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Mitsubishi Electric MELFA RH-3CRH Series Instruction Manual
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Mitsubishi Electric MELFA RH-3CRH Series Instruction Manual

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Mitsubishi Electric Industrial Robot
RH-3CRH/6CRH
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
RH-3CRH series
RH-6CRH series
BFP-A3609-B

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Summary of Contents for Mitsubishi Electric MELFA RH-3CRH Series

  • Page 1 Mitsubishi Electric Industrial Robot RH-3CRH/6CRH INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE RH-3CRH series RH-6CRH series BFP-A3609-B...
  • Page 3 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 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
  • 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 Date of Point Instruction Manual No. Revision Details 2018-03-01 BFP-A3609 • First print 2018-12-25 BFP-A3609-A • Added further explanation of the ACIN cable. • Revised the instructions for replacing machine cables (replaceable type). • Revised the instructions for replacing the backup battery. •...
  • Page 10 Please contact your nearest dealer if you find any doubtful, wrong or skipped point. • This specifications is original. • Company names and production names in this document are the trademarks or registered trademarks of their respective owners. Copyright(C) 2018-2020 MITSUBISHI ELECTRIC CORPORATION...

  • Page 11: 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 12 CONTENTS Page (1) Lubrication position and specifications ................5-59 (2) Lubrication method to the J1, J2 axis ................5-60 (3) Lubrication method to the shaft ..................5-61 5.3.5 Replacing the backup battery ................... 5-63 (1) Replacing the battery (robot arm) ................... 5-64 5.3.6 Felt replacement .......................

  • 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 R56TB, 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 iQ Platform compatible 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 1Before starting use CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.

  • 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> Tape (two) <2> Top plate <4> Fixing plate A Controller (beneath the fixing plate A) Robot arm Accessories <3> Outer box Packing box Cut the tape. Remove the top plate and Remove the fixing plate A. the outer box.
  • Page 20 2Unpacking to Installation The unpacking procedure is shown below. 1) Cut the tape <1> around the packing box with scissors etc. 2) Lift and remove the top plate <2> and the outer box <3>. 3) Lift and remove the fixing plate A <4> and the fixing plate B <5> one after another. 4) Cut the cable tie <6>...

  • Page 21: Transportation Procedures

    2Unpacking to Installation 2.2.2 Transportation procedures (1) Transportation procedure when unpacking Weight RH-3CRH: Approx. 14 kg RH-6CRH6020: Approx. 17 kg RH-6CRH7020: Approx. 18 kg No.1 arm No.2 arm Machine cable Fig.2-2:Transportation posture and method 1) The robot must be transported by two workers. Use a cart or other device for transporting the robot near the installation place.

  • Page 22: Transportation Procedure At Secondary Transportation

    If the robot arm is transported with its joints unfixed, applying an excessive power on the joints by external forces may cause a malfunction. When fixtures for fixing the joints of the robot arm are required, please consult your local Mitsubishi Electric. The reference figure of the fixture is shown in Fig.
  • Page 23 2Unpacking to Installation Before installing fixtures, adjust the posture of each axis of the robot as specified in Table 2-3. Table 2-3:Fixture installation posture Axis RH-3CRH RH-6CRH6020 RH-6CRH7020 50° 30° 30° 130° 150° 150° 90 mm (not fixed) 90 mm (not fixed) 90 mm (not fixed) Not fixed Not fixed...

  • Page 24: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. RH-3CRH:6.5 RH-6CRH:8.5 <Top view of the base section> RH-3CRH RH-6CRH hole Fig.2-4:Installation dimensions 1) The robot installation surface has been machine finished. Use the installation holes (6-φ9 for RH- 3CRH, 4-φ9 for RH-6CRH) opened at the four corners of the base, and securely fix the robot with the enclosed installation bolts (hexagon socket bolts).
  • Page 25 2Unpacking to Installation Table 2-4:Magnitude of each reaction force Unit Value Item RH-3CRH Tilt moment N ･ m Torsional moment N ･ m Horizontal direction translation force Vertical direction translation force : F RH-6CRH6020 Tilt moment N ･ m Torsional moment N ･...

  • 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. 2-5, but the dedicated grounding (Fig. 2-5 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"...

  • Page 27: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller Robot arm Controller rear Fig.2-7: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 28 2Unpacking to Installation CAUTION The machine cable connectors are dedicated for the controller side and robot arm side, so take special care when connecting. If connected incorrectly, the connector pins could bend or break. Thus, even if connected correctly, the robot will not operate correctly, creating a dangerous situation.

  • Page 29: 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 30: 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 31: 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 to "ENABLE". The menu selection screen will appear. The following operations are carried out with the T/B. Disable 上：DISABLE Down: Enable...
  • Page 32 2 Unpacking to Installation J1 axis * Each axis moves independently. Fig.2-9:JOINT jog operation Base coordinate system End axis reference origin * 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. Fig.2-10:XYZ jog operation 2-20 Confirming the operation...
  • Page 33 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.2-11:TOOL jog operation Base coordinate system End axis reference origin...
  • Page 34 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 35 2 Unpacking to Installation 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). In this jog operation, when the jog operation is performed for the posture elements, the posture rotates on the Xw axis, Yw axis, or Zw axis of the work coordinates system while the control point is changed.

  • Page 36: 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 37 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 38: 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 39 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 40: 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 41 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ There are directions from which linear movement is not possible from the transportation posture. In this case, the robot will not move. Refer to Page 24, "(1) JOINT jog operation", and move the robot to a position where linear movement is possible, and then carry out XYZ jog.

  • Page 42: 3-Axis Xyz Jog Operation

    2 Unpacking to Installation (4) 3-axis XYZ jog operation Select XYZ456 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 "XYZ456" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 43 2 Unpacking to Installation ◇◆◇ The flange surface end axis posture cannot be maintained with 3-axis XYZ jog. ◇◆◇ With 3-axis XYZ jog, the flange surface end axis posture (orientation) is not maintained when moving linearly in the X, Y or Z axis direction. Use XYZ jog to maintain the posture.

  • Page 44: 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 <CURRENT> JOINT 100% M1 T0 bottom) +0.00 +0.00 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 45 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 2-33...

  • Page 46: 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 47 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 48 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 49 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 50 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 51 2 Unpacking to Installation Changing the end axis posture <1> Work jog mode Control point * The position of the control point does not change. The end axis is rotated. Work coordinates system • When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate system.
  • Page 52 2 Unpacking to Installation <2> Ex-T jog mode SPACE 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 53: 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 54: 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 55: 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 56: 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. Machine cables CON plate B Base section (a) Hexagon socket bolt (b) Hexagon socket...
  • Page 57 3Installation of optional equipment CAUTION Do not cut cable ties other than the cable tie <1>. Also, be careful not to cut the cables when cutting the cable tie. 3) Remove the 1M connector <2> and CN1 connector <3>. 4) Remove the FG wire <4> of the motor signal cable. Remove the installation screw (b) used to fix the FG wire terminal.

  • Page 58: 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. 4-46...

  • Page 59: 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 60: 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 61: 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 62: 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 8 hours per Monthly 3-month...

  • Page 63: 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 67, "5.5 Maintenance parts"...

  • Page 64: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover <RH-3CRH, RH-6CRH> <1> No.2 arm cover U Note) RH-3CRH is shown. The same method is applicable to RH-6CRH. <2> Battery cover Fig.5-2:Installing/removing the cover (RH-3CRH, RH-6CRH) 5-52 Maintenance and inspection procedures...
  • Page 65 5Maintenance and Inspection Table 5-4:Cover fixing screw list Note1), Note2) Cover name Remarks Installation screw name: Qty. Common for RH-3CRH and RH-6CRH <1> No.2 arm cover U Truss screw M4×10: 8 <2> Battery cover Hexagon socket bolt, M4×8: 2 Note1) Use a bolting torque of 1.39 to 1.89 N ･ m for the installation screws <1> and <2>. Note2) Use a bolting torque of 4.02 to 5.00 N ･...

  • Page 66: 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 67: 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 68: Timing Belt Tension Measurement

    5 Maintenance and Inspection (2) Timing belt tension measurement Rotate the timing pulley A to one direction while visually checking its position, and measure the belt tension at every 90 degrees, four times in total. The average of the four measurements is used as the timing belt tension value.

  • Page 69: 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. <J3 axis> Note) This figure shows the RH- 3CRH series.

  • Page 70: 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 5-6:Belt tension Preset value Tension for new belt Replacement Axis...

  • Page 71: 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 5-8. Refer to the Page 52, "5.3.2 Installing/removing the cover" for the method of removing and installing the cover.

  • Page 72: Lubrication Method To The J1, J2 Axis

    5 Maintenance and Inspection [Caution] •The brand name of the grease shown in the Table 5-8 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 73: 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 52, "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 74 5 Maintenance and Inspection 6) Apply the specified amount of grease to the shaft. Fill the shaft grooves with the grease. Also, apply the grease lightly to the areas other than the grooves on the shaft surface to prevent rusting. Grease application range...

  • Page 75: Replacing The Backup Battery

    5 Maintenance and Inspection 5.3.5 Replacing the backup battery An absolute encoder is used for the position detector, so while power of controller is turned off the position must be saved by the backup battery. 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 76: Replacing The Battery (Robot Arm)

    5 Maintenance and Inspection (1) Replacing the battery (robot arm) CAUTION The power supply for the encoder is supplied by cable connected with battery board. The cable must be connected while replacing the battery or operating usually. Thus, if the cable connection is incomplete, the encoder position data will be lost, and resetting the origin is necessary.

  • Page 77: Felt Replacement

    5 Maintenance and Inspection 5.3.6 Felt replacement If the felt attached to the ball screw/spline section is saturated with the grease oil, replace the felt. If the oil is leaking from the felt and adheres to the cover, the cover may be deteriorated and cracked. (1) Replacing the felt Fig.5-8:Replacing the felt 1) Remove the No.2 arm cover U.

  • Page 78: 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 79: Maintenance Parts

    Q'ty Refer to section Supplier Grease Reduction gears of each A small axis amount "5.3.4Lubrication" A small shaft Mitsubishi Electric amount Lithium battery "5.3.5Replacing the backup Inside the battery cover battery" (battery:ER6) RH-3CRH Timing belt J3 axis "5.3.3Inspection J4 axis motor side replacement of timing belt"...

  • Page 80: 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 81: Setting The Origin With The Origin Data Input Method

    5 Maintenance and Inspection 5.6.1 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 Date Default ..

  • Page 82: Selecting The Origin Setting Method

    5 Maintenance and Inspection (2) Selecting the origin setting method <MENU> 1) Press the [4] key on the menu screen, and display the ORIGIN/BRAKE screen. 1.FILE/EDIT 2.RUN 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED CLOSE 2) Press the [1] key on the ORIGIN/BRAKE screen, and <...

  • Page 83: Inputting The Origin Data

    5 Maintenance and Inspection (3) Inputting the origin data T/B screen Origin data label Input the value confirmed in section Page 69, "(1) Con- (D,J1,J2,J3,J4,J5,J6,J7,J8) firming the origin data". The correspondence of the origin data label value and <ORIGIN> DATA axis to be input is shown in Fig.
  • Page 84 5 Maintenance and Inspection <ORIGIN> DATA 6) After inputting all of the values, press the [EXE] key. D:( V!%S29) The origin setting confirmation screen will appear. J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V) J4( T6!MSY) J5( ) J6( ) J8( CLOSE <ORIGIN>...

  • Page 85: Jig Method

    5 Maintenance and Inspection 5.6.2 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. 5-12. Fig.5-12:Reference dimension of origin setting tool The procedure of setting the origin with the origin setting tool is shown below.

  • Page 86: 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 　　　　　　　　　 J1 axis jig origin position 2) Move the J1 axis slowly toward the front using both hands.
  • Page 87 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:( 9) Refer to Page 85, "5.6.5 Recording the origin J4:( ) J5:(...

  • Page 88: 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 No.1 arm 2) Move the J2 axis slowly using both hands. Align the pinholes of the No.
  • Page 89 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:( 9) Refer to Page 85, "5.6.5 Recording the origin J4:( ) J5:(...

  • Page 90: 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 91 5 Maintenance and Inspection 7) Hold the J4 axis with your hand and rotate it slowly to align the slit with the ABS mark. *Move the J4 axis with maintaining the condition that the releasing brake of the J3 axis and the J3 axis contact to the mechanical stopper.
  • Page 92 5 Maintenance and Inspection <ORIGIN> MECH 13) Press the [F1] key, and the origin position is set up. CHANGE TO ORIGIN. OK? 14) Setting of the origin is completed. 15) Refer to Page 85, "5.6.5 Recording the origin data" in this manual, and record the origin data on the origin data seal.

  • Page 93: Abs Origin Method

    5 Maintenance and Inspection 5.6.3 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 94: Origin Setting Procedure

    5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Origin setting procedure <MENU>　　 　 1) Press the [4] key on the menu screen, and 1.FILE/EDIT 2.RUN display the Origin/Break selection screen. 3.PARAM.

  • Page 95: User Origin Method

    5 Maintenance and Inspection 5.6.4 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 68, "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 96 5 Maintenance and Inspection <USER> 8) Input "1" into the axis to origin setting. Press the [EXE] key, and display Confirmation J1:( )J2:( )J3:( J4:( )J5:( )J6:( screen. J7:( )J8:( REL. CLOSE → <ORIGIN> USER 9) Press the [F1] key, and the origin position is set up.

  • Page 97: Recording The Origin Data

    5 Maintenance and Inspection 5.6.5 Recording the origin data Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is attached on the side of the base part of the robot arm. The teaching pendant operation method and the battery cover removal method for confirming the origin data is the same as the methods for setting the origin with the origin data input method.

  • Page 98: 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 99: 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 100 Appendix Appendix-88 Configuration flag...
  • Page 102 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: Mitsubishi Electric Europe B.V. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 Jan. 2020 MEE Printed in Japan on recycled paper.

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