Mitsubishi MELFA RH-1000G Series Instruction Manual
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Mitsubishi MELFA RH-1000G Series Instruction Manual

Mitsubishi MELFA RH-1000G Series Instruction Manual

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MITSUBISHI
Mitsubishi Industrial Robot
RH-1000G/1500G Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8036-E

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  • Page 1 MITSUBISHI Mitsubishi Industrial Robot RH-1000G/1500G Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A8036-E...
  • 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. If the operation is carried out, a warning error indicating positional deviation (error No.: L1820) may occur.

  • Page 3: 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.
  • Page 4 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 environment, etc.) CAUTION Transport the robot with the designated transportation posture.
  • Page 5 CAUTION Do not stop the robot or apply emergency stop by turning the robot control- ler's main power OFF. If the robot controller main power is turned OFF dur- ing automatic operation, the robot accuracy could be adversely affected.Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.

  • Page 6: Revision History

    Revision history Date of print BFP No. Details of revisions 1999-11-17 BFP-A8036 First print. 2000-06-20 BFP-A8036-A The attached place of origin data history table was added. The method of replacing the battery was added. Spare parts list was added.. 2000-11-29 BFP-A8036-B Error in writing correction.
  • 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 (2) J3 axis grease replenishment method(Only RH-1000GHDC-SA/GJDC-SA type.) ..... 5-69 (3) J1 axis grease replenishment method(Only RH-1000G series.) ............5-70 (4) J2 axis grease replenishment methods ......................5-71 (5) J4 axis grease replenishment method ......................5-74 (6) J5 axis grease replenishment methods (RH-1500G series) ..............5-77 (7) J6 axis grease replenishment methods(Only RH-1500G series 6-axis type.) ........

  • 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 doc- uments 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 instruction 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 DANGER...

  • 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.

  • 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 2-1. Con - The standard configuration of the robot arm section, part of the purchased product, is shown in Table firm 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: Transporting The Robot

    2Unpacking to Installation (1) Transporting the robot The transportation posture of each type is shown as follows. <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> 1328 1414 <RH-1500G series> 1105････5-axis type 1130････6-axis standard wrist type 1228････6-axis offset wrist type 1470 1415 Fig.2-1 ： Transportation posture Installation...

  • Page 18: Transporting With A Crane

    2Unpacking to Installation (2) Transporting with a crane The transportation method with a crane of each type is shown as follows. ■ RH-1000GHDC-SA/GJDC-SA Catch two wires into the M16 eye bolts, and suspend the robot. At this time, make sure that the wires and robot do not interfere.
  • Page 19 2Unpacking to Installation ■ RH-1000GHLC-SA/GJLC-SA、 RH-1500G series Catch four wires into the M20 eye bolts, and suspend the robot. At this time, make sure that the wires and robot do not interfere. After installing, remove the eye bolts. Install the enclosed bolt caps in the screw holes from where the eye bolts were removed.

  • Page 20: Transportation With The Lifter （Only Rh-1000Ghlc-Sa/Gjlc-Sa And Rh-1500G Series

    2Unpacking to Installation (3) Transportation with the lifter （Only RH-1000GHLC-SA/GJLC-SA and RH-1500G series） 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 Notches (on four corners) Base...
  • Page 21 2Unpacking to Installation Front Base plate 4-M20 screw Hole A (to fixing the robot) J1 axis center Tightening torque 196 to 245Nm Front (Steel plate) 4-M20 screw Hole B (for adjuster) （50） 4-28 drill Hole C (Holes for fixing the base plate by M20 screw.) Note) For fixing on a concrete floor, use the anchor bolt strong enough to meet the following condition.
  • Page 22 2Unpacking to Installation J1 axis Front 8-M20 screw Hole A (to fixing the robot) Base plate Tightening torque 1000 196 to 245Nm (225) J1 axis center Front (Steel plate) (50) 6-M20 screw Hole B (for adjuster) 6-28 drill Hole C (Holes for fixing the base plate by M20 screw.) Use M16 or larger screw for fixing.
  • Page 23 2Unpacking to Installation <RH-1000GHDC-SA/GJDC-SA> Tilting moment Tilting moment Ｍ２ Ｍ１ <RH-1000GHLC-SA/GJLC-SA、 RH-1500G series> Tilting moment Tilting moment Ｍ２ Ｍ１ Fig.2-8 ： Direction of robot tilting moment Installation 2-13...

  • Page 24: Adjusting The Levelness

    2Unpacking to Installation (2) Adjusting the levelness The robot arm levelness is adjusted with the following procedure. The adjustment positions of RH-1000GHDC-SA/GJDC-SA are shown in Fig. 2-9, and RH-1000GHLC-SA/GJLC- SA、 RH-1500G series are shown in Fig. 2-10. 1) Adjustment position: Measure the levelness on the J1 installation base in the transportation posture. 2) Adjustment method: Place shims between the robot arm and base plate so that the X and Y direction levels are within 0.3mm/1m.
  • Page 25 2Unpacking to Installation <RH-1000GHLC-SA/GJLC-SA、 RH-1500G series> Y direction X direction Level Levelness Both X and Y directions ０．３ｍｍ/１ｍ J1 installation base Installation floor (grating) Shim Base plate Fig.2-10 ： Adjusting the levelness （ ） RH-1000GHLC-SA/GJLC-SA、 RH-1500G series Installation 2-15...

  • Page 26: Grounding Procedures

    2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-11 3, but the dedicated grounding (Fig. 2- (a)) should be used for the robot arm and con - Controller Controller Controller troller when possible.

  • Page 27: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller <RH-1000GHDC-SA/GJDC-SA> Controller Robot arm Motor signal cable (7m) Motor power cable (7m) Note) CN3 is used for the travel axis specifications, and are not enclosed as a standard. <RH-1000GHLC-SA/GJLC-SA、 RH-1500G series> Controller Robot arm Motor signal cable Motor power cable...

  • Page 28: 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 29: 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 origin Date Default .

  • Page 30: 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 31: 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 3.

  • Page 32: Inputting The Origin Data

    2Unpacking to Installation (5) Inputting the origin data Input the value confirmed in section "(1)Confirming the origin Origin data table data" on page 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 33: 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 34: 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 35 2Unpacking to Installation <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> Ｊ４ axis Ｊ４ axis Ｊ１ axis Ｊ２ axis Ｊ２ axis Ｊ１ axis Ｊ５ axis Ｊ５ axis Ｊ３ axis Ｊ３ axis Note) The J5 axis is provided only with the 5-axis type <RH-1500G series> J1 axis J5 axis J6 axis J2 axis...
  • Page 36 2Unpacking to Installation <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> Ｊ４ ＋Ｚ axis Ｊ ５ ＋Ｚ axis ＋Ｙ axis ＋Ｙ axis ＋Ｘ axis ＋Ｘ axis Note) The Y-axis direction rotation is provided only with the 5-axis type. <RH-1500G series> +Z axis * While maintaining the flange surface posture, the axis moves straight along the base coordinate sys - tem.
  • Page 37 2Unpacking to Installation <RH-1000GHLC-SA/GJLC-SA> <RH-1000GHDC-SA/GJDC-SA> +Ｚ +Ｚ Ｊ ４ Ｊ ４ Ｊ５ +Ｘ Ｊ５ -Ｘ -Ｙ -Ｙ -Ｘ +Ｙ +Ｙ +Ｘ -Ｚ -Ｚ Note) The Y-axis direction rotation is provided only with the 5-axis type. <RH-1500G series> Ｊ４ Ｊ５ Ｊ６ * While maintaining the flange surface posture, the axis moves straight along the tool coordinate system.
  • Page 38 2Unpacking to Installation <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> +Ｚ ＋ Ｚ J4 axis J4 axis ＋Ｚ axis J5 axis J5 axis +Ｘ －Ｘ -Ｙ +Ｚ axis －Ｙ -Ｘ ＋Ｙ +Ｙ ＋Ｘ -Ｚ －Ｚ +Ｙ axis ＋Ｙ axis ＋Ｘ axis +Ｘ axis Note) The J5 axis is provided only with the 5-axis type <RH-1500G series>...
  • Page 39 2Unpacking to Installation <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> Vertical Vertical Ｊ４ ＋Ｚ axis ＋Ｚ axis Ｊ５ Radius Radius ＋Ｙ axis ＋Ｙ axis ＋Ｘ axis ＋Ｘ axis Note) The Y-axis direction rotation is provided only with the 5-axis type. <RH-1500G series> Vertical +Z axis Radius * The current position is set as the arc centering on the Z axis, and the axis moves along that arc,...

  • Page 40: 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 41 2Unpacking to Installation J2 axis jog operation <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA、 RH-1500G series> STEP STEP STEP STEP ＋ Ｊ２ axis ＋ (J2) ＋ (J2) (J2) ＋ (J2) MOVE MOVE MOVE MOVE &<> &<> Ｊ２ axis 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.
  • Page 42 2Unpacking to Installation J4, J5, J6 axis jog operation <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> Ｊ４ axis STEP STEP ＋ ＋ (J4) (J4) STEP STEP MOVE MOVE ＋ ＋ (J4) (J4) Ｊ４ axis MOVE MOVE STEP ＋ (J5) STEP MOVE ＋ (J5) Ｊ５ axis MOVE Ｊ５...
  • Page 43 2Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area. Move these axes toward the inner side of the movement area. If moved outward, an X will appear on the T/B screen, and the robot will not move. Ｘ...

  • Page 44: Xyz Jog Operation

    2Unpacking to Installation (2) XYZ jog operation Select the XYZ jog mode Press the [MOVE] + [XYZ] keys to select the XYZ jog mode. "XYZ" will appear at the upper left of X +134.50 the screen. STEP Y +220.00 ＋ MOVE Z +280.00 $":...
  • Page 45 2Unpacking to Installation Changing the flange surface posture <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> STEP STEP ＋ STEP STEP (J6) ＋ (J6) ＋ ＋ (J6) (J6) MOVE MOVE ＋Ｚ ＋Ｚ MOVE MOVE Ｊ４ STEP STEP ＋Ｚ axis ＋ (J5) ＋ (J5) MOVE MOVE Ｊ ５ －Ｘ...

  • Page 46: Tool Length

    2Unpacking to Installation ◇◆◇ When alarm No.5150 occurs ◇◆◇ If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters.

  • Page 47: 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 48 2Unpacking to Installation * Moving along the X axis(Only RH-1500G series 6-axis type.) When the [MOVE] + [+X (J1)] keys are pressed, the robot will move along the X axis plus direction of the tool coordinate system. When the [MOVE] + [-X (J1)] keys are pressed, the robot will move along the minus direction. * Moving along the Y axis(RH-1000G series is only 5-axis type.) When the [MOVE] + [+Y(J2)] keys are pressed, the robot will move along the Y axis plus direction of the tool coordinate sys - tem.
  • Page 49 2Unpacking to Installation Changing the flange surface posture <RH-1000GHDC-SA/GJDC-SA> <RH-1000GHLC-SA/GJLC-SA> STEP STEP ＋ ＋ (J6) (J6) MOVE MOVE +Ｚ STEP STEP ＋ ＋ (J6) (J6) STEP ＋ MOVE MOVE (J5) ＋ Ｚ MOVE +Ｘ -Ｙ +Ｙ STEP -Ｘ ＋ (J5) STEP ＋...
  • Page 50 2Unpacking to Installation ◇◆◇ When alarm No.5150 occurs ◇◆◇ If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters.

  • Page 51: 3-Axis Xyz Jog Operation

    2Unpacking to Installation (4) 3-axis XYZ jog operation Select the 3-axis XYZ jog mode Press the [MOVE] + [XYZ] keys, and then XYZ456 press only the [XYZ] key. "XYZ456" will appear X +134.50 at the upper left of the screen. STEP Y +220.00 ＋...
  • Page 52 2Unpacking to Installation Changing the flange surface posture <RH-1000GHLC-SA/GJLC-SA> <RH-1000GHDC-SA/GJDC-SA> STEP STEP ＋ (J4) ＋ Ｊ４ axis (J4) MOVE STEP STEP MOVE ＋ ＋ (J4) (J4) MOVE MOVE Ｊ４ axis STEP ＋ (J5) STEP MOVE ＋ (J5) MOVE Ｊ５ axis Ｊ５...
  • Page 53 2Unpacking to Installation ◇◆◇ When alarm No.5150 occurs ◇◆◇ If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters.

  • Page 54: 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 55 2Unpacking to Installation * Moving along an arc Assuming that the current position is on an arc centering on the Z axis, the robot moves along that arc. When the [MOVE] + [+Y (J2)] keys are pressed, the robot will move along the arc in the plus direction. When the [MOVE] + [-Y (J2)] keys are pressed, the robot will move in the minus direction.
  • Page 56 2Unpacking to Installation Changing the flange surface posture <RH-1000GHLC-SA/GJLC-SA> <RH-1000GHDC-SA/GJDC-SA> STEP STEP ＋ Vertical STEP ＋ (J6) (J6) STEP ＋ (J6) MOVE ＋ Vertical (J6) MOVE MOVE MOVE Ｊ４ STEP ＋ ＋Ｚ axis (J5) ＋Ｚ axis STEP MOVE ＋ Ｊ５ (J5) MOVE Radius...
  • Page 57 2Unpacking to Installation ◇◆◇ When alarm No.5150 occurs ◇◆◇ If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for the origin data. ◇◆◇ Tool length ◇◆◇ The default tool length is 0mm, and the control point is the center of the end axis. After installing the hand, set the correct tool length in the parameters.

  • Page 58: 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. 3-48...

  • Page 59: 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. 4-49...

  • Page 60: 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 61: 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 62: 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 (approx. 1,800hr) Lubricate the grease at the harmonic reduction gears for each axis. Lublicate it referring to "5.3.2Lubrication"...

  • Page 63: 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 64 5Maintenance and Inspection ■ RH-1000GHLC-SA/GJLC-SA、 RH-1500G series The rotation of the AC servomotor is conveyed to reduction gears 1 to rotate the lower arm. At the same time, the AC servomotor rotation is conveyed to reduction gears 2 and reduction gears 3 via the shaft and spiral bevel gears to rotate the upper arm and J1 base.

  • Page 65: J1 Axis Drive Mechanism

    5Maintenance and Inspection (2) J1 axis drive mechanism The J1 axis has a function to swing the entire arm. The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to swing the No. 1 arm. ■...
  • Page 66 5Maintenance and Inspection ■ RH-1000GHLC-SA/GJLC-SA <RH-1000GHLC-SA/GJLC-SA> Spur gears J1 casing Reduction gears Z axis casing upper AC servo motor (J1 base) Fig.5-5 ： J1 axis drive mechanism （RH-1000GHLC-SA/GJLC-SA） Maintenance and inspection procedures 5-56...
  • Page 67 5Maintenance and Inspection ■ RH-1500G series <RH-1500G series> AC servo motor No.1 arm Reduction gears Spur gears J1 installation base J1 base Fig.5-6 ： J1 axis drive mechanism （RH-1500G series） Maintenance and inspection procedures 5-57...

  • Page 68: J2 Axis Drive Mechanism

    5Maintenance and Inspection (3) J2 axis drive mechanism The J2 axis has a function to swing the whole of the No.2 arm. The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to swing the No. 2 arm. ■...
  • Page 69 5Maintenance and Inspection ■ RH-1000GHLC-SA/GJLC-SA、 RH-1500G series <RH-1000GHLC-SA/GJLC-SA、 RH-1500G series> No.2 arm No.1 arm Spur gears Reduction gears AC servo motor Fig.5-8 ： J2 axis drive mechanism （RH-1000GHLC-SA/GJLC-SA、 RH-1500 series） Maintenance and inspection procedures 5-59...

  • Page 70: J4 Axis Drive Mechanism

    5Maintenance and Inspection (4) J4 axis drive mechanism The J4 axis has a function to swing the wrist section (J5 axis or J5, J6 axis) and hand. ■ RH-1000GHDC-SA/GJDC-SA The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to swing the J4 casing. <RH-1000GHDC-SA/GJDC-SA>...
  • Page 71 5Maintenance and Inspection ■ RH-1000GHLC-SA/GJLC-SA The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to swing the J4 casing. <RH-1000GHLC-SA/GJLC-SA> AC servo motor Spur gears J4 (J5) casing No.2 arm Reduction gears Fig.5-10 ： J4 axis drive mechanism （RH-1000GHLC-SA/GJLC-SA） Maintenance and inspection procedures 5-61...
  • Page 72 5Maintenance and Inspection ■ RH-1500G series The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to swing the J5 casing. <RH-1500G series> Spur gears J5 casing Reduction gears No.2 arm AC servo motor Fig.5-11 ：...

  • Page 73: J5 Axis Drive Mechanism

    5Maintenance and Inspection (5) J5 axis drive mechanism The J5 axis has a function to rotate the J5 flange and hand. ■ RH-1000GJDC-SA(5-axis type) The rotation of the AC servomotor is directly conveyed to the reduction gears to swing the J5 casing. <RH-1000GJDC-SA>...
  • Page 74 5Maintenance and Inspection ■ RH-1000GJLC-SA （5-axis type） The rotation of the AC servomotor is directly conveyed to the reduction gears to turn the J5 flange. <RH-1000GJLC-SA> Reduction gears J5 flange J4 (J5) casing AC servo motor Fig.5-13 ： J5 axis drive mechanism （RH-1000GJLC-SA） Maintenance and inspection procedures 5-64...
  • Page 75 5Maintenance and Inspection ■ RH-1500G series The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to rotate the wrist flange (5-axis type) or the J6 axis (6-axis type). <RH-1500G series> Spur gears Reduction gears Wrist flange J6 axis J5 casing...

  • Page 76: J6 Axis Drive Mechanism

    5Maintenance and Inspection (6) J6 axis drive mechanism (Only RH-1500G series 6-axis type.） The J6 axis has a function to rotate the wrist flange and hand. The rotation of the AC servomotor is conveyed to the reduction gears via the spur gears to rotate the wrist flange.

  • Page 77: Lubrication

    5Maintenance and Inspection 5.3.2 Lubrication (1) Lubrication positions and lubrication amount The lubrication positions are shown in Fig. 5-16, and the lubrication positions and lubrication amounts are shown Table 5-3. The method for lubricating each axis is explained in the following section. <RH-1000GHDC-SA/GJDC-SA>...

  • Page 78: 5Maintenance And Inspection

    5Maintenance and Inspection Table 5-3 ： Lubrication positions and lubrication amounts Replenishment position Grease Lubrication interval (Hour) Axis Target part Type Amount Type ： RH-1000GHDC-SA/GJDC-SA Linear guide 40g X 2 positions J3 axis AFE Grease 1,500Hr Ball screw 10g X 2 positions J1 axis J2 axis Spur gear...

  • Page 79: J3 Axis Grease Replenishment Method(Only Rh-1000Ghdc-Sa/Gjdc-Sa Type.)

    5Maintenance and Inspection (2) J3 axis grease replenishment method(Only RH-1000GHDC-SA/GJDC-SA type 1) Rise to the state shown in Fig. 5-17, and remove the body cover and Z axis cover (middle). 2) Apply grease with finger on the ball transfer surface of linear guide. 3) On the ball screw, apply a light coat of grease with a finger so that the grease does not scatter on the ball transfer surface.

  • Page 80: J1 Axis Grease Replenishment Method(Only Rh-1000G Series.)

    5Maintenance and Inspection (3) J1 axis grease replenishment method(Only RH-1000G series.) 1) Remove the Z axis cover (top), and remove the hexagon socket plug. 2) Apply new grease on the spur gears from the hole (hole diameter approx. 10mm). After releasing only the brakes for the J1 axis, press the arm section by hand, and apply grease on the entire teeth circumference while rotating the gears.

  • Page 81: J2 Axis Grease Replenishment Methods

    5Maintenance and Inspection (4) J2 axis grease replenishment methods ■ RH-1000GHDC-SA/GJDC-SA 1) Remove the motor cover, and remove the hexagon socket plug. This plug faces downward, so take care to grease dripping. 2) Apply new grease on the spur gears from the hole (hole diameter approx. 10mm). After releasing only the brakes for the J2 axis, press the arm section by hand, and apply grease on the entire teeth circumference while rotating the gears.
  • Page 82 5Maintenance and Inspection ■ RH-1000GHLC-SA/GJLC-SA 1) Remove the motor cover, and remove the hexagon socket plug. This plug faces downward, so take care to grease dripping. 2) Apply new grease on the spur gears from the hole (hole diameter approx. 10mm). After releasing only the brakes for the J2 axis, press the arm section by hand, and apply grease on the entire teeth circumference while rotating the gears.
  • Page 83 5Maintenance and Inspection ■ RH-1500G series 1) 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 84: J4 Axis Grease Replenishment Method

    5Maintenance and Inspection (5) J4 axis grease replenishment method ■ RH-1000GHDC-SA(4-axis type)、 RH-1000GHLC-SA(4-axis type) 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). After releasing only the brakes for the J4 axis, press the arm section by hand, and apply grease on the entire teeth circumference while rotating the gears.
  • Page 85 5Maintenance and Inspection ■ RH-1000GJDC-SA(5-axis type)、 RH-1000GJLC-SA(5-axis type) 1) Remove the J5 motor cover, and remove the hexagon socket plug. 2) Apply new grease on the spur gears from the hole (hole diameter approx. 10mm). After releasing only the brakes for the J4 axis, press the arm section by hand, and apply grease on the entire teeth circumference while rotating the gears.
  • Page 86 5Maintenance and Inspection ■ RH-1500G series 1) 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 87: J5 Axis Grease Replenishment Methods (Rh-1500G Series)

    5Maintenance and Inspection (RH-1500G series) J5 axis grease replenishment methods 1) 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 88: J6 Axis Grease Replenishment Methods(Only Rh-1500G Series 6-Axis Type.)

    5Maintenance and Inspection (Only RH-1500G series 6-axis type.) J6 axis grease replenishment methods 1) 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 89: Replacing The Backup Battery

    5Maintenance and Inspection 5.3.3 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 customer.
  • Page 90 5Maintenance and Inspection <RH-1000GHDC-SA/GJDC-SA> B ac k c over B a tt e r y B a t t e ry c o nn e ct or M 5 sc r e w- 8 <RH-1000GHLC-SA/GJLC-SA， RH1500G series> M5 screw-6 Connector box cover Ａ...

  • Page 91: 5Maintenance And Inspection

    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. The consumable parts for each robot arm type are separately indicated in the table, so refer the section for the corresponding type.
  • Page 92 Type ： RH-1000GHDC-SA Cable J3 axis to No.1 arm J3 axis to J3 motor No.1 arm to hand Motor J1axis J2 axis Mitsubishi Electric System & Service;Co.,Ltd. J3 axis J4 axis J3 axis Liquid seal 100g Apply on replacing motor...
  • Page 93 400g × 7 Apply on replacing J3 motor Liquid seal 100g Apply on replacing J2,J3,J4 motor Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 5-83...

  • Page 94: 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 95 5Maintenance and Inspection <RH-1000GHLC-SA/GJLC-SA> Ｊ5 axis Ｊ４ axis Ｊ1 axis For 5-axis type Ｊ2 axis Ｊ3 axis ABS mark <RH-1500G series> J5 axis J6 axis (For 6-axis type) J2 axis J1 axis J4 axis J3 axis ABS mark Fig.5-28 ： ABS mark attachment positions Resetting the origin 5-85...
  • Page 96 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 97: 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 ABS 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 98 5Maintenance and Inspection <MENU> <MAINT> 4) Next, set the origin. 1.TEACH 2.RUN 1.PARAM 2.INIT Press the [MENU] key to display the Menu 3.FILE 4.MONI 3.BRAKE 4.ORIGIN screen. 5.MAINT 6.SET 5.POWER 5) Press the [5] key to display the Maintenance screen. (J6) Display the maintenance screen 　...

  • Page 99: 6Appendix

    6 Appendix 6 Appendix Appendix 1 ： Movement sequence we recommend To use the robot over an extended period of time, we recommend the following board movement operation. As shown in "Fig.6-1 ： Board Movement Operation" the order of operation is 1 → 2 → 3 → 4 → 3 → 2 → 1. Especially, by setting the operation path to mainly turn the J4 axis when moving to/from the turning posture (min - imum turning diameter) and setting the J1 and J2 axes to only perform micro-operation, the robot can operate efficiently and also the load applied to each axis can be reduced.
  • Page 100 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..2005 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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