Mitsubishi Electric RH-1FRHR Manuals

Manuals and User Guides for Mitsubishi Electric RH-1FRHR. We have 2 Mitsubishi Electric RH-1FRHR manuals available for free PDF download: Instruction Manual

Mitsubishi Electric RH-1FRHR Instruction Manual (144 pages)

Industrial Robot

Brand: Mitsubishi Electric | Category: Industrial Electrical | Size: 4.26 MB

Table of Contents
8
Introduction
11
Terms
12
Functions and Configuration
15
Overview
15
Supported Products
15
System Configuration
16
Specifications
19
Risk Assessment
20
Residual Risk (Common)
20
Residual Risk (Specific to each Function)
21
Set-Up
22
Connections and Communication Destination Settings
23
System Configurations and Connections
23
Robot-Side System Configuration
24
Safety Programmable Controller-Side System Configuration
24
Network Communication Settings
25
Safety Communication Settings (Safety Programmable Controller Side)
25
Creating a Safety Program
26
Safety Monitoring Functions
27
Overview of the Safety Monitoring Functions
27
Simulation
28
Startup and Basic Configuration
29
Connecting RT Toolbox3
29
Parameter Configuration
29
Password Setting
30
Enabling/Disabling Functions, Safety Communication Settings
32
Recovery Mode
35
Parameter CRC Output Number
36
Defining 3D Models
38
Monitor
38
Arm Model
41
Tool Model
42
Safety Logic Edit
43
Safety Input Settings
43
Safety Output Configuration
52
Checking Operation of the Safety Inputs and Outputs
53
Safety Monitoring Functions
55
Safe Torque off (STO)
55
Safe Operating Stop (SOS)
56
Safe Stop 1 (SS1)
59
Safe Stop 2 (SS2)
62
Safely-Limited Speed Function (SLS)
65
Safely-Limited Position Function (SLP)
73
Safety Diagnosis Function
82
Test Pulse Diagnosis (EMG)
82
Safety Communication Function
83
Safety Connection
83
Transmission Interval Monitoring Time
86
Safety Refresh Monitoring Time
86
Transmission Delay Time
87
Robot (System) State Variables
88
List of Robot (System) State Variables
88
Explanations of Robot (System) State Variables
88
Troubleshooting
93
Error List for the Safety Monitoring Functions
93
Errors Whose Specification Is Changed by Safety Monitoring Functions
97
Safety Response Time and Safe Stopping Distance
98
Safety Response Time
98
How to Calculate a Stopping Distance
100
Maximum Stopping Time and Maximum Operating Angle
101
Calculating Stopping Distance and Stopping Time
121
System Application Examples
124
Application Example 1
124
Function
124
System Configuration
124
Network Communication Settings
125
Safety Communication Settings (Safety Programmable Controller)
126
Safety Program (Safety Programmable Controller)
127
Basic Configuration
127
Defining 3D Models (Robot Controller)
127
Safety Logic Edit (Robot Controller)
128
Safety Monitoring Function Settings (Robot Controller)
128
Transmission Interval Monitoring Time
129
Safety Refresh Monitoring Time
129
Transmission Delay Time
130
Safety Response Time
131
Application Example 2
132
Function
132
System Configuration
133
Network Communication Settings
134
Safety Communication Settings (Safety Programmable Controller)
135
Safety Program (Safety Programmable Controller)
136
Basic Configuration
137
Defining 3D Models (Robot Controller)
137
Safety Logic Edit (Robot Controller)
137
Safety Monitoring Function Settings (Robot Controller)
138
Transmission Interval Monitoring Time
138
Safety Refresh Monitoring Time
139
Transmission Delay Time
140
Safety Response Time
141

Mitsubishi Electric RH-1FRHR Instruction Manual (124 pages)

Mitsubishi Electric Industrial Robot

Brand: Mitsubishi Electric | Category: Robotics | Size: 9.07 MB

Table of Contents
11
Before Starting Use
13
Using the Instruction Manuals
13
The Details of each Instruction Manuals
13
Symbols Used in Instruction Manual
14
Safety Precautions
15
Precautions Given in the Separate Safety Manual
16
Unpacking to Installation
18
Confirming the Product
18
Installation
19
Unpacking
19
Transportation Procedures
20
Transporting with a Crane
20
Transporting with a Manual Pallet Jack
21
Installation Procedures
22
Grounding Procedures
24
Grounding Methods
24
Connecting with the Controller
25
Connection of Robot Arm and Machine Cable
25
Connection of Controller and Machine Cable
27
Ethernet Cables
28
2 Arm
28
Base Area
29
Passing Air Hoses and Cables through the Shaft
31
Specifications of Internal Air Hoses and Cables
31
Customer Prepared Products
31
Installation Procedure
33
Confirming the Operation
34
Installing the Teaching pendant (T/B)
35
Turning on the Control Power
35
Preparing the T/B
36
JOINT Jog Operation
40
XYZ Jog Operation
42
TOOL Jog Operation
44
3-Axis XYZ Jog Operation
46
CYLNDER Jog Operation
48
Work Jog Operation
50
Setting the Hand Parameters
56
Installing the Option Devices
57
Installing the Solenoid Valve Set
57
Installing the Hand Input Cable
59
Installing the Hand Output Cable
60
Changing the Operating Range
61
Operating Range Changeable Angle
61
The Change Method of the Operating Range
62
Hand Internal Wiring and Piping Set
63
Installation Procedure
63
External Wiring and Piping Box
66
Installing the Vacuum Valve Set
69
Connector Protection When the Option Devices Are Installed
71
Basic Operations
73
Maintenance and Inspection
74
Type of Inspection and Maintenance Works
74
Inspection Items
75
Daily Inspection Items
75
Periodic Inspection
76
Inspection Item
76
Schedule
77
Maintenance and Inspection Procedures
78
Robot Arm Structure
78
Installing/Removing the Cover
79
Packing Replacement Procedure
80
Packing Replacement Instructions
80
Inspection Replacement of Timing Belt
84
Timing Belt Replacement Period
85
Timing Belt Tension Measurement
86
Inspecting the J3 Axis Timing Belt
87
Replacing the J3 Axis Timing Belt
88
Inspecting the J4 Axis Timing Belt
91
Timing Belt Tension
92
Amount of Movement of each Axis During the Timing Belt Tension Measurement
93
Replacing the Bellows (Option)
94
Lubrication
95
Lubrication Position and Specifications
95
Replacing the Backup Battery
97
Replacing the Battery of the Robot Arm
98
About Overhaul
99
Maintenance Parts
100
Resetting the Origin
101
Setting the Origin with the Origin Data Input Method
102
Confirming the Origin Data
102
Selecting the Origin Setting Method
103
Inputting the Origin Data
104
Installing the Cover
105
Jig Method
106
J1 Axis Origin Setting
107
J2 Axis Origin Setting
109
J3 and J4 Axis Origin Setting
111
ABS Origin Method
114
Origin Setting Procedure
115
User Origin Method
116
Recording the Origin Data
118
Confirming the Origin Data Label
118
Confirming the Origin Data
118
Installing the Cover
118
How to Release the Brake in an Emergency
119
6Appendix
121
Appendix 1 ： Configuration Flag
121

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