Mitsubishi Electric RH-10CRH6020-D Manuals

Manuals and User Guides for Mitsubishi Electric RH-10CRH6020-D. We have 1 Mitsubishi Electric RH-10CRH6020-D manual available for free PDF download: Standard Specifications Manual

Mitsubishi Electric RH-10CRH6020-D Standard Specifications Manual (148 pages)

Electric Industrial Robot

Brand: Mitsubishi Electric | Category: Robotics | Size: 11 MB

Safety Precautions
3
Table of Contents
11
General Configuration
14
Structural Equipment
14
Standard Structural Equipment
14
Special Specifications
14
Options
14
Maintenance Parts
14
Model Type Name of Robot
15
How to Identify the Robot Model
15
Combination of the Robot Arm and the Controller
15
General Configuration
16
Robot Arm
16
Contents of the Structural Equipment
16
Controller
17
Function Extension Device
18
Contents of the Option Equipment and Special Specification
19
Robot Arm
22
Standard Specifications
22
Basic Specifications
22
Rh-10Crh
22
Rh-20Crh
24
The Counter-Force Applied to the Installation Surface
25
Definition of Specifications
26
Pose Repeatability
26
Mass Capacity
27
Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
28
Setting Load Capacity and Size (Hand Conditions)
28
Vibrations at the Tip of the Arm During Low-Speed Operation of the Robot
28
Vibration of Shaft (J3 Axis) Position and Arm End
28
Relationship between Mass Capacity and Speed
29
Relationship between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
30
Relationship between Offset Amount and Maximum Speed
32
Time to Reach the Position Repeatability
33
Collision Detection
33
Protection Specifications
34
Types of Protection Specifications
34
Names of each Part of the Robot
35
Outside Dimensions / Operating Range Diagram
37
Normal Environmental Specification
37
Outside Dimensions of Machine Cables
46
RH-10CRH/RH-20CRH (Flexed Type)
46
Tooling
47
Wiring and Piping for Hand
47
Internal Wiring and Piping
49
General Environment
49
Internal Wiring for the Hand Output Cable
49
About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)
50
Air Supply Circuit Example for the Hand
52
Filter Regulator
52
Options
53
Machine Cable (Replacement): Flexed Type
54
About Overhaul
56
Maintenance Parts
57
Controller
58
Standard Specifications
58
Basic Specifications
58
Protection Specifications and Operating Supply
61
Protection Specifications
61
Operating Supply
61
Names of each Part
62
Controller
62
Outside Dimensions/Installation Dimensions
64
Outside Dimensions
64
Installation Dimensions
65
External Input/Output
67
Types
67
Dedicated Input/Output
68
Emergency Stop Input and Output Etc
71
Connection of the External Emergency Stop and Mode Selector Switch
72
Connection Procedure
75
Special Stop Input (SKIP)
76
Door Switch Function
77
Mode Selector Switch Function
77
Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
78
Additional Axis Function
79
Wiring of the Additional Axis Interface
79
Example of the Installation of the Noise Filter
80
Line Noise Filter
82
Additional Axis Synchronization Output
83
Example Circuit
83
Image of How to Connect the Controller Connector
84
Options
85
Teaching pendant (T/B)
86
High-Performance Teaching pendant (T/B)
89
MELSOFT RT Toolbox3/Melsoft RT Toolbox3 Mini/Melsoft RT Toolbox3 Pro
91
Parallel I/O Interface
93
External I/O Cable
99
Parallel I/O Unit
101
Specifications
101
Unit Number
106
External I/O Cable
111
CC-Link Interface
113
SD Memory Card
116
Maintenance Parts
117
Software
118
Functions and Specifications of RH-10CRH/RH-20CRH
118
Changed Functions/Specifications
118
Descriptions of Changed Functions/Specifications
118
Origin Position Adjustment of J2 Axis
121
List of Commands
122
List of Parameters
125
List of Parameters
126
Instruction Manual
127
The Details of each Instruction Manual
127
Safety
128
Self-Diagnosis Stop Functions
128
External Input/Output Signals that Can be Used for Safety Protection Measures
129
Precautions for Using Robot
129
Robot Installation
129
Prevention of Contact with Operator
129
Work Procedures
129
Training
130
Daily Inspection and Periodic Inspection
130
Safety Measures for Automatic Operation
130
Safety Measures for Teaching
130
Safety Measures for Maintenance and Inspections, Etc
130
Examples of Safety Measures
131
External Emergency Stop Connection [Supplementary Explanation]
135
Working Environment
136
Power Supply
136
Noise
136
Temperature and Humidity
136
Vibration
136
Installation Environment
136
Precautions for Handling
136
EMC Installation Guideline
138
Outlines
138
Emc
138
EMC Measures
138
Example of EMC Measures
139
Rh-10Crh
139
Rh-20Crh
140
Parts for EMC Measures
140
7Appendix
141
Appendix 1 : Inertia Calculation Method
141
Appendix 2 : Classification of Functions Using External Input/Output Signals
142
Appendix 3 : Safety Diagnosis Function (Test Pulse Diagnosis)
143
Appendix 4 : Safety Block Diagram
144
Appendix 5 : Specifications Discussion Material (RH-10CRH Series)
145
Appendix 6 : Specifications Discussion Material (RH-20CRH Series)
146

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Mitsubishi Electric RH-10CRH6020-D Standard Specifications Manual (148 pages)

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