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Summary of Contents for Mitsubishi MELFA RH-15UHC-SA Series
- Page 1 MITSUBISHI Mitsubishi Industrial Robot RH-15UHC-SA Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8177...
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Page 2: 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 3 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 4 C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.) CAUTION Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage. Failure to do so could lead to electric shock accidents. Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
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Page 5: Revision History
Revision history Date of print BFP No. Details of revisions 2001-04-10 BFP-A8177Z First print. 2001-06-05 BFP-A8177 Formal style. - Page 6 ■ 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.
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Page 7: 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 8 Page 5.3.4 Lubrication ..................................5-44 (1) Lubrication position and specifications ......................5-44 (2) Lubrication method ..............................5-44 5.3.5 Replacing the backup battery ........................... 5-45 (1) Replacing the robot arm battery ......................... 5-45 5.4 Maintenance parts ................................. 5-46 5.5 Resetting the origin ................................5-47 5.5.1 Jig method ..................................
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Page 9: 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 10: 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 seri-... -
Page 11: 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 12: 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 13: 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 14: 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(Transportation by people)" in this manual. 2.2.2 Transportation procedures(Transportation by people) This robot can be transported using a crane or forklift. -
Page 15: Installation Procedures
2Unpacking to Installation 2.2.3 Installation procedures M16 x 60 hexagonal-head bolts, flat washers, spring washer (four locations) Reference surface Fin cover for exhaust fan (not used when exhaust duct is attached) Exhaust duct (attached to the product) Fig.2-2 ： Installation dimensions 1) An exhaust duct for the fan blower must be provided on the robot's installation surface (standard specification). -
Page 16: Grounding Procedures
2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-3 (c), but the dedicated grounding (Fig. 2-3 (a)) should be used for the robot arm and control- Controller Controller Controller ler when possible. -
Page 17: Connecting With The Controller
2Unpacking to Installation 2.2.5 Connecting with the controller Robot arm Controller Motor power （ＣＮ1） ＣＮ2 ＣＮ1 Motor signal （ＣＮ2） Motor signal cable（5ｍ） Motor power cable（5ｍ） Fig.2-5 ： Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"... -
Page 18: 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 19: 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 20: 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 21: 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> 2) Press the [4] key on the maintenance screen, and display the origin setting 1.PARAM 2.INIT method selection screen. -
Page 22: Inputting The Origin Data
2Unpacking to Installation (5) Inputting the origin data Input the value confirmed in section Page 11, "(1) Confirming the Origin data label origin data". T/B screen (D,J1,J2,J3,J4,J5,J6) The correspondence of the origin data label value and axis to be <DATA> D( D ) input is shown in Fig. -
Page 23: 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 24: 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 25 2Unpacking to Installation +Ｚ Ｃ * While maintaining the flange surface posture, the axis moves straight along the base coordinate system. Also, while maintaining the flange surface position, the flange surface posture changes. +Ｙ The shape of the hand shown is an example.
- Page 26 2Unpacking to Installation Ｊ4 +Ｚ * The axis moves straight along the base coordinate system. At this time, the flange surface posture is not maintained. Also, the flange surface +Ｙ posture changes. The flange surface position changes at this time. The shape of the hand shown is an example.
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Page 27: 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 28 2Unpacking to Installation J2 axis jog operation STEP STEP Ｊ２ axis ＋ ＋ (J2) (J2) MOVE MOVE &< > MNO * The shape of the hand shown is an example. ・ 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, Rotate in the minus direction.
- Page 29 2Unpacking to Installation J4 axis jog operation STEP STEP Ｊ４ axis ＋ ＋ (J4) (J4) MOVE MOVE GH I * The shape of the hand shown is an example. ・ When the [MOVE] + [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction. When the [MOVE] + [-A (J4)] keys are pressed, Rotate in the minus direction.
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Page 30: Xyz Jog Operation
2Unpacking to Installation (2) XYZ jog operation Select the XYZ jog mode Press the [MOVE] + [XYZ] keys to select the XYZ X,Y,Z jog mode. "XYZ" will appear at the upper left of X +134.50 the screen. STEP Y +220.00 ＋... -
Page 31: Tool Length
2Unpacking to Installation Changing the flange surface posture +Ｚ ･ Rotates around the control point +Ｚ Control point When the [MOVE] + [+C (J4)] keys are pressed, the Z axis will rotate in the plus direction. When the [MOVE] + [-C (J4)] keys are pressed, the Z axis will rotate in the Ｃ... -
Page 32: 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 X +134.50 left of the screen. TOOL STEP Y +220.00 ＋... - Page 33 2Unpacking to Installation Changing the flange surface posture ･ Rotates around the control point +Ｚ When the [MOVE] + [+C (J4)] keys are Control point pressed, the Z axis will rotate in the -Ｘ plus direction of the tool coordinate -Ｙ...
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Page 34: 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 Z +280.00 $":... - Page 35 2Unpacking to Installation Changing the flange surface posture STEP STEP ･ When the [MOVE] + [+C (J4)] keys are ＋ ＋ (J4) (J4) MOVE MOVE pressed, the Z axis will rotate in the plus direction of the tool coordinate system. Control point When the [MOVE] + [-C (J4)] keys are pressed, the Z axis will rotate in the...
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Page 36: 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 37 2Unpacking to Installation Changing the flange surface posture ･ Rotates around the J4 +Ｚ When the [MOVE] + [+C (J4)] keys are Vertical pressed, the Z axis will rotate in the plus direction of the tool coordinate system. When the [MOVE] + [-C (J4)] keys are Redius pressed, the Z axis will rotate in the minus direction.
- Page 38 2Unpacking to Installation 2-30 Confirming the operation...
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Page 39: 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. 3-31... - Page 40 3Installing the option devices 3-32...
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Page 41: Basic Operations
4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic opera- tions" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary. 4-33... - Page 42 4Basic operations 4-34...
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Page 43: 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 44: 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 45: 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. 3-month inspection items Is the timing belt tension abnormal? If the timing belt is loose or too tense, adjust it. -
Page 46: 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. (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 47 5Maintenance and Inspection <10>J3 axis linear guide <11>J4 axis motor <14>J4 axis timing belt 2 <4>J2 axis motor Ｊ4 axis Idler installation screw Idler <14>J4 axis timing belt 2 <13>Relay shaft Details of part D <12>J4 axis timing belt 1 №2 arm Mechanical interface section...
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Page 48: Installing/Removing The Cover
5Maintenance and Inspection 5.3.2 Installing/removing the cover №2 arm cover U Ｍ3×4 Ｍ3×7 №1 arm cover U Ｍ3×7 №2 arm cover L Ｍ3×5 №1 arm cover L Base cover B Base cover Ｆ M3 x 5 (same on opposite side) Ｍ3×4 Battery cover Ｍ3×4... -
Page 49: Inspecting, Servicing, Replacing And Cleaning The Timing Belt
5Maintenance and Inspection 5.3.3 Inspecting, servicing, replacing and cleaning the timing belt This robot uses a timing belt for the drive conveyance system of the pitch 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. -
Page 50: Inspection, Adjustment And Replacement Of Timing Belts
5Maintenance and Inspection (2) Inspection, adjustment and replacement of timing belts As shown in Page 39 "Fig. 5-2Outline structure drawing of robot arm", all the axes use timing belts. After verifying that the power of the robot controller is off, refer to Page 40 "Fig. -
Page 51: Timing Belt Tension
5Maintenance and Inspection (3) Timing belt tension ｆ Pressing force ｓ Span Ｆ Ｆ Ｆ Ｆ ｄ Slack Ｆ Belt installation tension Axis Belt type Span : s (mm) Slack : d (mm) Pressing force : f (N) Installation tension : F (N) J1 timing belt 440-5GT-9 54.9... -
Page 52: Lubrication
5Maintenance and Inspection 5.3.4 Lubrication (1) Lubrication position and specifications Air bleed bolt J1 axis, Base side Air bleed bolt (2)Grease nipple for reduction gears of J1 axis J4 axis side (3)Grease nipple for reduction gears of J4 axis View Ａ (5)Grease nipple for linear guide (5)Grease nipple for linear guide Air bleed bolt... -
Page 53: Replacing The Backup Battery
5Maintenance and Inspection 5.3.5 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 batter- ies 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 54: Maintenance Parts
SK-1A J 1 , J2, J4 axis : Reduction gears An needed Grease Marutenpu PS2 J3(Z) axis : Ball screw, linear guide An needed Mitsubishi Electric Lithium battery A6BAT In base Table 5-5 ： Spare parts list Part name Type... -
Page 55: 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 56: J3 And J3 Axis Origin Setting
5Maintenance and Inspection (1) J3 and J3 axis origin setting <JIG> 12345678 ■ Move the J3 (Z) axis (brake release). BRAKE (00100000) 1) Remove the origin reference hole cap located SET AXIS(11110000) on the top surface of the base cover. ORIGIN :COMPLETED 2) Insert the installation pin B into the hole. - Page 57 5Maintenance and Inspection ■ Set the origin for the J3 (Z) axis. ↓ Move the cursor (This is performed when the J3 (Z) axis origin is being set). <JIG> 12345678 1) Press the [ ↓ ] key. The cursor moves to "Axis BRAKE (00100000) specification."...
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Page 58: Releasing The Brakes
5Maintenance and Inspection ◇◆◇ Releasing the brakes ◇◆◇ To release the brakes, move the cursor to the "Brake" axis No. with the [ ← ] or [ → ] 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 59: Origin Setting For The J2 And J4 Axes
5Maintenance and Inspection (2) Origin setting for the J2 and J4 axes Origin setting cannot be performed for the J2 axis alone or the J4 axis alone. Origin setting must be performed for both axes at the same time, following the procedure described below. <JIG>... - Page 60 5Maintenance and Inspection ■ Set the origin of the J4 axis. ↓ Move the cursor 1) Press the [ ↓ ] key. The cursor moves to "Axis <JIG> 12345678 specification." BRAKE (00010000) 2) Specify the axis whose origin is to be set. SET AXIS(00010000) Set "Axis specification"...
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Page 61: User Origin Method
5Maintenance and Inspection 5.5.2 User origin method CAUTION Before using this method, the origin must be set with the origin data input method or jig 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 62: Recording The Origin Data
5Maintenance and Inspection <USER> <USER> 12345678 8) Press the [ ↓ ] key, and input "1" for the axis CHANGES TO ORIGIN BRAKE (00000000) for which the origin is to be set. Press the [INP] OK?( ) SET AXIS(11110000) key to display the Confirmation screen. 1:EXECUTE ORIGIN:NOT DEF (J5) - Page 63 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 JUL..2001 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
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