • Page 63: Replacing The Backup Battery

    5Maintenance and Inspection 5.3.4 Replacing the backup battery An absolute encoder is used for the position detector, so the position must be saved with the backup battery when the power is turned OFF. The controller also uses a backup battery to save the program, etc. 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 user.

  • Page 64: Maintenance Parts

    Table 5-5. Purchase these parts from the dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer. Table 5-4 ： Consumable part list...

  • Page 65: Resetting The Origin

    5Maintenance and Inspection 5.5 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 66 5Maintenance and Inspection Carry out the following operations while lightly holding down the deadman switch on the teaching pendant. <MENU> <MAINT> 1) Press the [5] key on the Menu screen to select 1.TEACH 2.RUN 1.PARAM 2.INIT the Maintenance screen. 3.FILE 4.MONI 3.BRAKE 4.ORIGIN 5.MAINT 6.SET...

  • Page 67: User Origin Method

    5Maintenance and Inspection 5.5.2 User origin method The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant. Set the [MODE] switch on the front of the controller to "TEACH", and set the [ENABLE/DISABLE] switch on the teaching pendant to "ENABLE"...
  • Page 68 5Maintenance and Inspection <JIG> 　 12345678 <JIG> BRAKE (00000000) CHANGES TO ORIGIN 9) Press the [1] key and then the [INP] key. The SET AXIS (11110000) OK?(1) origin will be set. ORIGIN :NOT DEF 1:EXECUTE (J5) → Set the origin This completes the setting of the origin with the user origin method.
  • Page 69 HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CAB LE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN MAR..2001 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Melfa rc-1000ghwlc-sa

Table of Contents