Mitsubishi Electric MELFA RH-10CRH Series Instruction Manual
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Mitsubishi Electric MELFA RH-10CRH Series Instruction Manual

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Mitsubishi Electric Industrial Robot
RH-10CRH/20CRH INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
RH-10CRH series
RH-20CRH series
BFP-A3856-B

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  • Page 1 Mitsubishi Electric Industrial Robot RH-10CRH/20CRH INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE RH-10CRH series RH-20CRH series BFP-A3856-B...

  • 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. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. CAUTION Never carry out modifications based on personal judgments, or use non- designated maintenance parts.
  • Page 6 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.
  • Page 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. Controller rear Single phase ACIN cable connection AC200V Groove for main <1>...
  • Page 8 CAUTION Be careful of interference with peripheral equipment. Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged. Take care also of the following items.

  • Page 9: Revision History

    Revision history Date of Point Instruction Manual No. Revision Details 2024-08-09 BFP-A3856-A • First print 2024-10-21 BFP-A3856-B • Added "Instructions for replacing the machine cable (replaceable type)".
  • Page 10 "error may occur". Please contact your nearest dealer if you find any doubtful, wrong or skipped point. • This is the original document. • Company names and production names in this document are the trademarks or registered trademarks of their respective owners. Copyright(C) 2024 MITSUBISHI ELECTRIC CORPORATION...

  • Page 11: Table Of Contents

    CONTENTS Page 1 Before starting use .......................... 1-1 1.1 Using the instruction manual ..................... 1-1 1.1.1 The details of each instruction manual ................1-1 1.1.2 Symbols used in instruction manual ................... 1-2 1.2 Safety Precautions ........................1-3 1.2.1 Precautions given in the separate Safety Manual .............. 1-4 2 Unpacking to Installation .........................
  • Page 12 CONTENTS Page (3) Inspection of timing belt ....................5-66 (4) Timing belt tension ......................5-68 (5) Amount of movement of each axis during the timing belt tension measurement ... 5-69 5.3.4 Lubrication ........................5-70 (1) Lubrication position and specifications ................5-70 (2) Lubrication method to the J1, J2 axis ................

  • Page 13: Before Starting Use

    1Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the safety precautions. Moreover, handling and operation of a teaching pendant (T/B) are described based on R32TB in instruction manuals. If using other T/B, such as R86TB, refer to a supplied instruction manual of the T/B.

  • Page 14: Symbols Used In Instruction Manual

    1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1:Symbols in instruction manual Terminology Item/Symbol Meaning Standalone type...

  • Page 15: Safety Precautions

    1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.

  • Page 16: Precautions Given In The Separate Safety Manual

    1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 17 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involv- ing robot trouble and system trouble by unauthorized access, DoS attacks, com- puter viruses, and other cyberattacks.

  • Page 18: Unpacking To Installation

    2Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1. Confirm the parts. Users who have purchased optional products should refer to the separate "Standard Specifications Manual". Table 2-1:Standard configuration Part name Type...

  • Page 19: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking (1) RH-10CRH <1> Tape <4> Tape <6> Cable tie Robot arm <5> Controller set storage box <2> Outer box <3> Cardboard insert Remove the outer box. Remove the cardboard Remove the controller set Cut the cable tie and open insert.

  • Page 20: Rh-20Crh

    2Unpacking to Installation CAUTION Take the controller box straight up slowly. Be careful not to let the controller slip out of the box. CAUTION The parallel I/O interface is installed on the controller. Do not hold the parallel I/O interface section when taking out the controller. Otherwise, the interface may be fractured.
  • Page 21 2Unpacking to Installation CAUTION Take the robot out of the box slowly. Be careful not to get injured with the edge of the robot. CAUTION Note that the robot will not stand on its own if the hexagon nuts are removed. Fol- low the transportation procedure and remove the hexagon nuts once you are pre- pared to handle to robot.

  • Page 22: Transportation Procedures

    2Unpacking to Installation 2.2.2 Transportation procedures (1) Transportation procedure when unpacking *RH-10CRH Mass RH-10CRH6020/30: Approx. 22kg RH-10CRH7020/30: Approx. 22kg RH-10CRH8020/30: Approx. 23kg No.1 arm No.2 arm Base section Machine cable Grease is applied to the tip of the shaft (J3 axis) to prevent rust. Fig.2-3:Transportation posture and method (RH-10CRH) 1) The robot must be transported by two workers.
  • Page 23 2Unpacking to Installation Table 2-2:Transportation posture (RH-10CRH) Axis RH-10CRH 133° -154.2° 45 mm (not fixed) Not fixed *RH-20CRH Eye bolt M12 × 20 (three places) Transporting jig Hexagon socket bolt M5 × 12 (two places) Fig.2-4:Installing the transporting jig (RH-20CRH) CAUTION Place the transporting jig against arm No.1 and fix it in place using the hexagon socket bolts (two places).
  • Page 24 2Unpacking to Installation No.2 arm Mass Wire Note1) RH-20CRH8542: Approx. 56kg RH-20CRH10042: Approx. 59kg Eye bolt M12 × 20 (three places) Transporting jig No.1 arm Base section Grease is applied to the tip of the shaft (J3 axis) to prevent rust. Note 1) Use wires that are 1000 mm or longer.
  • Page 25 2Unpacking to Installation CAUTION The transporting jig is to be supplied by the customer. CAUTION Do not apply force to the shaft (J3 axis). Otherwise, the shaft may be damaged, resulting in an overload error. CAUTION Do not place the robot facing sideways. Otherwise, grease leaks or malfunction may occur.
  • Page 26 2Unpacking to Installation RH-20CRH8542 RH-20CRH10042 Center of gravity Center of gravity Center of gravity Center of gravity (Unit: mm) Fig.2-7:Center of gravity in packaging posture (RH-20CRH) 2-14 Installation...

  • Page 27: Transportation Procedure At Secondary Transportation

    2Unpacking to Installation (2) Transportation procedure at secondary transportation If it is difficult to follow the transportation procedure at secondary transportation described in Page 10, "(1) Transportation procedure when unpacking", take countermeasures not to allow the joints of the robot arm freely move by fixing the robot arm in such a way as to take advantage of the screw holes for fixing plates or the like.
  • Page 28 2Unpacking to Installation Safety socket M4×12 (222.5) 4×3×45° Fixing plate Fixing plate φ5 Fixing plate installation details (Unit: mm) Fig.2-10:Fixing plate reference figure (RH-10CRH80xx) 2-16 Installation...
  • Page 29 2Unpacking to Installation *RH-20CRH Before installing the fixing plate, position the robot by adjusting each axis according to Table 2-3. Safety socket M4×12 Fixing plate Safety socket M4×16 Fixing plate (158.9) Fixing plate installation details (2.3t) 5×3×45° φ5 (Unit: mm) Fig.2-11:Fixing plate reference figure (RH-20CRH8542) Safety socket M4×12...

  • Page 30: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. RH-10CRH RH-20CRH 4-M12×45 4-M8×30 Spring washer Spring washer Plain washer Plain washer <Top view of the base section> RH-10CRH RH-20CRH +0.012 4-φ16 installation 45±0.05 (φ6H7 pos.) hole 4-φ9 installation 2-φ6 hole...
  • Page 31 2Unpacking to Installation Table 2-4:Magnitude of each reaction force Unit Value Item RH-10CRH6020/30 Tilt moment N•m Torsional moment N•m Horizontal direction translation force 1280 Vertical direction translation force : F 1120 RH-10CRH7020/30 Tilt moment N•m Torsional moment N•m Horizontal direction translation force 1240 Vertical direction translation force : F 1120...

  • Page 32: Grounding Procedures

    2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-14, but the dedicated grounding (Fig. 2-14 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"...

  • Page 33: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller Controller rear Robot arm Fig.2-16:Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance" manual. 1) Make sure that the power of the controller is turned OFF. 2) Connect the controller side connector of the machine cable to CN1 connector on the rear side of the controller.
  • Page 34 2Unpacking to Installation CAUTION Take special care to the leading of the connection cable. If the cable is pulled with force or bent excessively, wires could break or the connector could be damaged. CAUTION Connect the machine cable at the place without the effect of the dust or oil mist. Please keep the dust and oil mist from being applied to of the robot arm connector section, in the condition that the machine cable is removed.

  • Page 35: Confirming The Operation

    2 Unpacking to Installation 2.3 Confirming the operation After the robot is connected to the controller, the origin data is automatically written. Then, manually move the robot using the T/B to confirm that the operation is correct. Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis, the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate system, the Work jog that moves along the work coordinate system, and the CYLNDER jog that moves along the circular arc.

  • Page 36: Installing The Teaching Pendant (T/B)

    2 Unpacking to Installation 2.3.1 Installing the teaching pendant (T/B) Installing the T/B, with turning off the controller power. CAUTION Please do not pull the cable of T/B strongly or do not bend it too much. It becomes the breaking of a wire of the cable and the cause of breakage of the connector.

  • Page 37: Preparing The T/B

    2 Unpacking to Installation 2.3.3 Preparing the T/B Next, prepare to use the T/B 1) Set the mode of the controller to "MANUAL". 2) Set the [T/B ENABLE] switch of the T/B to "ENABLE". The menu selection screen will appear. The following operations are carried out with the T/B.
  • Page 38 2 Unpacking to Installation J2 axis J1 axis J3 axis J4 axis * Each axis moves independently. Fig.2-18:JOINT jog operation Base coordinate system reference origin End axis * While maintaining the end axis posture, the axis moves straight along the base coordinate system. Also, while maintaining the end axis position, the end axis posture changes.
  • Page 39 2 Unpacking to Installation End axis Tool coordinate reference origin * While maintaining the end axis posture, the axis moves straight along the tool coordinate system. Also, while maintaining the end axis position, the end axis posture changes Fig.2-20:TOOL jog operation Base coordinate system reference origin...
  • Page 40 2 Unpacking to Installation Vertical Radius * The current position is set as the arc centering on the Z axis, and the axis moves along that arc, expands and contracts in the radius direction, and moves vertically. At this time, the end axis posture is maintained.
  • Page 41 2 Unpacking to Installation The jog movement based on work coordinates system WORK coordinate system Tool length Control point * While maintaining the end axis posture, the axis moves straight along the work coordinate system. Also, while maintaining the end axis position, the end axis posture changes. * Jog operation around the work coordinates system is available (EX-T jog).

  • Page 42: Joint Jog Operation

    2 Unpacking to Installation (1) JOINT jog operation Select joint jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen <CURRENT> JOINT 100% M1 T0 bottom) +0.00 +0.00 Check that the "joint" in jog mode is displayed +0.00 +0.00 on the screen.
  • Page 43 2 Unpacking 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. J3 axis jog operation J3 axis • When the [+Z (J3)] keys are pressed, the J3 axis will rotate in the plus direction. When the [-Z (J3)] keys are pressed, rotate in the minus direction.

  • Page 44: Xyz Jog Operation

    2 Unpacking to Installation (2) XYZ jog operation Select XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen <CURRENT> JOINT 100% M1 T0 bottom) +0.00 +0.00 Check that the "XYZ" in jog mode is displayed +0.00 +0.00 on the screen.

  • Page 45: Tool Length

    2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the end axis posture * The Position of the end axis will not change.

  • Page 46: Tool Jog Operation

    2 Unpacking to Installation (3) TOOL jog operation Select TOOL jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen <CURRENT> JOINT 100% M1 T0 bottom) +0.00 +0.00 Check that the "TOOL" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 47 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the end axis posture *The Position of the end axis will not change.

  • Page 48: 3-Axis Xyz Jog Operation

    2 Unpacking to Installation (4) 3-axis XYZ jog operation Select 3-axis XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "3-XYZ" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "3-XYZ."...
  • Page 49 2 Unpacking to Installation Changing the end axis posture *The Position of the end axis will not change. • When the[+C (J6)] keys are pressed, the J4-axis will rotate in the plus direction. When the[-C (J6)] keys are pressed, rotate in the minus direction. Confirming the operation 2-37...

  • Page 50: Cylnder Jog Operation

    2 Unpacking to Installation jog operation CYLNDER Select cylindrical jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) Check that the "CYLNDER" in jog mode is displayed on the screen. If other jog modes are displayed, please press the function key corresponding to the "CYLNDER."...
  • Page 51 2 Unpacking to Installation Vertical Radius *The position of the end axis will not change. • When the [+C (J6)] keys are pressed, the Z axis will rotate in the plus direction. When the [-C (J6)] keys are pressed, rotates in the minus direction. Confirming the operation 2-39...

  • Page 52: Work Jog Operation

    2 Unpacking to Installation (6) Work jog operation Setting of the work coordinates system is necessary. By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching operations get easier. When jog operation, select by which work coordinates the robot moves. The setting method of the work coordinates system using T/B (R33TB) is shown in the following.
  • Page 53 2 Unpacking to Installation 1) Select "6.ENHANCED" screen on the <MENU> screen. <MENU>　　 　 <EMHANCED>　　 　 1.FILE/EDIT 2.RUN 1.SQ DIRECT 2.WORK COORD. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 　 123 CLOSE CLOSE 2) Press the [2] keys in the menu screen and select "2. WORK COORD." <EMHANCED>　　...
  • Page 54 2 Unpacking to Installation Presses the function key corresponding to"Yes", the robot's current position is registered, and the registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed. <WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) TEACHING POINT (WO)
  • Page 55 2 Unpacking to Installation Although setting of work coordinates is finishing above, confirmation of work coordinates can be done by pressing the function key corresponding to "W GRID."([F2]) <WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) WORK COORDINATES DATA X: 214.12 (3.53, -220.00, 5.14, 0.00, 0.
  • Page 56 2 Unpacking to Installation The WORK jog operation and the Ex-T jog operation can be switched by setting the parameters WK1- JOGMD to WK8JOGMD of each work coordinates system. The respective operations are as follows. WORK jog operation mode Conventional WORK jog Ex-T jog Parameters WKnJOGMD (n is 1 to8) setting 0 (initial value)
  • Page 57 2 Unpacking to Installation Changing the end axis posture <1> Work jog mode Work coordinates system Tool length Control point * The position of the control point does not change. The end axis is rotated. • When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate system.
  • Page 58 2 Unpacking to Installation <2> Ex-T jog mode Tool length Control point Work coordinates system (Ex-T coordinates system) • When the [+C (J6)] keys are pressed, the control point will rotate in the plus direction around the Z axis (Zw) of work coordinates system (Ex-T coordinates system). When the [-C (J6)] keys are pressed, the control point will rotate in the minus direction.

  • Page 59: Setting The Hand Parameters

    2 Unpacking to Installation 2.3.4 Setting the hand parameters Set the parameters to set the hand I/O type and the hand condition according to the robot hand to be used. Refer to the separate volume, "Instruction Manual/Detailed Explanations of Functions and Operations" for how to set parameters.

  • Page 60: Installation Of Optional Equipment

    3Installation of optional equipment 3 Installation of optional equipment 3.1 Operation range change The operation range of the J1 axis can be limited. Change the mechanical stopper settings and the operation range inside the region between the mechanical stoppers. When there is possibility of interference with peripheral devices or it is necessary to limit the operation range, set the range as follows.
  • Page 61 3Installation of optional equipment Angle setting for changing the operation Note2) Note3) range Note1) Model Axis Standard Direction Customer-prepared items RH-20CRH10042 J1 axis Positive +170° +153° +130° — Mechanical stopper angle +173.3° +156.4° +133.3° Hexagon socket bolt M12 (length: 20) Mechanical stopper position Negative -170°...

  • Page 62: Operation Range Change Method

    3Installation of optional equipment (2) Operation range change method *Installing the mechanical stoppers 1) Turn off the controller's power supply. 2) Refer to Table 3-1 Fig. 3-1, and install the stoppers in the screw holes at the angles to be set. Fig.

  • Page 63: Replacement Procedure For Machine Cables (Replaceable Type)

    3Installation of optional equipment 3.2 Replacement procedure for machine cables (replaceable type) The replacement method for optional machine cables (replaceable type) is explained. The robot arm comes with standard accessory machine cables installed before shipment. (1) RH-10CRH Base section Machine cables (a) Hexagon socket bolt M4×12 (6 places)
  • Page 64 3Installation of optional equipment 1) Remove the installation screws (a) from CON plate B on the back of the base, and pull CON plate B forward. CAUTION When pulling out CON plate B, ensure the exposed circuit board does not come into contact with any surrounding metal parts.

  • Page 65: Rh-20Crh

    3Installation of optional equipment (2) RH-20CRH Base section (b) Hexagon socket CON plate B bolt M4×12 (8 places) (a) Hexagon socket bolt Machine cables M4×8 (2 places) CON plate B <8> CN21 connector <1> Clamp Internal circuit board * (c) Hexagon socket bolt M4×8 <5>...
  • Page 66 3Installation of optional equipment 4) Disconnect the F21 <5> and PE <6> wires of the power cable and the F22 wire <7> of the motor sig- nal cable. Remove the screws (c) from each of the terminals. 5) Remove the CN21 connector <8>. 6) Remove the screws (d) from the CN plate.

  • Page 67: Basic Operations

    Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic operations" in the "Controller setup, basic operation, and maintenance" manual. Refer that manual as necessary. 4-55...

  • Page 68: 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 Type of inspection and maintenance works Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 69: 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 Table 5-2 shows the procedure and inspection items.

  • Page 70: Periodic Inspection

    5Maintenance and Inspection 5.2.2 Periodic inspection The inspection items and timings for the robot arm are shown below. (1) Inspection item Carry out periodic inspection given in Table 5-3. Table 5-3:Periodic inspection items (details) Inspection item (details) Remedies Monthly inspection Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.

  • Page 71: Schedule

    5Maintenance and Inspection (2) Schedule The following shows the schedule for the periodic inspection works. Perform the periodic inspection works as appropriate according to the following table. Note2) Inspection schedule Type of periodic inspection works Operating time Note1) 15 hours per 8 hours per Monthly 3-month...

  • Page 72: Maintenance And Inspection Procedures

    5Maintenance and Inspection 5.3 Maintenance and inspection procedures The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Department for a fee. (Never disassemble, etc., the parts not described in this manual.) The maintenance parts, etc., required for the customer to carry out maintenance and inspection are described in Page 75, "5.5 Maintenance parts"...

  • Page 73: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover RH-10CRH <1> No.2 arm cover U RH-20CRH <1> No.2 arm cover U <2> Base cover Fig.5-2:Installing/removing the cover (RH-10CRH, RH-20CRH) Maintenance and inspection procedures 5-61...
  • Page 74 5Maintenance and Inspection Table 5-4:List of covers and installation screws (for RH-10CRH and RH-20CRH) Cover name Installation screw Qty. Remarks RH-10CRH <1> No.2 arm cover U Truss screw M4×10 Tightening torque: 1.39 to 1.89 N•m RH-20CRH <1> No.2 arm cover U Truss screw M4×10 Tightening torque: 1.39 to 1.89 N•m <2>...

  • Page 75: Inspection Replacement Of Timing Belt

    5 Maintenance and Inspection 5.3.3 Inspection replacement of timing belt This robot uses a timing belt for the drive conveyance system. Compared to gears and chains, the timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjustment are inadequate, the life could drop and noise could be generated.

  • Page 76: Timing Belt Replacement Period

    5 Maintenance and Inspection (1) Timing belt replacement period The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if the following symptoms occur, replace the belt. 1) The belt tension value becomes less than the guideline value. 2) A position mismatch or gear teeth skipping occurs.

  • Page 77: Timing Belt Tension Measurement

    5 Maintenance and Inspection (2) Timing belt tension measurement Rotate the drive axis timing pulley in one direction while visually checking its position. Measure the belt ten- sion at 90-degree intervals, four times in total. The average of the four measurements is used as the timing belt tension value.

  • Page 78: Inspection Of Timing Belt

    5-5. The picture is the image which removed the No.2 arm cover. Replacement of the timing belt will be performed by Mitsubishi Electric. Check the serial numbers of the robot arm and the controller, and contact Mitsubishi Electric. RH-10CRH <J4 axis>...
  • Page 79 5 Maintenance and Inspection The procedure for inspecting the timing belt is shown below. 1) Refer to Page 61, "5.3.2 Installing/removing the cover", and remove the No.2 arm cover U. 2) Visually confirm that the symptoms indicated in Page 64, "(1) Timing belt replacement period" have not occurred with the timing belt.

  • Page 80: Timing Belt Tension

    5 Maintenance and Inspection (4) Timing belt tension The following table shows the preset values of the sonic belt tension gauge, the tension value for new belt installation, and the tension value as the replacement guideline. Table 5-7:Belt tension Preset value Tension for new belt Replacement Axis...

  • Page 81: Amount Of Movement Of Each Axis During The Timing Belt Tension Measurement

    5 Maintenance and Inspection (5) Amount of movement of each axis during the timing belt tension measurement The amount each axis moves when the drive axis timing pulley is rotated 90 degrees is shown in Table 5-8. Table 5-8:Amount of movement of each axis during the tension measurement Amount of movement Model Timing belt J3A...

  • Page 82: Lubrication

    5 Maintenance and Inspection 5.3.4 Lubrication (1) Lubrication position and specifications The grease nipple position is shown in Fig. 5-6. The lubrication specifications for each place are shown in Table 5-9. Refer to the Page 61, "5.3.2 Installing/removing the cover" for the method of removing and installing the cover.

  • Page 83: Lubrication Method To The J1, J2 Axis

    5 Maintenance and Inspection [Caution] •The brand name of the grease shown in the Table 5-9 is the grease put in at shipping. •The lubrication time is a cumulative value of the operation at the maximum speed. If the operation has been suspended, or if the designated speed is slow, the lubrication time can be lengthened in proportion.

  • Page 84: Lubrication Method To The Shaft

    5 Maintenance and Inspection (3) Lubrication method to the shaft 1) Move the J3 axis to the lower end limit by jog operation. Then, turn off the controller's power supply. 2) Refer to Page 61, "5.3.2 Installing/removing the cover", and remove the No.2 arm cover U. 3) Wipe off the old grease on the shaft.
  • Page 85 5 Maintenance and Inspection 7) Turn on the controller's power supply. Move the J3 axis up and down for several times using the jog operation to distribute the grease inside the ball spline nut and the ball screw nut. 8) Move the J3 axis to a position around the center of the stroke using the jog operation. Then, turn off the controller's power supply.

  • Page 86: About Overhaul

    5 Maintenance and Inspection 5.4 About Overhaul Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of specified service life or other parts which have been damaged, so that the robots may be put back in shape for continued use.

  • Page 87: Maintenance Parts

    Table 5-10:Consumable part list Part name Usage place Q'ty Refer to section Supplier Grease Reduction gears of each A small axis amount Mitsubishi Electric "5.3.4Lubrication" A small Shaft amount RH-10CRH Timing belt J3 axis "5.3.3Inspection J4 axis motor side Mitsubishi Electric replacement of timing belt"...

  • Page 88: Resetting The Origin

    5 Maintenance and Inspection 5.6 Resetting the origin The origin is set so that the robot can be used with a high accuracy. The origin is set so that the robot can be used with a high accuracy. Setting is required if the motor is replaced or an encoder error occurs. The origin setting methods and when each origin setting method is required are shown in Table 5-12.

  • Page 89: Jig Method

    5 Maintenance and Inspection 5.6.1 Jig method This method is using the origin setting tool. If the origin setting tool is required, please ask nearby dealer. The reference figure of the origin setting tool is shown in Fig. 5-8. 0.5×45° Rz6.3 Fig.5-8:Reference dimension of origin setting tool The procedure of setting the origin with the origin setting tool is shown below.

  • Page 90: J1 Axis Origin Setting

    5 Maintenance and Inspection (1) J1 axis origin setting <MENU>　　 　 1) Press the [4] key on the menu screen, and 1.FILE/EDIT 2.RUN display the Origin/Break selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE Select ORIGIN/BRK 　　　　　　　　　 RH-10CRH Origin setting tool 2) Move the J1 axis slowly toward the front using both hands.
  • Page 91 5 Maintenance and Inspection <ORIGIN> TOOL 7) Press the [F1] key, and the origin position is set up. CHANGE TO ORIGIN. OK? <ORIGIN> TOOL COMPLETED 8) Setting of the origin is completed. J1:( ) J2:( ) J3:( J4:( ) J5:( ) J6:( J7:( ) J8:(...

  • Page 92: J2 Axis Origin Setting

    5 Maintenance and Inspection (2) J2 axis origin setting <MENU>　　 　 1) Press the [4] key on the menu screen, and display the Origin/Break selection screen. 1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE RH-10CRH 2) Move the J2 axis slowly using both hands. No.1 arm Align the pinholes of the No.
  • Page 93 5 Maintenance and Inspection 7) Press the [F1] key, and the origin position is <ORIGIN> TOOL set up. CHANGE TO ORIGIN. OK? 8) Setting of the origin is completed. <ORIGIN> TOOL COMPLETED J1:( ) J2:( ) J3:( J4:( ) J5:( ) J6:( J7:( ) J8:(...

  • Page 94: J3 And J4 Axis Origin Setting

    5 Maintenance and Inspection (3) J3 and J4 axis origin setting Always perform origin setting of the J3 axis and the J4 axis simultaneously. <MENU>　　 　 1) Press the [4] key on the menu screen, and display the Origin/Break selection screen. 1.FILE/EDIT 2.RUN 3.PARAM.
  • Page 95 5 Maintenance and Inspection CAUTION When the brake is released, the J3 axis falls by its own weight. To ensure safety, take appropriate measures such as supporting the axis to avoid the free fall. CAUTION If [F1] key or 3-position enable switch of T/B is released, the brakes will be work immediately.
  • Page 96 5 Maintenance and Inspection <ORIGIN> TOOL 11) Input "1" into the J3 and J4 axis. Set "0" to other axes. ) J2( ) J3( ) J5( ) J6( 12) Press the [EXE] key, and display ) J8( SPACE Confirmation screen. CLOSE <ORIGIN>...

  • Page 97: Abs Origin Method

    5 Maintenance and Inspection 5.6.2 ABS origin method When the origin setting of the robot is performed for the first time, this product records the angular position of the origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately.
  • Page 98 5 Maintenance and Inspection RH-10CRH J4 axis J1 axis J2 axis J1 axis J2 axis J4 axis ABS mark ABS mark ABS mark Slit RH-20CRH J1 axis J4 axis J2 axis J1 axis J2 axis J4 axis ABS mark Slit ABS mark ABS mark Note) There is no alignment mark of the J3 axis.

  • Page 99: Origin Setting Procedure

    5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Origin setting procedure Do the following operations, pressing down the 3-position enable switch of T/B lightly. <MENU>　　 　 1) Press the [4] key on the menu screen, and 1.FILE/EDIT 2.RUN display the Origin/Break selection screen.

  • Page 100: User Origin Method

    5 Maintenance and Inspection 5.6.3 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 76, "Table 5-12: Origin setting method". The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant.
  • Page 101 5 Maintenance and Inspection 6) Press the [1] key, and display the Origin < ORIGIN/ BRAKE > setting selection screen. . ORIGIN 2. BRAKE CLOSE 7) Press the [5] key, and display the User <ORIGIN> selection screen. 1.DATA 2.MECH 3.TOOL 4.ABS 5.USER CLOSE...

  • Page 102: How To Release The Brake In An Emergency

    5 Maintenance and Inspection 5.7 How to release the brake in an emergency The following describes how to release the brake using the emergency power supply in an emergency. Using an emergency power supply system separated from the primary power supply of the robot prevents the robot from moving accidentally during the brake release operation, which contributes to enhancing customer safety.

  • Page 103: 6Appendix

    Appendix 6 Appendix Appendix 1:Configuration flag The configuration flag indicates the robot posture. For the robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2).

  • Page 104: Appendix 2:How To Take Out The Battery At The Disposal Of The Robot

    Appendix Appendix 2:How to take out the battery at the disposal of the robot WARNING Always perform this procedure with the controller control power turned off. Failure to observe this may result in electric shock or malfunction. The robot has a battery. When disposing of the robot, take out the battery for correct disposal.
  • Page 106 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN Oct. 2024 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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