Mitsubishi Electric RH-6FRH Series Manuals

Manuals and User Guides for Mitsubishi Electric RH-6FRH Series. We have 2 Mitsubishi Electric RH-6FRH Series manuals available for free PDF download: Instruction Manual

Mitsubishi Electric RH-6FRH Series Instruction Manual (180 pages)

Industrial Robot ARM SETUP & MAINTENANCE

Brand: Mitsubishi Electric | Category: Industrial Equipment | Size: 14.26 MB

Table of Contents
11
Before Starting Use
14
Using the Instruction Manuals
14
The Details of each Instruction Manuals
14
Symbols Used in Instruction Manual
15
Safety Precautions
16
Precautions Given in the Separate Safety Manual
17
Unpacking to Installation
19
Confirming the Product
19
Installation
20
Unpacking
20
RH-3FRH/6FRH/12FRH/20FRH Series
20
RH-3FRHR Series
21
Transportation Procedures
22
RH-3FRH/6FRH Series
22
RH-12FRH/20FRH Series
24
RH-3FRHR Series
26
Installation Procedures
28
RH-3FRH/6FRH/12FRH/20FRH Series
28
RH-3FRHR Series
30
Grounding Procedures
32
Grounding Methods
32
Connecting with the Controller
33
Connection of Robot Arm and Machine Cable
33
Connection of Controller and Machine Cable
35
Ethernet Cables (RH-3FRH/6FRH/12FRH/20FRH Series)
36
No.2 Arm
36
Base Area
37
Ethernet Cables (RH-3FRHR Series)
39
No.2 Arm Section
39
Base Area
40
Passing Air Hoses and Cables through the Shaft (RH-3FRH/6FRH/12FRH/20FRH Series)
42
Specifications of Internal Air Hoses and Cables
42
Customer Prepared Products
42
Installation Procedure
43
RH-3FRH Series
44
RH-6FRH Series
45
RH-12FRH/20FRH Series
46
About Oil Mist Specification
47
Piping for Pressurization Inside Robot Arm
47
About Clean Specification
47
Piping for Suction Inside Robot Arm
47
Arrangement of the Ventilation Duct
48
Confirming the Operation
49
Installing the Teaching Pendant (T/B)
50
Turning on the Control Power
50
Preparing the T/B
51
JOINT Jog Operation
55
XYZ Jog Operation
57
TOOL Jog Operation
59
3-Axis XYZ Jog Operation
61
CYLNDER Jog Operation
63
Work Jog Operation
65
Setting the Hand Parameters
71
Installing the Option Devices
72
Installing the Solenoid Valve Set (RH-3FRH/6FRH/12FRH/20FRH Series)
72
RH-3FRH/6FRH Series
72
RH-12FRH/20FRH Series
74
Hand Number and Solenoid Valve Ports (Common to Floor Installation Type Robot)
75
Installing the Solenoid Valve Set (RH-3FRHR Series)
76
Installation of Hand Tube (RH-3FRHR Series)
81
Installing the Hand Input Cable
85
RH-3FRH/6FRH/12FRH/20FRH Series
85
RH-3FRHR Series
86
Installing the Hand Output Cable
88
RH-3FRH/6FRH/12FRH/20FRH Series
88
RH-3FRHR Series
89
Changing the Operating Range
91
RH-3FRH/6FRH/12FRH/20FRH Series
91
Operating Range Changeable Angle
91
The Change Method of the Operating Range
92
RH-3FRHR Series
93
Operating Range Change of J1 Axis
93
Operating Range Change of J2 Axis
95
Hand Internal Wiring and Piping Set (RH-3FRH/6FRH/12FRH/20FRH Series)
97
Installation Procedure
97
RH-3FRH Series
99
RH-6FRH Series
100
RH-12FRH/20FRH Series
101
External Wiring and Piping Box (RH-3FRH/6FRH/12FRH/20FRH Series)
102
Connector Protection When the Option Devices Are Installed
104
Basic Operations
106
Maintenance and Inspection
107
Type of Inspection and Maintenance Works
107
Inspection Items
108
Daily Inspection Items
108
Periodic Inspection
109
Inspection Item
109
Schedule
110
Maintenance and Inspection Procedures
111
Robot Arm Structure
111
RH-3FRH Series
111
RH-6FRH/12FRH/20FRH Series
112
RH-3FRHR Series
113
Installing/Removing the Cover
114
RH-3FRH/6FRH/12FRH/20FRH Series
114
RH-3FRHR Series
116
Packing Replacement Procedure
118
Packing Replacement Instructions
118
Inspection Replacement of Timing Belt
122
Timing Belt Replacement Period
123
Timing Belt Tension Measurement
124
RH-3FRH Series: Inspecting the J3 Axis Timing Belt
125
RH-3FRH Series: Replacing the J3 Axis Timing Belt
126
RH-6FRH/12FRH/20FRH Series: Inspecting the J3 Axis Timing Belt
129
RH-6FRH/12FRH/20FRH Series: Replacing the J3 Axis Timing Belt
130
RH-3FRH/6FRH/12FRH/20FRH Series: Inspecting the J4 Axis Timing Belt
132
RH-3FRHR Series: Inspection of J1 Axis Timing Belt
133
RH-3FRHR Series: Inspection of J2 Axis Timing Belt
134
RH-3FRHR Series: Inspection of J3 Axis Timing Belt
135
RH-3FRHR Series: Inspection of J4 Axis Timing Belt
136
Timing Belt Tension
138
Amount of Movement of each Axis During the Timing Belt Tension Measurement
139
Replacing the Bellows
140
RH-3FRH/6FRH/12FRH/20FRH Series
140
RH-3FRHR Series
142
Lubrication
143
RH-3FRH/6FRH/12FRH/20FRH Series
143
RH-3FRHR Series
147
Replacing the Backup Battery
149
Replacing the Battery of the Robot Arm
150
About Overhaul
152
Maintenance Parts
153
Resetting the Origin
155
Setting the Origin with the Origin Data Input Method
156
Confirming the Origin Data
156
Selecting the Origin Setting Method
157
Inputting the Origin Data
158
Installing the Cover
159
Jig Method
160
J1 Axis Origin Setting
161
J2 Axis Origin Setting
163
J3 and J4 Axis Origin Setting
165
ABS Origin Method
169
RH-3FRH/6FRH/12FRH/20FRH Series
170
RH-3FRHR Series
171
Origin Setting Procedure
172
User Origin Method
173
Recording the Origin Data
175
Confirming the Origin Data Label
175
Confirming the Origin Data
175
Installing the Cover
175
How to Release the Brake in an Emergency
176
6Appendix
178
Appendix 1 ： Configuration Flag
178

Mitsubishi Electric RH-6FRH Series 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

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