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Summary of Contents for Mitsubishi MELFA RH-1000G Series
- Page 1 MITSUBISHI Mitsubishi Industrial Robot RH-1000G/RH-1500G/RC-1000G Series INSTRUCTION MANUAL Travel axis setup maintenance BFP-A8084-C...
- Page 2 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.
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Page 4: 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 5 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.
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Page 6: Revision History
Revision history Date of print Specifications No. Details of revisions 2000-02-02 BFP-A8084 First print 2000-05-24 BFP-A8084-A Writing error correction. 2000-07-11 BFP-A8084-B Lubrication time correction. 2001-01-24 BFP-A8084-C Writing error correction. - Page 8 ■ Introduction Thank you for purchasing the Mitsubishi industrial robot. This Instruction Manual explains the methods of unpacking installing, operating, servicing and inspecting the robot's travel axis. Always read this manual and thoroughly understand the contents before starting use of the robot.
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Page 9: Table Of Contents
Contents Page 1 Before starting use ..................................1-1 1.1 Symbols used in instruction manual ..........................1-1 1.2 Safety Precautions ................................. 1-2 1.2.1 Precautions given in the separate Safety Manual ..................... 1-3 1.3 Appearance and main parts ..............................1-4 2 Unpacking and installing ................................2-5 2.1 Confirming the product ................................. - Page 10 Page...
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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 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this User's Manual. -
Page 12: 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 13: 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 14: Appearance And Main Parts
1Before starting use 1.3 Appearance and main parts The appearance and main parts is shown in the following. Robot arm Robot arm Robot arm Robot arm Base Base Base Base Travel axis Travel axis Travel axis Travel axis Table Table Table Table Travel base... -
Page 15: Unpacking And Installing
2Unpacking and installing 2 Unpacking and installing 2.1 Confirming the product The standard configuration of the robot arm, enclosed with the purchased product, is shown in Table 2-1. Users who have purchased optional parts should refer to the separate "Standard Specifications". Table 2-1 ：... -
Page 16: Installation Place And Environment
2Unpacking and installing 2.2 Installation place and environment When installing the robot and travel frame, the movement accuracy, reliability and the mechanism life could be affected by the installation place and methods. 1) The ambient temperature must be within 25 ± 5 ℃ . 2) The ambient humidity must be within 20 to 90％RH with no dew condensation. -
Page 17: Installation Reference
2Unpacking and installing 2.3 Installation reference Installation of the robot is extremely important for maintaning the robot's appropriate functions. The robot and travel frame must be fixed with sufficient force so that they do not move with the load applied, so that they can withstand the reaction from movement and so that the orbit accuracy can be maintained. -
Page 18: Installing The Travel Section
2Unpacking and installing 2.4 Installing the travel section 2.4.1 Required tools The following tools and measuring instruments will be required when installing. ・ Spanner ・ Transit ・ Hexagon bar wrench ・ Scale stand ・ Plastic hammer ・ Steel measure ・ Phillips head screwdriver ・... -
Page 19: Installation Procedures
2Unpacking and installing 2.4.2 Installation procedures (1) Transport the travel frame to the unpacking area. Either use the eye bolts installed when the travel frame was shipped, or use a lifter to transport. If the travel frame is shipped in several pieces, the cable conduit will be removed. - Page 20 2Unpacking and installing (6) Use the following procedures to temporarily adjust the center of the travel frame's levelness and straight- ness. Using the highest place of the floor where the travel frame is installed as a reference, temporary center the frame.
- Page 21 2Unpacking and installing 2) Measuring the staightness ・ Lay a piano wire between both ends of the linear guide rail. (Travel frame overall length) ・ Contact a scale at the side of the linear guide rail, and check the position with the piano wire. Piano wire Piano wire Piano wire...
- Page 22 2Unpacking and installing (4) After temporarily centering, find the real center of the levelness and straightness. Then, adjust the linear guide rail and rack seams with the following procedure. 1) For the levelness (rail overall length direction), use the transit and adjust with the jack up bolt to attain the accuracy given in the table.
- Page 23 2Unpacking and installing Tap in the direction Tap in the direction Tap in the direction Tap in the direction of the arrows with a of the arrows with a of the arrows with a of the arrows with a plastic hammer and plastic hammer and plastic hammer and plastic hammer and...
- Page 24 2Unpacking and installing 5) To adjust the rack seams, fix the modular 3 rack to the seams and engage the teeth. Make sure that the step at the joint section is 0.1mm or less over the overall length of the teeth width. 0.1mm or less 0.1mm or less 0.1mm or less...
- Page 25 9) Clean the linear guide rail and rack, and then apply a light coat of grease on the entire rail and the rack teeth. Grease: Multi-purpose No.2 (N) (Nisseki Mitsubishi oil corp.) 10) Release the J8 axis brakes, and measure the frictional resistance. Make sure that there is no abnormal noise between the rack and pinion at the travel base seams.
- Page 26 2Unpacking and installing <Release the J8 axis brakes> a) Prepare a 24VDC power supply. b) Disconnect the J8 axis motor connector (8M/8M). c) Connect to No.8 and No.9 on the connector (8M). The brakes will be released when the voltage is applied. Connector 8M/8M, 8E/8E １...
- Page 27 2Unpacking and installing (11) Install the cable conduit guide and end covers. Cable conduit cover Cable conduit cover Cable conduit cover Cable conduit cover Cable conduit guide Cable conduit guide Cable conduit guide Cable conduit guide End cover End cover End cover End cover End cover...
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Page 28: Installing The Cable
2Unpacking and installing 2.5 Installing the cable The diagram for mounting the cable in the travel axis is shown in Fig. 2-16. Set and mount the cable in the cable conduit. R o b o t a rm ty p e : R o b o t a rm ty p e : R o b o t a rm ty p e : R o b o t a rm ty p e :... - Page 29 2Unpacking and installing (2) Place the cable in the cable conduit. Make sure that the cable conduit and actually set cable has the relation shown in Fig. 2-18. Cable Cable Cable Cable ( ( ( ( CN CN3 3 3 3 ) ) ) ) Cable ( ( ( ( CN1 Cable CN1) ) ) )
- Page 30 2Unpacking and installing (4) With the cable set in the cable conduit, install as shown in Fig. 2-20. Binding band Binding band Cable clamp Cable clamp Cable Cable conduit conduit Binding band Binding band Cable clamp Cable clamp Cable Cable conduit conduit Cable clamp...
- Page 31 2Unpacking and installing (6) To prevent interference with the cable conduit on the inner side of the end cover when installing the con- nectors, fix the cables with a binding band as shown Fig. 2-22. Cable conduit Cable conduit Cable conduit Cable conduit 70 or less 70 or less...
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Page 32: Connection Of Wiring And Piping To The Hand
2Unpacking and installing 2.6 Connection of wiring and piping to the hand The positions for connecting wiring to the hand are shown in Fig. 2-23, and the wiring and piping system diagram is shown in Fig. 2-24. Use the enclosed connectors (plugs). The supplied pneumatic pressure must be wuthin 0.5MPa to 0.7MPa. - Page 33 2Unpacking and installing Connector box Pneumatic coupling Screw Rc3/8 Suction・・・・・・・Clear V (V1) ： Pneumatic cylinder P (V2) ： Pressure・・・・・・Black ： Dust suction・・・White Exhaust air tube Machine cable (CN2) (CN4) V (V1) Machine cable P (V2) Machine cable (CN3) Machine cable (CN 1 ) Hand I/O connector Travel axis...
- Page 34 2Unpacking and installing The drawing on the left shows the state of the hand connector 12 11 [JMR-25-28-F (box receptacle)] looking from the connector connection surface. Pin assignments Pin assignments Pin assignments Pin assignments Connection examples Connection examples Connection examples Connection examples Pin No.
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Page 35: Grounding Procedures
2Unpacking and installing 2.7 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-25, but the dedicated grounding (Fig. 2- 25(a)) should be used for the robot arm and con- troller when possible. Controller Controller Controller Controller... -
Page 36: Connecting With The Controller
2Unpacking and installing 2.8 Connecting with the controller Connect at position Connect at position Connect at position Connect at position A or B. A or B. A or B. A or B. Ａ Ａ Ａ Ａ Ｂ Ｂ Ｂ Ｂ Travel axis Travel axis Travel axis... -
Page 37: Setting The Origin
2Unpacking and installing 2.9 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 38: Turning On The Control Power
2Unpacking and installing 2.9.2 Turning ON the control power CAUTION Confirm that there are no operators near the robot before turning the power ON. 1) Turn the controller [POWER] switch ON. The control power will be turned ON, and " □ . 100" will appear on the STATUS NUMBER display on the front of the controller. -
Page 39: Setting The Origin With The Abs Method
2Unpacking and installing 2.9.3 Setting the origin with the ABS method This operation is carried out with the T/B. Set the [MODE] switch on the front of the controller to "TEACH", and set the T/B [ENABLE/DISABLE] switch to [ENABLE] to enable the T/B. First, use jog operations to align the travel axis' ABS mark arrows. -
Page 40: Confirming The Origin Position
2Unpacking and installing Setting the origin. 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... -
Page 41: Basic Operations
3Basic operations 3 Basic operations The basic operations from programming to automatic operation are explained in "Chapter 4. Basic Operations" for the separate "Instruction Manual/Controller Setup to Maintenance". Refer to that section when necessary. 3.1 Jog operations Manually moving the robot is called "jog operation", and is carried out using the T/B. Carry this operation out while holding down the deadman switch on the back of the T/B. - Page 42 3Basic operations 3-32 Jog operations...
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Page 43: 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 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
4Maintenance and Inspection 4.2 Inspection items The inspection items for the robot arm are shown below. Also refer to section "4Maintenance and Inspection" in the " Controller Setup and Maintenance" manual, and inspect the robot arm. 4.2.1 Daily inspection items Carry out the daily inspections with the procedures given in Table 4-1. -
Page 45: Periodic Inspection
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 linear guide rail and rack.. Replace the backup battery in the robot arm. -
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 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 47: Lubrication
Type Amount Liner guide rail Grease nipple （Four places） Multipurpose No.2(N) Proper quantity 1500 (Mitsubishi Electric ) Rack Apply CAUTION Follow the values in Table 4-3 for the lubrication amounts. Excessive lubrication will lead to grease leaking, and must be avoided. -
Page 48: Replacing The Backup Battery
4Maintenance and Inspection 4.3.3 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 49 4Maintenance and Inspection 6) Insert the new battery into the holder, and connect the lead connector. Make sure to replace all batteries with new ones. 7) Install the power supply cover with the above steps in reverse. 8) Initialize the battery consumption time. Always carry out this step after replacing the battery, and initialize the battery usage time.
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Page 50: Maintenance Parts
4-5. Purchase these parts from the designated maker or Mitsubishi Service Dept. 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 Mitsubishi Service Dept. -
Page 51: Resetting The Origin
4Maintenance and Inspection 4.5 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 52: User Origin Method
4Maintenance and Inspection 4.5.1 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 53 4Maintenance 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 54 4Maintenance and Inspection 4-44 Resetting the origin...
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Page 55: Appendix
5Appendix 5 Appendix 付録 1 ： Outside dimensions Appendix 1.1 ： RH-1000GHDC-SA travel axis outside dimensions Fig.5-1 ： RH-1000GHDC-SA travel axis outside dimensions Appendix-45... -
Page 56: Appendix 1.2 ： Rh-1000Gjdc-Sa Travel Axis Outside Dimensions
5Appendix Appendix 1.2 ： RH-1000GJDC-SA travel axis outside dimensions Fig.5-2 ： RH-1000GJDC-SA travel axis outside dimensions Appendix-46... -
Page 57: Appendix 1.3 ： Rh-1000Ghlc-Sa Travel Axis Outside Dimension
5Appendix Appendix 1.3 ： RH-1000GHLC-SA travel axis outside dimension Fig.5-3 ： RH-1000GHLC-SA travel axis outside dimensions Appendix-47... -
Page 58: Appendix 1.4 ： Rh-1000Gjlc-Sa Travel Axis Outside Dimension
5Appendix Appendix 1.4 ： RH-1000GJLC-SA travel axis outside dimension Fig.5-4 ： RH-1000GJLC-SA travel axis outside dimensions Appendix-48... -
Page 59: Appendix 1.5 ： Rh-1500G Series Travel Axis Outside Dimension
5Appendix Appendix 1.5 ： RH-1500G series travel axis outside dimension Fig.5-5 ： RH-1500G series travel axis outside dimensions Appendix-49... -
Page 60: Appendix 1.6 ： Rc-1000Ghwdc-Sa Travel Axis Outside Dimension
5Appendix Appendix 1.6 ： RC-1000GHWDC-SA travel axis outside dimension Fig.5-6 ： RC-1000GHWDC-SA travel axis outside dimensions Appendix-50... -
Page 61: Appendix 1.7 ： Rc-1000Ghwlc-Sa Travel Axis Outside Dimension
5Appendix Appendix 1.7 ： RC-1000GHWLC-SA travel axis outside dimension Fig.5-7 ： C-1000GHWLC-SA travel axis outside dimensions Appendix-51... - Page 62 5Appendix Appendix-52...
- 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 JAN..2001 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
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