Mitsubishi RH-6FH Series, RH-3FH55 Series, RH-12FH Series, RH-3FH45 Series, RH-6FH35 Series Instruction Manual
...
Mitsubishi Industrial Robot
RH-3FH/6FH/12FH/20FH Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A8865-AA
All teaching work must be carried out by an operator who has received special
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
Safety Precautions
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during
teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the
operator and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
Refer to the actual "Safety Manual" for details.
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. must be designed by the customer.
Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.
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.
Never carry out modifications based on personal judgments, or use nondesignated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not
WARNING
CAUTION
CAUTION
DANGER
DANGER
DANGER
CAUTION
CAUTION
CAUTION
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
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. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.
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.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.
Do not connect the Handy GOT when using the GOT direct connection function
of this product. Failure to observe this may result in property damage or bodily
injury because the Handy GOT can automatically operate the robot regardless
of whether the operation rights are enabled or not.
Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
Attach the cap to the SSCNET III connector after disconnecting the SSCNET
III cable. If the cap is not attached, dirt or dust may adhere to the connector
pins, resulting in deterioration connector properties, and leading to malfunction.
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer emer
gency stop, and door switch) are working properly after the wiring setup is com
pleted.
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. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automa
equipment) cannot be performed.
To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take mea
sures such as installing a firewall.
tion
-
-
-
*CR751-D or CR751-Q controller
CAUTION
PE terminal
Grounding screw
Controller
ACIN connector
AC200V AC200V
Primary
Secondary
PE terminal
Grounding screw
123 123
ACIN connector
ACIN connector
Note 2)
Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible)
Recommendation compression tools: 234171-1(Tyco Electronics)
Note 2) The earth leakage breaker is the customer preparation. Always use the cover below.
Recommendation: For single primary power supply .........NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)
For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3)
Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.
(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)
Controller
<4> LINE/LOAD
<3> LINE/LOAD
<1> LINE/LOAD
<2> LINE/LOAD
Noise filter
Label
ACIN connector or
power cable
(Attachment)
Note 1)
For three phaseFor single phase
Three phase Single phase
Earth leak
-
age breaker
(NV)
Note 3)
* The controller is an
example.
Notes of the basic component are shown.
Please install the earth leakage breaker in the primary side supply power supply
of the controller of CR751-D or CR751-Q because of leakage protection.
1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the
primary power supply (AWG #14 (2mm
2
or above).
(3.5mm
The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with
the product to match the specifications. When you build a cable suitable for your environment using the ACIN
connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm
2) Confirm that the primary power matches the specifications.
3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.
4) Connect the secondary power cable.
a) When using the supplied power cable with the ACIN connector
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
b) When building a power cable using the ACIN connector and the ACIN terminals supplied
Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN
terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to
connect the ACIN terminals.
For single phase: 1 and 3
For three phase: 1, 2, and 3
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
5) Connect this ACIN connector to the ACIN connector on the front of the controller.
6) Connect the grounding cable to the PE terminal. (M4 screw)
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
2
or above), cables to ground the primary power supply (AWG #12
2
) or above).
Be careful of interference with peripheral equipment.
CAUTION
Short cut
Arch movement (example)
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.
(1)The robot's locus of movement may change with specified speed.
Especially as for the corner section, short cut distance may change. Therefore, when beginning automatic operation, moves at low speed at first, and you should gather speed slowly with
being careful of interference with peripheral equipment.
(2)It can be confirmed whether the specified position exist in the defined area by using the instruc-
tion command "Zone". It can utilize as one of the methods for collision evasion. Refer to the
"detailed description of the instructions manual/function, and operation" of the separate volume
for the details of the instruction command.
Revision history
Date of Point Instruction Manual No. Revision Details
2012-03-13 BFP-A8865 ・ First print
2012-04-25 BFP-A8865-A ・ RH-3FH series robot arm mass was corrected.
2012-05-28 BFP-A8865-B ・ RH-12FH/20FH series robot arm mass was added.
2012-08-31 BFP-A8865-C ・ Removing the No.2 arm cover U was added, in J3 and J4 axis origin setting (mechanical
2012-10-04 BFP-A8865-D ・ "How to input symbols" was added to "(5) Inputting the origin data".
2012-11-20 BFP-A8865-E ・ The lithium battery type was corrected to "Table 5-9: Consumable part list".
2013-01-21 BFP-A8865-F ・The connectors of RH-3FH series machine cable (AMP1, AMP2, BRK) were combined as
2013-03-21 BFP-A8865-G ・ ”Table 5-1: Inspection schedule” was corrected.
2013-07-18 BFP-A8865-H ・ Descriptions in ”2.2.5 Connecting with the controller” were modified.
2013-09-19 BFP-A8865-J ・ Descriptions in ”2.2.6 Connecting with the controller” were modified.
2014-01-07 BFP-A8865-K ・ The illustration of the dummy connector was corrected.
2014-03-31 BFP-A8865-M ・ Ex-T control function was added.
2014-08-20 BFP-A8865-N ・ The cover and corporate logo mark of this manual was changed.
・ The attention seal illustration of the 2.2.2 transportation point was corrected.
・ The RH-6FH series transportation position was corrected.
・ The Note was added to Fig.5-4: Installing/removing the cover.
・ The CE marking specification was added.
・ "Installation bolt for machine-cable"was added to Standard configuration of RH-3FH
・ The size of the ground cable was corrected. (error in writing, formerly
"AWG#11(3.5mm2) or more")
・ The grease for application to the shaft of CE specification was corrected. (RH-3FH/
6FH)
stopper) of RH-3FH series.
・ The installing procedure of Hand internal wiring and piping set of RH-6FH series was
changed.
・ The notes about installation of the controller and the robot arm were added. (neither
direct rays nor the heat of lighting)
・ The statement about trademark registration was added.
・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed
to attachment of the robot arm in standard.
CN1 connector.
・ The descriptions for the simple spanner for resin nuts of external wiring/piping box
(option) attachment were added.
・ ”Table 5-3 ： Cover fixing screw list” was corrected.
・ Notes about antirust grease were added to "2.2 Installation."
・ A caution about transportation was added to “2.2.3 Transportation procedures (RH-
12FH/20FH series)”.
・ ”(1) Replacing the battery (robot arm)” was corrected.
・ The size of the Ethernet cable was corrected. (formerly: AWG #24(0.2mm
・The value of standard tension of RH-12FH/20FH series in "Fig. 5-14: Tension of a belt"
were corrected.
・ The methods of cable fixing in ”Fig.3-7: Installing the hand internal wiring and piping set
(RH-12FH/20FH)” was corrected.
・ The descriptions about the ventilation duct which the robot of clean specification has
were added.
・ The descriptions of cable fixation plate were added.
・ How to choose the origin setting method when an origin resetting is required was added.
・ The procedures of installing air hoses and cables inside the robot’s shaft.
・ ”3.4 Hand internal wiring and piping set” was modified.
・ The length of screws in ”Table 5-3: Cover fixing screw list” was corrected.
・ The place of batteries inside a robot arm was corrected.
・ The dimensions of pilot holes for positioning pin were added.
・ The explanation of CR751 controller was added.
・ The target model of applying rust preventive grease was changed. (Only for general
environment specification robot)
2
))
Date of Point Instruction Manual No. Revision Details
2014-12-19 BFP-A8865-P ・ ”(1) Replacing the battery (robot arm)” was changed.
・ The explanation of the origin setting method were added. The description of the setting
range of ABS origin method was added.
・ The cautions in lubrication and the procedure to lubrication for the shaft were added.
・ The lubrication amount guide for J1 and J2 axis reduction gears of RH-12/20FH series
were changed.
(formerly: 49 g for J1 axis, 39 g for J2 axis)
・ The description of how to change the operating range was added.
・ The corporate logo mark of illustrations in this manual was changed.
・ In recommended grease gun, CH-400 was deleted and KH-120 was added.
2015-02-06 BFP-A8865-R ・The belt type of J3 axis timing belt of RH-6FH series was corrected. (error: 264-3GT-6)
2015-03-10 BFP-A8865-S ・ The value of the vertical direction translation force of RH-12/20FH series is corrected.
(error: 5,500 N)
2016-04-06 BFP-A8865-T ・ ”2.2.2 Transportation procedures” and “3.1 Installing the solenoid valve set” were sup
plemented.
2016-10-21 BFP-A8865-U ・ Timing belt type was changed.
2017-05-23 BFP-A8865-V ・ Parameter settings when using a solenoid valve was added.
・ The J1 axis lubrication point of the RH-6FH series was changed.
・ Contact information of the authorised representative was updated.
2017-09-25 BFP-A8865-W ・ "5.4 About Overhaul" was modified.
2018-06-01 BFP-A8865-X ・ Description of countermeasures against unauthorized access was added.
・ “3.7 Connector protection when the option devices are installed” was added.
・ Mechanical stopper position in Fig 3-5 were corrected.
2018-12-25 BFP-A8865-Y ・ ”5.6.3 ABS origin method” was corrected.
2019-04-19 BFP-A8865-AA ・ Installation dimensions in Fig. 2-4 was corrected.
-
*Introduction
･ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
･ The details of this manual are subject to change without notice.
･ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may
occur".
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) 2012-2019 MITSUBISHI ELECTRIC CORPORATION
Thank you for purchasing the Mitsubishi industrial robot.
This instruction manual explains the method of unpacking, installation and maintenance and inspection of
the robot arm.
Always read through this manual before starting use to ensure correct usage of the robot.
The information contained in this document has been written to be accurate as much as possible. Please
interpret that items not described in this document "cannot be performed."
This document explains for the following robot type.
Robot type ･ RH-3FH series
･ RH-6FH series
･ RH-12FH series
･ RH-20FH series
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 .............................................................................................................................................................. 2-6
2.1 Confirming the product ......................................................................................................................................................... 2-6
2.2 Installation .................................................................................................................................................................................. 2-7
2.2.1 Unpacking ............................................................................................................................................................................ 2-7
2.2.2 Transportation procedures .......................................................................................................................................... 2-8
(1) RH-3FH/6FH series ................................................................................................................................................... 2-8
(2) RH-12FH/20FH series .............................................................................................................................................. 2-9
2.2.3 Installation procedures ................................................................................................................................................ 2-11
2.2.4 Grounding procedures .................................................................................................................................................. 2-13
(1) Grounding methods ................................................................................................................................................... 2-13
(2) Grounding procedures ............................................................................................................................................. 2-13
2.2.5 Connecting with the controller ................................................................................................................................ 2-14
(1) CR750 controller ....................................................................................................................................................... 2-14
(2) CR751 controller ....................................................................................................................................................... 2-16
2.2.6 Ethernet Cables .............................................................................................................................................................. 2-18
(1) No.2 arm ........................................................................................................................................................................ 2-18
(2) Base area ...................................................................................................................................................................... 2-19
2.2.7 Passing air hoses and cables through the shaft ............................................................................................... 2-21
(1) Specifications of internal air hoses and cables ............................................................................................ 2-21
(2) Customer prepared products ............................................................................................................................... 2-21
(3) Installation procedure .............................................................................................................................................. 2-22
(4) RH-3FH series ............................................................................................................................................................ 2-24
(5) RH-6FH series ............................................................................................................................................................ 2-25
(6) RH-12FH/20FH series ............................................................................................................................................ 2-26
2.2.8 About oil mist specification ...........................................................................................
(1) Piping for pressurization inside robot arm ...................................................................................................... 2-27
2.2.9 About clean specification ........................................................................................................................................... 2-27
(1) Piping for suction inside robot arm .................................................................................................................... 2-27
(2) Arrangement of the ventilation duct ................................................................................................................. 2-28
2.3 Setting the origin ................................................................................................................................................................... 2-29
2.3.1 Installing the teaching pendant (T/B) ................................................................................................................... 2-29
(1) CR750 controller ....................................................................................................................................................... 2-29
(2) CR751 controller ....................................................................................................................................................... 2-30
2.3.2 Setting the origin with the origin data input method ...................................................................................... 2-31
(1) Confirming the origin data ..................................................................................................................................... 2-31
(2) Turning ON the control power ............................................................................................................................. 2-31
(3) Preparing the T/B ..................................................................................................................................................... 2-32
(4) Selecting the origin setting method ................................................................................................................... 2-33
(5) Inputting the origin data ......................................................................................................................................... 2-34
(6) Installing the battery cover. .................................................................................................................................. 2-35
2.4 Confirming the operation .................................................................................................................................................... 2-36
(1) JOINT jog operation ................................................................................................................................................. 2-41
(2) XYZ jog operation ...................................................................................................................................................... 2-43
(3) TOOL jog operation .................................................................................................................................................. 2-45
(4) 3-axis XYZ jog operation ....................................................................................................................................... 2-47
(5) CYLNDER jog operation ......................................................................................................................................... 2-49
(6) Work jog operation ......................................................................................................... 2-51
............................................ 2-27
3 Installing the option devices ..................................................................................................................................................... 3-58
3.1 Installing the solenoid valve set ...................................................................................................................................... 3-58
i
CONTENTS
Page
(1) RH-3FH/6FH series ................................................................................................................................................. 3-58
(2) RH-12FH/20FH series ............................................................................................................................................ 3-60
(3) Hand number and solenoid valve ports (common to RH-FH series) ................................................... 3-61
3.2 Installing the hand input cable ......................................................................................................................................... 3-62
3.3 Installing the hand output cable ...................................................................................................................................... 3-63
3.4 Changing the operating range .......................................................................................................................................... 3-64
(1) Operating range changeable angle ..................................................................................................................... 3-64
(2) The change method of the operating range ................................................................................................... 3-65
3.5 Hand internal wiring and piping set ................................................................................................................................ 3-66
(1) Installation procedure .............................................................................................................................................. 3-66
(2) RH-3FH series ............................................................................................................................................................ 3-68
(3) RH-6FH series ............................................................................................................................................................ 3-69
(4) RH-12FH/20FH series ............................................................................................................................................ 3-70
3.6 External Wiring and Piping Box ........................................................................................................................................ 3-71
3.7 Connector protection when the option devices are installed ............................................................................. 3-73
4 Basic operations ............................................................................................................................................................................ 4-75
5 Maintenance and Inspection ..................................................................................................................................................... 5-76
5.1 Maintenance and inspection interval ............................................................................................................................. 5-76
5.2 Inspection items ..................................................................................................................................................................... 5-77
5.2.1 Daily inspection items .................................................................................................................................................. 5-77
5.2.2 Periodic inspection ........................................................................................................................................................ 5-78
5.3 Maintenance and inspection procedures ..................................................................................................................... 5-79
5.3.1 Robot arm structure ..................................................................................................................................................... 5-79
5.3.2 Installing/removing the cover ................................................................................................................................... 5-81
5.3.3 Packing Replacement Procedure ............................................................................................................................ 5-83
(1) Packing Replacement Instructions ..................................................................................................................... 5-83
5.3.4 Inspection, maintenance and replacement of timing belt .............................................................................. 5-87
(1) Timing belt replacement period ......................................................................................................................... 5-87
(2) RH-3FH series: Inspecting/Adjusting the J3 axis timing belt ................................................................ 5-88
(3) RH-3FH series: Replacing the J3 axis timing belt ..........
(4) RH-6FH/12FH/20FH series: Inspecting/Adjusting the J3 axis timing belt ..................................... 5-92
(5) RH-6FH/12FH/20FH series: Replacing the J3 axis timing belt ............................................................ 5-93
(6) RH-3FH/6FH/12FH/20FH series: Inspecting/Adjusting the J4 axis timing belt ........................... 5-95
(7) Timing belt tension ................................................................................................................................................... 5-98
5.3.5 Replacing the bellows ................................................................................................................................................... 5-99
(1) Clean specification ................................................................................................................................................... 5-99
(2) Oil mist specification ............................................................................................................................................ 5-100
5.3.6 Lubrication ..................................................................................................................................................................... 5-101
(1) Lubrication position and specifications ......................................................................................................... 5-101
(2) Lubrication method to the J1, J2 axis .......................................................................................................... 5-102
(3) Lubrication method to the shaft ...................................................................................................................... 5-103
5.3.7 Replacing the backup battery ................................................................................................................................ 5-105
(1) Replacing the battery (robot arm) ................................................................................................................... 5-106
5.4 About Overhaul ................................................................................................................................................................... 5-107
5.5 Maintenance parts .............................................................................................................................................................. 5-108
5.6 Resetting the origin ........................................................................................................................................................... 5-110
5.6.1 Mechanical stopper method ................................................................................................................................... 5-111
(1) J1 axis origin setting (mechanical stopper) ................................................................................................ 5-111
(2) J2 axis origin setting (mechanical stopper) ................................................................................................ 5-113
(3) J3 and J4 axis origin setting (mechanical stopper) ................................................................................. 5-115
(4) All axis origin setting ............................................................................................................................................. 5-118
5.6.2 Jig method ..................................................................................................................................................................... 5-119
(1) J1 axis origin setting ............................................................................................................................................. 5-120
(2) J2 axis origin setting ............................................................................................................................................. 5-122
............................................................................ 5-89
ii
CONTENTS
Page
(3) J3 and J4 axis origin setting ............................................................................................................................. 5-123
5.6.3 ABS origin method ..................................................................................................................................................... 5-124
(1) Select the T/B ........................................................................................................................................................ 5-126
5.6.4 User origin method ..................................................................................................................................................... 5-128
5.6.5 Recording the origin data ........................................................................................................................................ 5-130
(1) Confirming the origin data label ........................................................................................................................ 5-130
(2) Confirming the origin data .................................................................................................................................. 5-130
(3) Recording the origin data .................................................................................................................................... 5-130
(4) Installing the battery cover ................................................................................................................................ 5-130
6Appendix ............................................................................................................................................................................ Appendix-131
Appendix 1 ： Configuration flag .......................................................................................................................... Appendix-131
iii
1Before starting use
Safety Manual
Standard
Specifications
Robot Arm
Setup &
Maintenance
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
Additional
axis function
Tracking Func
-
tion Manual
Extended
Function
Instruction
Manual
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 (R33TB) in instruction manuals. If using other T/B, such as R56TB (R57TB), refer to a supplied
instruction manual of the T/B.
1.1 Using the instruction manuals
1.1.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Explains the common precautions and safety measures to be taken for robot handling, sys
tem design and manufacture to ensure safety of the operators involved with the robot.
Explains the product's standard specifications, factory-set special specifications, option
configuration and maintenance parts, etc. Precautions for safety and technology, when
incorporating the robot, are also explained.
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to auto
-
matic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation, com
mands used in the program, connection with the external input/output device, and parame
ters, etc.
Explains the causes and remedies to be taken when an error occurs. Explanations are given
for each error No.
-
-
-
1-1 Using the instruction manuals
Explains the specifications, functions and operations of the additional axis control.
Explains the control function and specifications of conveyor tracking
Explains the detailed description of data configuration of shared memory, monitoring, and
operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750D/CR751-D controller).
1Before starting use
DANGER
WARNING
CAUTION
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
Controller
The robot CPU unit or robot CPU
Item
The robot CPU system
Drive unit
Stand-alone type
Item
Symbol Precaution indicating cases where there is a risk of operator fatality or
Controller
Indicates the controller which controls the robot arm.
It consists of the robot CPU system and the drive unit.
Indicates the CPU unit for the robots which installed to the sequencer
base unit (Q3 □ DB) of MELSEC-Q series. It is connected with the
drive unit by the dedicated cable.
Multi-CPU system.
It consists of MELSEC units, such as the sequencer base unit, the
sequencer CPU unit, and the robot CPU unit, etc.
Indicates the box which mounts the servo amplifier for robot, and the
safety circuit, etc.
Indicates the box which arranged control parts, such as robot CPU,
servo amplifier, and the safety circuit.
serious injury if handling is mistaken. Always observe these precautions to safely use the robot.
Precaution indicating cases where the operator could be subject to
fatalities or serious injuries if handling is mistaken. Always observe
these precautions to safely use the robot.
Precaution indicating cases where operator could be subject to injury
or physical damage could occur if handling is mistaken. Always
observe these precautions to safely use the robot.
[JOG]
[RESET] + [EXE]
(A) (B)
T/B This indicates the teaching pendant.
O/P Indicates the operating panel on the front of controller or drive unit for
CR751 (Thin type)
CR751 (Heavy type)
If a word is enclosed in brackets or a box in the text, this refers to a
key on the teaching pendant.
This indicates to press the (B) key while holding down the (A) key.
In this example, the [RESET] key is pressed while holding down the
[EXE] key.
the controller which installed the operating panel
There are two kinds of CR751 controller; one is "Thin type" (the
height is 98mm) and the other is "Heavy type" (the height is 174mm),
each of which are different in height.
Thin type: CR751-03HD/Q, CR751-06HD/Q, CR751-12HD/Q,
CR751-20HD/Q, CR751-03HRD/Q, CR751-02VD/Q,
CR751-04VD/Q, CR751-04VJD/Q, CR751-07VD/Q.
Heavy type: CR751-13VD/Q, CR751-20VD/Q, CR751-07VLD/Q.
* Refer to separate Standard Specifications Manual for the outside
dimension of CR751 controller.
Using the instruction manuals 1-2
1Before starting use
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION
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.
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
1-3 Safety Precautions
1Before starting use
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
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.
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. must be designed by the customer.
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,
noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to personal
injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
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.
Never carry out modifications based on personal judgments, or use non-designated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.
Safety Precautions 1-4
1Before starting use
CAUTION
CAUTION
CAUTION
DANGER
DANGER
DANGER
DANGER
CAUTION
CAUTION
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.
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. If the main
power to the robot controller is turned off while in automatic operation or rewriting
the program or parameters, the internal information of the robot controller may be
damaged.
Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of
whether the operation rights are enabled or not.
Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q/CR760-Q controller. Failure to observe this may result in property damage or bodily injury because the
Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.
Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET
III employs a Class 1 or equivalent light source as specified in JIS C 6802 and
IEC60825-1 (domestic standards in Japan).)
Do not remove the SSCNET III cable while power is supplied to the controller. Do
not look directly at light emitted from the tip of SSCNET III connectors or SSCNET
III cables. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET
III employs a Class 1 or equivalent light source as specified in JIS C 6802 and
IEC60825-1 (domestic standards in Japan).)
Attach the cap to the SSCNET III connector after disconnecting the SSCNET III
cable. If the cap is not attached, dirt or dust may adhere to the connector pins,
resulting in deterioration connector properties, and leading to malfunction.
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in failures, such as the emergency stop not
being released. In order to prevent from occurring, please be sure to check that all
functions (such as the teaching box emergency stop, customer emergency stop,
and door switch) are working properly after the wiring setup is completed
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. Please fully
confirm the operation by customer. Guarantee and maintenance of the equipment
on the market (usual office automation equipment) cannot be performed.
1-5 Safety Precautions
To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take measures such as installing a firewall.
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".
Table 2-1 ： Standard configuration
No. Part name Type Qty. Remarks
RH-3FH series
1 Robot arm 1 unit
2 Guarantee card 1 copy
3 Installation bolts Ｍ8 x 40 4 pcs. For robot arm installation
4 Spring washer for installation bolts For M8 4 pcs.
5 Plain washer for installation bolts For M8 4 pcs.
6 Fixing plates 1 set For robot arm transportation
7 Fixing plates installation bolt 1 set
8 Installation bolt for machine-cable M4 x12 4 pcs. To fix to the back of robot arm base
RH-6FH series
1 Robot arm 1 unit
2 Guarantee card 1 copy
3 Installation bolts M8 x 40 4 pcs. For robot arm installation
4 Spring washer for installation bolts For M8 4 pcs.
5 Plain washer for installation bolts For M8 4 pcs.
6 Grease nipple WA-610
1 pc.
7 Fixing plates 1 set For robot arm transportation
8 Fixing plates installation bolt 1 set
RH-12FH/20FH series
1 Robot arm 1 unit
2 Guarantee card 1 copy
3 Installation bolts M12×45 4 pcs For robot arm installation
4 Spring washer for installation bolts For M12 4 pcs
5 Plain washer for installation bolts For M12 4 pcs
6 Fixing plates 1 set For robot arm transportation
7 Fixing plates installation bolt 1 set
8 Transporting jig 1 set
9 Transporting jig fixing bolt 1 set
Note1) RH-3FH/12FH/20FH series: Items No. 3 to 5 are contained in the plastic bag of attachment in the robot
arm.
RH-6FH series: Items No. 3 to 6 are contained in the plastic bag of attachment in the robot arm.
Supplied with type B robot only. Refer
to Page 101, "(1) Lubrication position
and specifications" for details of the
types .
Confirming the product
2-6
2Unpacking to Installation
②上ブタ
（ａ）
（ｂ）
（ｃ）
引き抜く
①テープ
固定台
③六角穴付ボルト
（４箇所）
ロボット本体
固定具A
固定具B
!
CAUTION
!
Always unpack the
robot at a flat place.
The robot could tilt
over if unpacked at an
unstable place.
<2> Upper lid
Pull out
<1> Tape
Fixing
board
<3> Hexagon socket
bolts
(Four positions)
Robot arm
Fixing plate B
Fixing plate A
*The grease for preventing rust is applied at the tip of the shaft (J3 axis)
in general-purpose environment robot.
CAUTION
CAUTION
2.2 Installation
2.2.1 Unpacking
Fig.2-1 ： Unpacking the robot arm
The robot is shipped from the factory in cardboard and plywood frame packing. Always refer to Fig. 2-1 and
unpack the robot.
Handle the robot arm according to "2.2.2Transportation procedures".
The unpacking process is shown below.
1) Using a knife, etc., slit the tape <1> fixing the upper lid <2> of the cardboard box. (Fig. 2-1 (a))
2) Pull the upper lid <2> of the cardboard box off with both hands. (Fig. 2-1 (b))
3) Remove the hexagon socket bolts <3> (four positions) which fix the robot. (Fig. 2-1 (c))
This completes the unpacking.
Always unpack the robot at a flat place. The robot could tilt over if unpacked at an
unstable place.
Note) The robot must be transported without removing the fixing plate A and B. Remove after installing.
2-7
Installation
When repackaging the robot in the wooden frame, always use the fixing plate.
2.2.2 Transportation procedures
注意 CAUTION
VORSICHT
ロボットの運搬は、図の姿勢のように
２人でおこなってください。
The robot must always be
transported by two workers.
Bei einem Transport sollte
der Roboter von 2
Personen an den in der
Abbildung gezeigten Stellen
angehoben werden.
Fixing plate B
No.1 arm
No.2 arm
<1>
<3>
Mass
RH-3FH35** series: Approx. 31kg
RH-3FH45** series: Approx. 32kg
RH-3FH55** series: Approx. 33kg
RH-6FH35** series: Approx. 39kg
RH-6FH45** series: Approx. 40kg
RH-6FH55** series: Approx. 41kg
Fixing plate A
<2>
*The grease for preventing rust is applied
at the tip of the shaft (J3 axis) in gen
-
eral-purpose environment robot.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
(1) RH-3FH/6FH series
2Unpacking to Installation
1) The robot must be transported by two workers with putting the fixing plate A and B. Place the robot on a
cart, etc., and move it to near the installation place. Transporting the robot with the following should be lim
ited to placing the robot on the frame or cart, and to positioning.
2) When transporting the robot arm, one person should hold the fixing plate A of No.2 arm <1> and No.2 arm
<2> and another person should hold the fixing plate A of base <3>. When transporting the robot, do not apply
force to the cover, or apply a strong shock on the robot.
3) Remove the fixtures after installing the robot.
4) Always attach the fixing plate, and follow the above procedures and methods to transport the robot for
secondary transportation, such as when changing the installation position.
If the arm is directly holded without using the specified fixing plate, or if it is holded in the work posture, the
configuration devices could be damaged, and the transportation workers will be subject to risk due to an
inadequate center of gravity position.
Fig.2-2 ： Transportation of robot arm
To prevent accidents, do not hold the robot from the left/right sides, or hold covers that
have no grips.
Be careful not to apply force to the shaft section (J3 axis). The shaft may be damaged
and the overload error may occur at the time of movement.
When installing the fixing tool again, place the robot in the posture where each axis
shows the values listed in the table below.
The robot should keep vertical. (not be horizontal)
It becomes the cause of the grease leakage or the trouble.
-
The ventilation duct is attached to the clean specification robot’s base section rear.
Please handle with care when transporting or installing the robot arm.
Installation
2-8
2Unpacking to Installation
CAUTION
Mass
RH-12FH55** series: Approx. 65kg
RH-12FH70** series: Approx. 67kg
RH-12FH85** series: Approx. 69kg
RH-20FH85** series: Approx. 75kg
RH-20FH100** series: Approx. 77kg
Self-supporting plate
Base
Transport
-
ing jig
Fixing plate
Eye bolt
No.1 arm
Wire hook
Wire
Note 1)
No.2 arm
*The grease for preventing rust is applied at the
tip of the shaft (J3 axis) in general-purpose
environment robot.
Note 1) Use wires that are 1300 mm or more.
Table 2-2 ： Transportation posture
Axis RH-3FH35** RH-3FH45** RH-3FH55** RH-6FH35** RH-6FH45** RH-6FH55**
Ｊ 1 49.5 deg. 25 deg. 17 deg. 57.5 deg. 28 deg. 19 deg.
Ｊ 2 -139.5 deg. -115 deg. -107 deg. -147.5 deg. -118 deg. -109 deg.
Ｊ 3 290.4mm 290.4mm
Ｊ 4 Not fixed Not fixed
(2) RH-12FH/20FH series
If it is difficult to follow the transportation procedure shown in this section, 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.
Otherwise, applying an excessive power on the joints by external forces may cause a
malfunction.
Do not apply an excessive load to the robot arm while fixing it. Otherwise, the robot arm
may be damaged.
Fig.2-3 ： Transportation of robot arm
1) Hook the wires to each of the four eyebolts attached to the transporting jig. (Make sure the bolts are
2) Lift with a crane to transport the robot to the designated location.
3) At this time, make sure that the wires, etc., do not interfere with the robot arm or the covers. Always place
4) Be careful not to subject the robot to physical shock during transport.
5) After installing the robot (refer to Page 11, "2.2.3 Installation procedures"), remove the wires, the wire
6) Always attach the self-supporting plate, fixing plate, and transporting jig, and follow the above procedures
2-9
Installation
securely hooked.)
the cloth, etc., at interfering places.
hooks (the robot will stand by itself as shown in Fig. 2-3), the self-supporting plate, transporting jig and fix
ing plate.
and methods to transport the robot for secondary transportation, such as when changing the installation
position.
If the arm is directly suspended without using the specified transporting jig, or if it is suspended in the work
-
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
2Unpacking to Installation
posture, the configuration devices could be damaged, and the transportation workers will be subject to risk
due to an inadequate center of gravity position.
When transporting a robot, always attach four wires.
To reattach the fixing plate again, set the axes of the robot to the positions according to
the table below.
The robot should keep vertical. (not be horizontal)
It becomes the cause of the grease leakage or the trouble.
The ventilation duct is attached to the clean specification robot’s base section rear.
Please handle with care when transporting or installing the robot arm.
When the robot is not installed, the self-supporting plate must be attached to the robot.
The robot could tilt over, if the self-supporting plate is not attached to the robot.
If it is difficult to follow the transportation procedure shown in this section, 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.
Otherwise, applying an excessive power on the joints by external forces may cause a
malfunction.
Do not apply an excessive load to the robot arm while fixing it. Otherwise, the robot arm
may be damaged.
Table 2-3 ： Transportation posture (RH-12FH/20FH series)
Axis
J1 -37.5° -21.4° -15.1° -21.0°
J2 127.5° 111.4° 105.1° 111.0°
Note1)
J3
J4 Not fixed
RH-12FH55** RH-12FH70** RH-12FH85** RH-20FH85** RH-20FH100**
340mm
Note1) The bottom surface of the shaft will interfere with the floor if the J3 axis is lowered down to the upper
mechanical stopper. Position the axes as indicated when transporting the robot.
Installation
2-10
2Unpacking to Installation
㻝㻡㻜
㻢㻜
㻝㻞㻜㻥㻜
㻥㻞
㻥㻞
㻝㻤㻜
㻝㻡㻜
㻝㻣㻠
㻝㻢㻜
㻝㻤㻞
㻞㻝㻞
㻠㻙䃥㻥㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻌㼔㼛㼘㼑㼟
㻞㻙䃥㻢㻌㼔㼛㼘㼑㼟
㻔㼒㼛㼞㻌䃥㻤㻌㼜㼛㼟㼕㼠㼕㼛㼚㼕㼚㼓㻌㼜㼕㼚㼟㻕
㻔㻵㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻌
㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼟㼡㼞㼒㼍㼏㼑㻕
㻾㼦㻞㻡
㻾㼦㻞㻡
㻔㻵㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻌
㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼟㼡㼞㼒㼍㼏㼑㻕
㻠㻙䃥㻝㻢㻌㼕㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻌㼔㼛㼘㼑㼟
㻝㻤㻜
㻝㻞㻜
㻝㻞㻞
㻞㻠㻜
㻝㻞㻞
㻞㻜㻜
㻞㻜㻜
㻔㻵㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻌
㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼟㼡㼞㼒㼍㼏㼑㻕
㻔㻵㼚㼟㼠㼍㼘㼘㼍㼠㼕㼛㼚㻌
㼞㼑㼒㼑㼞㼑㼚㼏㼑㻌㼟㼡㼞㼒㼍㼏㼑㻕
㻞㻠㻞
㻞㻤㻜
㻔㻝㻡㻤㻕
㻞㻞㻜
㻤㻜
㻾㼦㻞㻡
㻾㼦㻞㻡
㻞㻙䃥㻢㻌㼔㼛㼘㼑㼟
㻔㼒㼛㼞㻌䃥㻤㻌㼜㼛㼟㼕㼠㼕㼛㼚㼕㼚㼓㻌㼜㼕㼚㼟㻕
(4箇所)
バネ座金
平座金
20
4-M8×40
Ｆ
Ｈ
Ｆ
Ｖ
Ｆ
Ｈ
Ｆ
Ｈ
Ｆ
Ｈ
Ｍ
Ｌ
Ｍ
Ｌ
Ｆ
Ｖ
Ｍ
Ｔ
(Four positions)
Spring washer
Plain washer
<Detail of installation dimension>
(Base section of a robot arm))
RH-3FH/6FH series
RH-12FH/20FH series
4-M8x40 (RH-3FH/6FH series)
4-M12x45 (RH-12FH/20FH series)
2.2.3 Installation procedures
The installation procedure of the robot arm is shown below.
Fig.2-4 ： Installation dimensions
2-11
1) The robot installation surface has been machine finished. Use the installation holes (RH-3FH/6FH: 4-φ9
holes, RH-12FH/20FH: 4-φ16 holes) opened at the four corners of the base, and securely fix the robot
with the enclosed installation bolts (hexagon socket bolts).
2) Install the robot on a level surface.
3) It is recommended that the surface roughness of the table onto which the robot is to be installed by Rz25 or
more. If the installation surface is rough, the contact with the table will be poor, and positional deviation
could occur when the robot moves.
4) When installing, use a common table to prevent the position of the devices and jigs subject to robot work
from deviating.
5) The installation surface must have sufficient strength to withstand the arm reaction during operation, and
resistance against deformation and vibration caused by the static (dynamic) load of the robot arm and
peripheral devices, etc.
6) After installing the robot, remove the self-supporting plate, hanging jig, and fixing plate.
7) If you operate the robot at a high speed, reaction forces are applied to the installation stand by the robot's
operation. Make sure that the installation stand on which the robot is placed has sufficient strength and
Installation
CAUTION
2Unpacking to Installation
rigidity. Table 2-4 shows the maximum reaction force (design values) that may be applied to an installation
stand. Please use these values as reference when designing the installation stand.
Table 2-4 ： Magnitude of each reaction force
Item
RH-3FH series
Tilt moment : M
Torsional moment : M
L
T
Horizontal direction translation force : F
Vertical direction translation force : F
RH-6FH series
Tilt moment : M
Torsional moment : M
L
T
V
Horizontal direction translation force : F
Vertical direction translation force : F
RH-12FH/20FH series
Tilt moment : M
Torsional moment : M
L
T
V
Horizontal direction translation force : F
Vertical direction translation force : F
V
H
H
H
Unit Value
N ･ m 240
N ･ m 255
N 810
N 380
N ･ m 1,640
N ･ m 710
N 1,653
N 2,318
N ･ m 3,190
N ･ m 1,840
N 2,240
N 2,500
When installing the robot, secure enough space for connection of the machine cable and
replacement of the backup battery in front of or behind the robot base. And don't install
the robot arm in the position where direct rays or the heat of lighting hits. The skin tem
perature of the robot arm may rise, and the error may occur.
-
Installation
2-12
2Unpacking to Installation
Robot arm
Controller
and
personal
computer
(a) Dedicated grounding
(Optimum)
(b) Common grounding
(Good)
(c) Common grounding
(Normal)
Robot arm
Controller
and
personal
computer
Robot arm
Controller
and
personal
computer
A
M4×10
本体接地用ケーブル (AWG #11（3.5mm
2
）以上）
（お客様にてご手配ください）
ばね座金
平座金
Spring washer
Plain washer
Robot grounding cable (AWG#11 (4.2mm2) or more）
(Prepared by customer)
2.2.4 Grounding procedures (1) Grounding methods
Fig.2-5 ： Grounding methods
(2) Grounding procedures
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" for
details on the controller grounding.)
2) Use Class D grounding (grounding resistance
100Ω or less).
Dedicated grounding separated from the other
devices should be used.
2
3) Use a AWG#11(4.2mm
) or more stranded wire for
the grounding wire. The grounding point should be
as close to the robot arm and controller as possi
ble, and the length of the grounding wire should
be short.
-
Fig.2-6 ： Connecting the grounding cable
1) Prepare the grounding cable (AWG#11(4.2mm2) or
more) and robot side installation screw and washer.
2) If there is rust or paint on the grounding screw sec
-
tion (A), remove it with a file, etc.
3) Connect the grounding cable to the grounding screw
section.
2-13
Installation
2.2.5 Connecting with the controller
モータ電源ケーブル（5ｍ）
モータ信号ケーブル（5ｍ）
ロボット本体
コントローラ
CN1
CN2
CN1
CN2
Motor signal cable
Motor power cable
Robot arm
Controller
CN1
Note 1)
CN2
CN1
CN2
Note 1) Although the picture is the CR750-D controller, also the connection method is the same in the CR750-Q controller
CAUTION
CAUTION
CAUTION
CAUTION
(1) CR750 controller
2Unpacking to Installation
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.
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.
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.
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. Since it becomes the
cause of failure.
Please be careful not to catch the hand at installation and removal.
Installation
2-14
2Unpacking to Installation
固定フック
突起部
固定フック
機器間ケーブル側コネクタ
ロボット本体
ロボット本体側コネクタ
突起部
Robot arm
Connector on the
robot arm side
Hook
Projection
Connector on the
machine cable side
Hook
Projection
CAUTION
Be careful not to get your hand
pinched.
Hook
Minus screwdriver
Padding
Projection
CAUTION
When installing or removing the connector, to the connector
of the other party in parallel, install or remove. If load strong
against one side is applied, the connector pin may be
damaged and it may not be connected securely.
CAUTION
CAUTION
CAUTION
CAUTION
The procedure of connecting the machine cable is shown
below. (Although the figure of the robot arm is the example of
RH-6FH of our company, it is the same)
1) Make sure that the power switch on the front of the
controller is turned OFF.
2) Connect the machine cable to its corresponding connector
on the robot arm side.
3) After connecting the connector, insert the hook attached
to the connector on the machine cable side to the rear of
the projection of the robot arm connector to fix securely in
place.
To remove the cable, insert a minus screwdriver into the hook
while padding with a cloth, and remove the cable by lifting the
hook.
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.
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.
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. Since it becomes the
cause of failure.
Please be careful not to catch the hand at installation and removal.
2-15
Installation
モータ電源ケーブル
モータ信号ケーブル
ロボット本体
コントローラ
CN2
CN1
ネジ
(固定用 2本)
モータ信号(CN2)モータ電源(CN1)
AMP1 AMP2 BRK
Note 1) Although the picture is the CR751-D controller, also the connec-
tion method is the same in the CR751-Q controller
The cables are passed
into the opening
AMP1
AMP2
CN2
Cable clamp fixing plate
The each boards are fixed in the condition of having been inserted in the
hollow.
Hollow
Two fixing screws
Controller
Motor signal cable
Motor power cable
Note 1)
Machine cables
Controller side
Robot arm side
Plate fixing the
cable clamp
(two plates)
Robot arm
Motor power (CN1) Motor signal (CN2)
CONBOX cover
(For the clean specification
robot, the ventilation duct is
attached.)
(2) CR751 controller
2Unpacking to Installation
Fig.2-8 ： Connecting the machine cables
Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic
Operation and Maintenance" manual.
The procedure of connecting the machine cable is shown below.
1) Make sure that the power switch of the controller is turned OFF.
2) Connect the machine cable to its corresponding connector on the robot arm side.
a) Refer to Page 81, "5.3.2 Installing/removing the cover", and remove the CONBOX cover.
b) Feed the connector of robot side to the opening on the back of the robot base.
Installation
2-16
2Unpacking to Installation
CAUTION
CAUTION
CAUTION
CAUTION
c) Insert the cable clamp fixing plate attached to the machine cable into the hollow just under the opening.
Fixing the plate by two screws securely under the condition that the plates inserted into the hollow.
d) Connect the machine cable to its corresponding connector on the robot arm side. Connect the connector
(AMP1, AMP2, CN2) securely.
e) Install the CONBOX cover securely as before.
3) Connect the machine cable to the corresponding connector of the controller. Connects the connector CN1
(AMP1, AMP2, BRK) and CN2 surely. Fix CN2 connector by tightening two screws. Tighten the fixing screw
of CN2 by 0.06-0.07 Nm.
This completes connecting the machine cables.
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.
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.
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. Since it becomes the
cause of failure.
Please be careful not to catch the hand at installation and removal.
2-17
Installation
<a> Ethernet cable: 4 pairs, totaling 8 lines, of AWG#26(0.13mm2)
Note) When using by passing through the shaft, please use the optional
hand internal wiring and piping set to prevent the cable disconnection.
When using as spare wiring
When using as the Ethernet cable
LAN connector
Customer prepared Robot side
Customer prepared Robot side
Connect the customer's con-
Cut the LAN connectors
Shaft
Note) Although the figure is RH-6FH, the connection method is the same also in RH-3FH/12FH/20FH.
CAUTION
2Unpacking to Installation
2.2.6 Ethernet Cables
Ethernet cables (4 pairs, totaling 8 lines, of AWG#26 (0.13mm2) cabtyre cables) are installed within the robot arm
from the base unit up to the No. 2 arm, and can be used.
LAN connectors are mounted to both ends of the cables, and can therefore be used to connect to LAN
connection devices. Users may also remove the LAN connectors, replace them with their own connectors, and use
them as spare wiring by connecting them to user supplied cables.
Further, when passing through the inside of the shaft and using, please use the optional hand internal wiring and
piping set in order to prevent the cable disconnection. (Re-cover the connector of the hand input cable that is
attached to this option before using)
(1) No.2 arm
Fig.2-9 ： Pulling out the Ethernet cable
How to connect the Ethernet cable is shown below.
1) Remove the screws used to fix the No. 2 arm cover U, and then remove the No. 2 arm cover U.
2) Ethernet cables are located in the positions shown in Fig. 2-9 <a> (coiled and stored).
3) Remove the tying band used to coil the Ethernet cable.
4) Connect the cable on the customer supplied tool.
(When using as spare wiring please remove the LAN connectors and replace with customer's connector)
5) It is possible to use the optional hand internal wiring and piping set to feed the tool cable through the inside of
the shaft.
Replace the connector of the hand input cable that is attached to the hand wiring and piping set, and then
connect. Please reference Page 66, "3.5 Hand internal wiring and piping set".
6) After the optional hand wiring and piping set has been installed, install the No. 2 arm cover U to its original
position. When installing the cover please take care not to damage the spongy sealant material.
This completed connection of the Ethernet cables on the No. 2 arm.
When installing the No. 2 arm cover U to its original position please take care not to
trap any cables or air hoses. If the cables/hoses are trapped when fixing the cover
then cables may be disconnected or hoses punctured, leading to the robot and air
driving devices to not operate properly. The sealing property of the packing may also
Installation
2-18
2Unpacking to Installation
正常な状態 折れた状態
エアホース
Normal condition
abnormal condition
Air hose
CAUTION
CAUTION
ADDカバー
ケーブルクランプ
ロックナット
ロボットアーム内へ
イーサネットケーブル
Expansion
Ethernet cable
[Note]: Measures against the noise
If the communication error considered to originate by the
noise occurs, specify and remove the noise source.
And, implement the measures against the noise by
grounding of the Ethernet cable, and the addition of the
ferrite core if needed.
The recommendation the ferrite core
Type: E04SR301334 (SEIWA ELECTRIC MFG. CO., LTD.)
Inside of ADD
cover
Fix the Ethernet cable to the ADD cover by cable clamp.
* The recommendation the cable clamp
OA-W1608 (OHM ELECTRIC INC.)
Inside the robot arm
ADD cover
Lock nut
Cable clamp
Ethernet cable
(2) Base area
become seriously impaired and there is a risk that the specified level of product
protection may not be achievable.
When fixing the cable, please keep too much load from being applied to the cables. If
too much load is applied, the may break, when the robot moves.
When operating the robot, friction may result in dust being generated from the tip of
the shaft.
On the clean specification, please be sure to seal the shaft tip with a gasket. If this is
not done there is a risk that the level of cleanliness will be reduced.
Fig.2-10 ： Pull out the Ethernet cable (Base side)
1) Loosen the two screws and remove the ADD cover located at the back of the robot base.
2) Pull out the Ethernet cable that is stored inside the cover (coiled and stored).
3) Remove the cable tie of Ethernet cable.
4) Remove the lock nut attached to the cable clamp (customer prepared) and pass through the Ethernet cable
5) Remove the grommet of ADD cover. After removing the grommet please remove the sealant material that
remains in the hole in the plate.
6) Feed the Ethernet cable through the hole that was created by removing the grommet.
7) Feed the end of the Ethernet cable through the cable clamp and securely fasten the ADD cover with the
lock nut.
2-19
Installation
CAUTION
CAUTION
CAUTION
CAUTION
8) Install the ADD cover in its original position. When installing the cover please take care not to damage the
spongy sealing material stuck to the hole.
This completed pull out the Ethernet cables of the base section.
Take care against applying big force to the Ethernet cable, other cables, and the air
hose.
Please confirm not having broken or not having stripped the packing when installing
or removing the cover. Contact to the dealer. if packing is broken or has stripped.
Failure will be caused if the robot is used under the condition that the packing is
broken or stripped, because oil mist etc. will invade in the arm.
When ADD cover is installed, please keep too much load from being applied to the
cables and the air hoses. If too much load is applied, the cable will be broken and the
hose is bent, therefore robot and pneumatic drive equipment cannot operate
normally.
When ADD cover is installed, catch neither the cable nor the air hose.
If the bolt is tightened while it had been caught, the cable will be broken and the hose
is bent, and the robot and pneumatic drive equipment cannot operate normally.
Moreover, packing does not stick securely and protection specification cannot be
secured.
2Unpacking to Installation
Installation
2-20
2Unpacking to Installation
2.2.7 Passing air hoses and cables through the shaft For this robot, customer prepared air hoses and cables can be pulled out from the No. 2 arm by passing through
the shaft. For how to pass air hoses and cables through the shaft, refer to the following.
(1) Specifications of internal air hoses and cables
Use the air hoses and the cables, which have flexibility, capability of being repeatedly bent and twisted, and high
wear resistance, for the internal use.
Select the air hose and the cable according to the specifications shown in Table 2-5.
Table 2-5 ： Specifications of internal air hoses and cables
Model
RH-3FH φ11mm 50% or less 1,100mm/sec 20mm ±360deg
RH-6FH φ18mm 50% or less 2,400mm/sec 25mm ±360deg
RH-12FH φ18mm 50% or less 2,800mm/sec 25mm ±360deg
RH-20FH φ21mm 50% or less 2,400mm/sec 25mm ±360deg
Shaft inside
diameter
Space factor
(recommended)
Highest speed of
J3 axis
Minimum R of
bending
Operating angle of
(2) Customer prepared products
Table 2-6 shows the necessary products for passing air hoses and cables through the shaft. The user needs to
prepare the products.
Table 2-6 ： Customer prepared products
Name Qty. Usage and recommended product
Expanding sleeve Moderate
quantity
Cushion rubber Moderate
quantity
Cable tie Moderate
quantity
Silicon grease Moderate
amount
Liquid gasket Moderate
amount
Protecting the air hoses and cables, and improving the twisting rigidity
Recommended expanding sleeve: EXP-13-PT (manufactured by Kitagawa Industries Co.,
Ltd.)
Protecting the bent portion and the fixed portion of the twisted end.
Recommended cushion rubber: silicon rubber, thickness of 1mm, dimensions of 30mm ×
80mm
Fixing the air hoses and the cables
Reducing friction and wear when the air hoses and the cables slide
Recommended silicon grease: G-501 (manufactured by Shin-Etsu Chemical Co., Ltd.)
Sealing the outlet at the tip of the shaft (for the oil-mist and clean specification models
only)
Recommended liquid gasket: 1212 (manufactured by Three Bond Co., Ltd.)
J4 axis
2-21
Installation
1) The internal air hoses and cables are bent
and twisted according to the operations of
the J3 and J4 axes. Structurally, the
twisting occurs inside the shaft, and the
bending occurs inside the expanding sleeve.
Without the expanding sleeve, the twisted
air hoses and cables may run onto the guide
portion of the fixing plate, and the air hoses
may be bent or broken.
2) Do not place the connector connecting part
and the air hose relay part in the binding or
twisting range.
Bending range
Twisting
range
Expanding sleeve
Plate for fixation
【Precautions for implementation of moving part】
CAUTION
CAUTION
2Unpacking to Installation
(3) Installation procedure
The installation procedure is shown below.
Refer to the installation diagram shown from the next section, and perform the installation correctly.
1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is
necessary for space standard settings when feeding the air hose and hand input cable through the inside of
the shaft.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) Pass the tool (hand) side of the internal air hoses and cables through the shaft. Make sure that the air hoses
and the cables are not twisted or crossed.
4) Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm
away from the opening of the shaft.
5) The highest point of the curved section of the air hoses and cables should be matched up with the top of
the fixing plate.
If the air hoses and the cables are not long enough or too long, when the robot oper
ates, excessive bending and friction with the shaft upper end or the cover may result
in a break or abnormal operations of the tool (hand).
6) In the state of the steps 4) and 5), fix the air hoses and the cables to the (a) and (b) portions of the plate
with cable ties. For the (a) portion, wrap the air hoses and the cables with cushion rubber before fixing.
7) When using the hand input signal or the optional solenoid valve, refer to Page 66, "3.5 Hand internal wiring
and piping set".
8) The connected connectors are stored to the (c) portion.
Do not remove the cable ties which fixing connectors.
Fix the plate on the No. 2 arm, other cables and air hoses with cable ties. In this way,
the internal cables and connectors do not touch the plate edge and others, or break
due to the vibration during the robot operation (Refer to Page 73, "3.7 Connector
protection when the option devices are installed").
9) Carry out piping and wiring on the tool side.
Fix the air hoses and the cables, which are pulled out from the shaft lower end, to the hand side. Check
again that the highest point of the curved section of the air hoses and the cables reaches the height of the
fixing plate upper end, and then fix the air hoses and the cables at the outlet of the shaft.
In the case of oil-mist and clean specification models, to avoid mists entering and ensure the cleanliness
Installation
-
2-22
2Unpacking to Installation
CAUTION
level, use liquid gasket and others to seal the outlet on the shaft tip where the air hoses and the cables are
pulled out.
10) Apply silicon grease to the contact surface between the air hoses of the fixing plate and the cables, the
cable sliding portion from the shaft upper end to the fixed portion, and the opening on the shaft upper end.
11) Power on the controller, perform the jog operation for the J3 and J4 axes, and check that the air hoses
and the cables do not interfere with other components.
Do not power on the controller when the internal cables are connected to the con
nectors on the robot.
If the end of the cables on the tool side is not processed, troubles such as fuse blown
by ground fault or short circuit may occur. Check that the end of the cables has been
processed before powering on the controller.
12) Turn off the controller’s power supply, then install the No.2 arm cover U securely as before with fixing
screws (tightening torque: 1.39 to 1.89 Nm).
When installing the cover, check that no air hose or cable is pinched, and no air hose is bent.
Note) The installation surface of a clean and a oil-mist specification covers is using sealing material. In the
event that the sealing material has been removed or has been bent or broken to the extent that it
cannot be return to the original form, be sure to replace the sealing material. Please contact dealer
when the sealing material needs to be replaced.
This completes installing cables and air hoses inside the robot’s shaft.
-
2-23
Installation
Connect inside the
No. 2 arm cover U
No.2 arm cover U
Match up the peak of the
air hose and cable with the
top end of the fixing plate
Expanding sleeve
Approx. 10mm
Silicone grease application places
Perform the operation of the J3
and J4 axes, and check that no
interference occurs.
J3 axis
J4 axis
Top end of the
J3 axis operat
-
ing range
Seal the outlet with the liquid gasket.
（Only for clean/oil mist specification）
Fixing air hoses and
cables inside a hand.
(a)
(b)
1)
2)、 12)
3)
4)
5)、 9)
10)
6)
(c)
8)
11)
9)
9)
2Unpacking to Installation
(4) RH-3FH series
Refer to Page 22, "(3) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 2-
11 are correspond to the same numbers in "(3)Installation procedure".
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"
for removing/ installing the cover.
Fig.2-11 ： Installation of air hoses and cables inside the robot’s shaft (RH-3FH series)
Installation
2-24
2Unpacking to Installation
Connect inside the No.
2 arm cover U
No.2 arm cover U
2)、 12)
(c)
8)
Match up the peak of the air
hose and cable with the top
end of the fixing plate
Expanding sleeve
Approx. 10mm
4)
5)、 9)
Silicone grease application places
10)
(a)
(b)
3)
6)
Top end of the
J3 axis operat
-
ing range
1)
Perform the operation of the
J3 and J4 axes, and check
that no interference occurs.
J3 axis
J4 axis
11)
Seal the outlet with the liquid gasket.
（Only for clean/oil mist specification)
Fixing air hoses and
cables inside a hand.
9)
9)
(5) RH-6FH series
Refer to Page 22, "(3) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 2-
12 are correspond to the same numbers in "(3)Installation procedure".
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"
for removing/ installing the cover.
Fig.2-12 ： Installation of air hoses and cables inside the robot’s shaft (RH-6FH series)
2-25
Installation
Connect inside the No.
2 arm cover U
No.2 arm cover U
2)、 12)
Match up the peak of the air hose and
cable with the top end of the fixing plate
Expanding
sleeve
Approx. 10mm
4)
5)、 9)
Silicone grease
application places
10)
3)
(a)
(b)
6)
(c)
8)
11)
Seal the outlet with the liquid gasket.
（Only for clean/oil mist specification)
Fixing air hoses and
cables inside a hand.
9)
9)
Top end of the
J3 axis operat
-
ing range
1)
Perform the operation of the
J3 and J4 axes, and check that
no interference occurs.
J3 axis
J4 axis
2Unpacking to Installation
(6) RH-12FH/20FH series
Refer to Page 22, "(3) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 2-
13 are correspond to the same numbers in "(3)Installation procedure".
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"
for removing/ installing the cover.
Fig.2-13 ： Installation of air hoses and cables inside the robot’s shaft (RH-12FH/20FH series)
Installation
2-26
2Unpacking to Installation
Coupling for pressurization(
φ8)
Note) Although the figure is RH-6FH, the position of the
coupling is the same also in RH-3FH/12FH/20FH.
Coupling for suction(
φ8)
Note) Although the figure is RH-6FH, the position
of the coupling is the same also in RH-3FH
series.
RH-12FH/20FH series has two couplings.
2.2.8 About oil mist specification (1) Piping for pressurization inside robot arm
In use in oil mist environment, protection performance can be improved by pressurizing the inside of the robot
arm. Please connect the φ8 air hose to the joint for pressurization of the robot arm base portion "AIR PURGE",
and pressurize the inside of the robot arm.
Refer to the separate "Standard specifications manual" for specification of air purge.
Fig.2-14 ： Air purge
2.2.9 About clean specification (1) Piping for suction inside robot arm
In use of the robot of clean specification, please connect the φ8 air hose to the coupling for suction of the
robot body base portion "VACUUM", and suck the inside of the robot arm.
Refer to the separate "Standard specifications manual" for vacuum condition.
2-27
Installation
Fig.2-15 ： Vacuum
Robot
base
Machine cable
RH-3FH RH-6FH/12FH/20FH
Ventilation duct
Internal suction
Opening Opening
Ventilation duct
Robot
base
Internal suction
Machine cable
2Unpacking to Installation
(2) Arrangement of the ventilation duct
The ventilation duct is attached to the robot’s base section rear (reference Fig. 2-16). As the Z axis moves up
and down the volume of the bellows varies, and air is sucked in and released out of the robot’s ventilation duct
opening. Be sure to locate the ventilation duct’s opening in a position that will not affect the robot’s cleanliness.
Furthermore, whilst it is only a small amount, internal suction results in external air flows into the robot through
the ventilation duct’s opening, and therefore the following two points should be considered when deciding where
to locate the ventilation duct’s opening.
・ The opening should be facing downwards
・ The opening should not be located in the vicinity of dust/dirt or liquids, etc.
(Recommended cleanliness of surrounding area: less than ISO class 5)
Fig.2-16 ： Arrangement of the exhaust duct
Note) When using the optional electromagnetic valve set, we recommend using the primary piping’s spare piping
(φ6 air hose) to release the exhaust fumes.
Please take care as leaking exhaust fumes inside the robot may have an impact on the robot’s
cleanliness.
Installation
2-28
2Unpacking to Installation
CAUTION
ティーチングボックス
(T/B)
ダミーコネクタ
A
T/B接続用コネクタ
A部詳細
T/B接続用コネクタを取り外す時は、
ロック解除（ロックレバーを上側に起
こした状態）にし、B部のケースを手前
にスライドさせてラッチを外し引き抜き
ます。
ロックレバー
B
Dummy connector
T/B connector
Teaching pendant
(T/B)
Details of the A section
When removing the connector for T/B
connection, use lock release (state
which raised the lock lever to the up
side), make the case of the B section
slide to the front, and remove and pull
up out the latch.
Lock lever
Controller
◇◆◇ If error C0150 occurs ◇◆◇
At the time of the first power supply injection, error:C0150 (the serial number of the robot arm has not been
set up) occur the robot after purchase.
Parameter: Please input the serial number of the robot body into RBSERIAL. Refer to "instructions manual /
controller setup, and basic operation & maintenance" for the operation method.
2.3 Setting the origin
The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out
this step before starting work. This step must also be carried out if the combination of robot and controller being
used is changed.
There are several methods for setting the origin, but the origin data input method will be explained here. Refer to
Page 110, "5.6 Resetting the origin" for the other methods.
The teaching pendant is required for this operation.
[Caution] If the origin data at shipment is erased due to out of battery, it is necessary to set the origin again.
Refer to Page 110, "5.6 Resetting the origin" and reset the origin using the jig method, mechanical stop
per method or ABS method.
2.3.1 Installing the teaching pendant (T/B)
When installing and removing the T/B, turn off the controller power supply. If T/B is installed or removed in the
state of power supply ON, emergency stop alarm will occur.
If you use the robot wherein T/B is removed, please install the attached dummy connector. With the connector,
put the dummy connector or draw it out.
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. Please installing and removing so that stress does not start the cable
with the connector itself.
-
(1) CR750 controller
Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connects T/B connector to the robot controller. Use as the upper surface the lock lever shown in Fig. 2-17,
and push in until there is sound.
Fig.2-17 ： Installing and removing the T/B (CR750 controller)
The installation of T/B is finished.
2-29
Setting the origin
A部
ティーチングボックス
(T/B)
T/B接続用コネクタ
A部詳細
手回しロック（2箇所）
Teaching pendant
Details of the A section
A
Hand lock (Two places)
T/B connector
◇◆◇ If error C0150 occurs ◇◆◇
At the time of the first power supply injection, error:C0150 (the serial number of the robot arm has not been
set up) occur the robot after purchase.
Parameter: Please input the serial number of the robot body into RBSERIAL. Refer to "instructions manual /
controller setup, and basic operation & maintenance" for the operation method.
2Unpacking to Installation
(2) CR751 controller
Explain the installation method of T/B below.
1) Check that the POWER (power supply) switch of the robot controller is OFF.
2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the
hand locks (in 2 places), as shown in Fig. 2-18.
Fig. 2-18 ： Installing and removing the T/B (CR751controller)
The installation of T/B is finished.
Setting the origin
2-30
2Unpacking to Installation
● Origin data history table (Origin Data History) Serial No.ES804008
(O: O(Alphabet), 0: Zero)
Note) Meanings of symbols in method column
E: Jig method
N: Not used
SP: Not used
Date Default . . . . . . . . .
ＤV!#S29
Ｊ １ 06DTYY
Ｊ２ 2?HL9X
Ｊ ３ 1CP55V
Ｊ４ T6!M$Y
Ｊ５
Ｊ６
Method Ｅ Ｅ・Ｎ・ＳＰ Ｅ・Ｎ・ＳＰＥ・Ｎ・ＳＰ
WARNING
CAUTION
2.3.2 Setting the origin with the origin data input method (1) Confirming the origin data
Fig.2-19 ： Origin data label (an example)
The origin data to be input is noted in the
origin data sheet enclosed with the arm,
or on the origin data history table
attached to the back side of the battery
cover. (Refer to Fig. 2-19).
Referring to Page 81, "5.3.2 Installing/
removing the cover", remove the battery
cover and confirm the value.
The value given in the default setting
column is the origin settings set with the
calibration jig before shipment.
* The origin data to input is found on also the robot examination report sheet.
Always install/remove the cover with the controller control power turned OFF.
Failure to do so could lead to physical damage or personal injury should the robot
start moving due to incorrect operations.
(2) Turning ON the control power
Confirm that there are no operators near the robot before turning the power ON.
1) Turn the controller [POWER] switch ON.
The CR750 controller turns ON the front power switch.
The CR751 controller turns ON the switch of the earth leakage breaker of installation outside.
2-31
Setting the origin
(3) Preparing the T/B
下：
ENABLE
*ランプ点灯
上：DISABLE
Ｔ／Ｂ背面
Up: Disable
Down: Enable
(Lighting)
MODE
MANUAL AUTOMATIC
◇◆◇ Operating from the T/B ◇◆◇
Always set the mode of the controller to "MAMNUAL", and then set the T/B [ENABLE] switch to "ENABLE".
When the T/B is valid, only operations from the T/B are possible. Operations from the controller or external
signals will not be accepted.
2Unpacking to Installation
Next, prepare to use the T/B
1) Set the mode of the controller to "MANUAL".
(The figure is example for CR750 controller)
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.
Setting the origin
2-32
2Unpacking to Installation
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM.
4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED
CLOSE
123
<ORIGIN/BRAKE>
1.ORIGIN 2.BRAKE
CLOSE
123
<ORIGIN>
1.DATA 2.MECH
3.TOOL 4.ABS
5.USER
CLOSE
123
<ORIGIN> DATA
D:(■ )
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
◇◆◇ Selecting a menu ◇◆◇
The menu can be selected with one of the following methods.
A: Press the numeral key for the No. of the item to be selected.
B: Using the [ ↓ ] and [ ↑ ] keys, etc., move the cursor to the item to be selected, and then press the [INP] key.
◇◆◇ The input method of numeral ◇◆◇
The number can be inputted if the key displayed on the lower left of each key is pressed. Press the
[CHARACTER] key, and in the condition that "123" is displayed on the screen lower side, press the number key.
(4) Selecting the origin setting method
1) Press the [4] key on the menu screen, and display the
ORIGIN/BRAKE screen.
2) Press the [1] key on the ORIGIN/BRAKE screen, and
display the origin setting method selection screen.
3) Press the [1] key on the origin setting method selection
screen, and select the data input method.
4) Display the origin data input screen
2-33
Setting the origin
<ORIGIN> DATA
D:(■ )
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
Origin data label
(D,J1,J2,J3,J4,J5,J6,J7,J8)
T/B screen
,
,
<ORIGIN> DATA
D:(
V )
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
<ORIGIN> DATA
D:(
V! )
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
<ORIGIN> DATA
D:(V!%S29)
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
<ORIGIN> DATA
D:(V!%S29)
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
：
：
：
<ORIGIN> DATA
D:(■ )
J1( ) J2( ) J3( )
J4( ) J5( ) J6( )
J7( ) J8( )
CLOSE
123
ABC
ABC
2Unpacking to Installation
(5) Inputting the origin data
Input the value confirmed in section Page 31, "(1)
Confirming the origin data".
The correspondence of the origin data label value and axis to
be input is shown in Fig. 2-20.
Fig.2-20 ： Correspondence of origin data label and axis
The method for inputting the origin data is explained below. The value shown in Fig. 2-19 will be input as an
example.
1) Confirm that the cursor is at the "D" position on the T/B
display screen.
2) Input the D value "V!%S29".
Inputting "V"
Press the [CHARACTER] key and set to the character input
mode. (Condition that "ABC" was displayed under the
screen)
Press the [TUV] key three times. "V" will be set.
Inputting "!"
Press the [ , % ] key five times. "!" will be set.
Press the [ → ] key once and advance the cursor.
Press the [ , % ] key twice (input "%"), and press the [PQRS]
key four times (input "S").
Press the [CHARACTER] key and set to the numeral input
mode. (Condition that "123" was displayed under the
screen)
Press the [2] key (input "2"), and press the [9] key (input
"9").
"V!%S29" will appear at the "D" data on the teaching
pendant screen.
3) Press the [ ↓ ] key, and move the cursor to the J1 input
position.
4) Input the J1 value in the same manner as above.
5) Input the J2, J3 and J4 values in the same manner.
Setting the origin
2-34
2Unpacking to Installation
<ORIGIN> DATA
D:( V!%S29)
J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V)
J4( T6!MSY) J5( ) J6( )
J7( ) J8( )
CLOSE
ABC
<ORIGIN> DATA
CHANGE TO ORIGIN. OK?
No
123
Yes
◇◆◇ Moving the cursor ◇◆◇
Press the [↑], [↓], [←] and [→] keys.
◇◆◇ Inputting characters ◇◆◇
Press the [CHARACTER] key and set to the character input mode. (Condition that "ABC" was
displayed under the screen). The displayed character is scrolled each time at pressing the key.
The symbol is allocated to ['()], [@=], and [,%] key. Please repress each key until the symbol to wish is displayed.
a) ['()] key .......................... ' ( ) " ^ : ; \ ?
b) [@=] key......................... @ = + - * / < >
c) [,%] key........................... ， % # $ ! & _ .
After returning one character by pressing the [CLEAR] key, input the character again.
WARNING
◇◆◇ If the origin input data is incorrect ◇◆◇
If the origin input data is incorrect, the alarm No. 1760 (origin setting data illegal) will occur when origin data input.
In this case, reconfirm the value input for the origin data.
6) After inputting all of the values, press the [EXE] key. The
origin setting confirmation screen will appear.
7) Press [F1] (Yes) to end the origin setting
(6) Installing the battery cover.
Return the battery cover removed in section Page 31, "(1) Confirming the origin data" to its original position.
This completes the setting of the origin with the origin data input method.
Removing and installing the cover by always turning off the controller power.
Failure to do so could lead to the robot moving because of incorrect operations, or
to physical damage or personal injury.
2-35
Setting the origin
CAUTION
CAUTION
CAUTION
WARNING
◇◆◇ How to choose the jog mode ◇◆◇
Press the [JOG] key, the jog screen will be
displayed, and display the jog mode which can be
chosen at the bottom of the screen. Because
these correspond to the function key of [F1] - [F4],
press the function key corresponding to the jog
mode to wish. And, if the [FUNCTION] key is
pressed, selection in jog modes other than the
present display is possible. The override (100%),
the mechanism number (M1), and the tool number
(T1), and the base coordinate number (B1) are
displayed on the upside of the screen following the
present jog mode (JOINT).
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
Choose the jog mode
to
JOINT 100% M1 TO B1
2 Unpacking to Installation
2.4 Confirming the operation
In this section, the robot will be moved manually 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, and the CYLNDER jog that moves along the circular arc.
This operation is carried out while pressing the deadman switch on the back of the T/B.
Note) The figure of the robot which indicated to the explanation page in each jog mode is an example.
The robot will move during this operation. Make sure that there are no operators
near the robot, and that there are no obstacles, such as tools, in the robot operation
range.
To immediately stop the robot, release the deadman switch on the back of the T/B.
The servo power will turn OFF, and the robot will stop.
The robot will also stop if the [EMG.STOP] switch (emergency stop switch) on the
front of the T/B or the [EMG.STOP] switch (emergency stop) on the front of the
controller is pressed.
To check whether the origin of the robot deviates, move the robot arm to the posi
tion where the ABS marks align each other, and check the displayed joint coordi
-
nates of the position.
For the details of the ABS mark position and the joint coordinates, refer to Page
110, "5.6 Resetting the origin", and Page 124, "5.6.3 ABS origin method".
Confirm that the origin has been set. If the origin has not been set, "****" will
appear at the current position display on the teaching pendant, the JOINT jog oper
ation will take place in any jog mode selected.
In such a case, the robot may operate beyond the software-defined operating range,
which will cause interference or collisions between the robot mechanical sections.
Refer to Page 29, "2.3 Setting the origin" for details on setting the origin.
-
-
Confirming the operation
2-36
2 Unpacking to Installation
* Each axis moves independently.
J4軸
＋
－
J2軸
＋
－
J1軸
＋
－
J3軸
＋
－
J1 axis
J2 axis
J3 axis
J4 axis
＋X
－X
＋Y
－Y
－Z
＋Z
直交座標系原点
先端軸
＋
－
＋Z
－Z
＋X
－X
＋Y
－Y
C
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..
Fig.2-21 ： JOINT jog operation
Fig.2-22 ： XYZ jog operation
2-37
Confirming the operation
先端軸
ツール座標原点
＋
－
＋Z
－Z
＋X
－X
＋Y
－Y
C
Tool coordinate system reference origin
End axis
* 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
＋X
－X
＋Y
－Y
－Z
＋Z
直交座標系原点
先端軸
＋
－
＋Z
－Z
＋X
－X
＋Y
－Y
J4軸
End axis
J4 axis
Base coordinate system reference origin
* The axis moves straight along the base
coordinate system. At this time, the end
axis posture is not maintained.
Also, the end axis posture changes.
2 Unpacking to Installation
Fig.2-23 ： TOOL jog operation
Fig.2-24 ： 3-axis XYZ jog operation
Confirming the operation
2-38
2 Unpacking to Installation
＋X
－X
＋Y
－Y
－Z
＋Z
＋
－
C
半径
円弧
上下
Arc
Ver ti cal
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. Also, while
maintaining the axis posture position, the
end axis posture changes.
Fig.2-25 ： CYLINDER jog operation
2-39
Confirming the operation
＋X
－X
＋Y
－Y
－Z
＋Z
＋
－
+Z
-Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツ
ー
ル
長
Tool length
Control
point
WORK coordinate system
* 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.
* When the controller software version is R5 (F-Q series)/S5 (F-D series) or later, 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.
2 Unpacking to Installation
Fig.2-26 ： WORK jog operation
Confirming the operation
2-40
2 Unpacking to Installation
Select joint jog mode
Set jog speed
Setting the speed
Joint jog mode
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
＋
－
J1軸回転
J1 axis
J1 axis jog operation
J2 axis jog operation
J2軸回転
＋
－
J2 axis
(1) JOINT jog operation
[JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
Check that the "joint" in jog mode is displayed on
the screen.
If other jog modes are displayed, please press the
function key corresponding to the "joint." (If the
jog mode which he wishes under the screen is not
displayed, it is displayed that the [FUNCTION]
key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
"close."
Whenever it presses the key of [OVRD ↑ ], the
override goes up. Conversely, if the [OVRD ↓ ]
key is pressed, it will go down.
The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work.
・ When the [+X (J1)] keys are pressed, the J1 axis will rotate in the plus direction.
When the [-X (J1)] keys are pressed, rotate in the minus direction.
・ When the [+Y (J2)] keys are pressed, the J2 axis will rotate in the plus direction.
When the [-Y (J2)] keys are pressed, rotate in the minus direction.
2-41
Confirming the operation
The axes may be outside the movement area. Move these axes toward the inner side of the movement area.
J3 axis jog operation
J3軸
＋
－
J3 axis
J4 axis jog operation
J4軸回転
＋
－
J4 axis
◇◆◇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.
・ 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.
2 Unpacking to Installation
・ When the [+A (J4)] keys are pressed, the J4 axis will rotate in the plus direction.
When the [-A (J4)] keys are pressed, rotate in the minus direction.
Confirming the operation
2-42
2 Unpacking to Installation
to
Select XYZ jog mode
Set jog speed
Setting the speed
XYZ jog mode
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
*The direction of the end axis will not change.
＋Z
－Z
＋X
－X
＋Y
－Y
－Z
＋Z
＋X
－X
＋Y
－Y
Moving along the base coordinate system
(2) XYZ jog operation
[JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
Check that the "XYZ" in jog mode is displayed on
the screen.
If other jog modes are displayed, please press the
function key corresponding to the "XYZ." (If the
jog mode which he wishes under the screen is not
displayed, it is displayed that the [FUNCTION]
key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
"close."
Whenever it presses the key of [OVRD ↑ ], the
override goes up. Conversely, if the [OVRD ↓ ]
key is pressed, it will go down.
The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work.
・ When the [+X (J1)] keys are pressed, the robot will move along the X axis plus direction.
When the [-X (J1)] keys are pressed, move along the minus direction.
・ When the [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction.
When the [-Y (J2)] keys are pressed, move along the minus direction.
・ When the [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the [-Z (J3)] keys are pressed, move along the minus direction.
2-43
Confirming the operation
There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section Page 41, "(1) JOINT jog operation"", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.
◇◆◇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.
＋X
－X
＋Y
－Y
－Z
＋Z
＋Z
－Z
＋X
－X
＋Y
－Y
＋
－
C
Changing the end axis posture
*The position of the end axis will not change.
◇◆◇ When alarm No. 5150 occurs ◇◆◇
If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for
the origin data.
◇◆◇ Tool length ◇◆◇
The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.
2 Unpacking to Installation
・ When the [+C (J6)] keys are pressed, the Z axis will rotate in the plus direction.
When the [-C (J6)] keys are pressed, rotate in the minus direction.
Confirming the operation
2-44
2 Unpacking to Installation
Select TOOL jog mode
Set jog speed
Setting the speed
TOOL jog mode
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
to
＋Z
－Z
＋X
－X
＋Y
－Y
＋
－
C
Moving along the tool coordinate system
*The direction of the end axis will not change.
(3) TOOL jog operation
[JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
Check that the "TOOL" in jog mode is displayed
on the screen.
If other jog modes are displayed, please press the
function key corresponding to the "TOOL." (If
the jog mode which he wishes under the screen is
not displayed, it is displayed that the [FUNC
-
TION] key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
"close."
Whenever it presses the key of [OVRD ↑ ], the
override goes up. Conversely, if the [OVRD ↓ ]
key is pressed, it will go down.
The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work.
・When the [+X (J1)] keys are pressed, the robot will move along the X axis plus direction of the tool coordinate
system.
When the [-X (J1)] keys are pressed, move along the minus direction.
・When the [+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction of the tool coordinate
system.
When the [-Y (J2)] keys are pressed, move along the minus direction.
・When the [+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction of the tool coordinate
system.
When the [-Z (J3)] keys are pressed, move along the minus direction.
2-45
Confirming the operation
There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section Page 41, "(1) JOINT jog operation"", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.
◇◆◇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.
＋Z
－Z
＋X
－X
＋Y
－Y
＋
－
C
Changing the end axis posture
*The Position of the end axis will not change.
If alarm No. 5150 (ORIGIN NOT SET) occurs, the origin has not been set correctly. Reconfirm the value input for
the origin data.
The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.
2 Unpacking to Installation
・ When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the tool coordinate system.
When the[-C (J6)] keys are pressed, rotate in the minus direction.
Confirming the operation
2-46
2 Unpacking to Installation
Select XYZ456 jog mode
Set jog speed
Setting the speed
XYZ456 jog mode
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
to
＋Z
－Z
＋X
－X
＋Y
－Y
＋
－
C
＋X
－X
＋Y
－Y
－Z
＋Z
Moving along the base coordinate system
*The direction of the end axis will change.
◇◆◇ 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.
(4) 3-axis XYZ jog operation
[JOG] Press the key and display the jog screen.
("JOG" is displayed on the screen bottom)
Check that the "XYZ456" in jog mode is
displayed on the screen.
If other jog modes are displayed, please press the
function key corresponding to the "XYZ456." (If
the jog mode which he wishes under the screen is
not displayed, it is displayed that the [FUNC
-
TION] key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
"close."
Whenever it presses the key of [OVRD ↑ ], the
override goes up. Conversely, if the [OVRD ↓ ]
key is pressed, it will go down.
The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work.
・ When the[+X (J1)] keys are pressed, the robot will move along the X axis plus direction.
When the[-X (J1)] keys are pressed, move along the minus direction.
・ When the[+Y (J2)] keys are pressed, the robot will move along the Y axis plus direction.
When the[-Y (J2)] keys are pressed, move along the minus direction.
・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the[-Z (J3)] keys are pressed, move along the minus direction.
2-47
Confirming the operation
＋Z
－Z
＋X
－X
＋Y
－Y
＋
－
＋X
－X
＋Y
－Y
－Z
＋Z
J4
*The Position of the end axis will not change.
Changing the end axis posture
2 Unpacking to Installation
・ 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
2-48
2 Unpacking to Installation
Select cylindrical jog mode
Set jog speed
Setting the speed
CYLNDER jog mode
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
to
＋
－
＋X
－X
＋Y
－Y
－Z
＋Z
C
半径
上下
円弧
Moving along an arc centering on the Z axis
＊ The direction of the frange will not change.
Vertical
Radius
Arc
Radius
(5) CYLNDER jog operation
[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."
(If the jog mode which he wishes under the
screen is not displayed, it is displayed that the
[FUNCTION] key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
"close."
Whenever it presses the key of [OVRD ↑ ], the
override goes up. Conversely, if the [OVRD ↓ ]
key is pressed, it will go down.
The current setting speed is displayed on screen
upper right, and "STATUS NUMBER" of the
controller.
Set the override to 10% here for confirmation
work.
Assuming that the current position is on an arc centering on the Z axis, the robot moves along that arc.
・ When the[+X (J1)] keys are pressed, the robot will expand in the radial direction.
When the[-X (J1)] keys are pressed, contract in the radial direction.
・ When the[+Y (J2)] keys are pressed, the robot will move along the arc in the plus direction.
When the[-Y (J2)] keys are pressed, move in the minus direction.
・ When the[+Z (J3)] keys are pressed, the robot will move along the Z axis plus direction.
When the[-Z (J3)] keys are pressed, move along the minus direction.
2-49
Confirming the operation
＋
－
＋X
－X
＋Y
－Y
－Z
＋Z
C
半径
上下
円弧
Changing the flange surface posture
Vertical
Arc
Radius
*The position of the end axis will not change.
2 Unpacking to Installation
・ 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
2-50
2 Unpacking to Installation
+Zw
+Xw
+Yw
+Z
+Y
+X
Robot coordinates
system
Work
WY
WO
WX
work coordinates
Notes) The figure is the example
of RV-4F, but other types
are the same
The jogging movement
based on this work is
possible.
< Teaching point>
WO: Work coordinates system origin
WX: Position on the "+X" axis of work coordinates system.
WY: Position at the side of "+Y" axis on the X-Y plane of work coordinates system.
[Supplement] : The coordinate values which use all three teaching points for setting of the
work coordinates system are each only X, Y, and the Z-axis. Although the coordinate value of A, B, and C axis is not used, positioning will get easy if the XYZ
jog or TOOL jog movement is effected with the same value. (The direction of the
hand is the same)
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED
CLOSE
123
<EMHANCED>
1.SQ DIRECT 2.WORK COORD.
CLOSE
123
(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 (R32TB) is shown in the following.
(Parameter: Setting the coordinate value to WKnCORD ("n" is meaning the number (1-8) of work
coordinates) can also set up the work coordinates system. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details of parameter.)
The work coordinates system teaches and sets up the three points (WO, WX, WY).
Fig.2-27 ： Setting of the work coordinates system (teaching point)
The setting (definition) method of the work coordinates system is shown in the following.
1) Select "6.ENHANCED" screen on the <MENU> screen.
2-51
Confirming the operation
The screen shows the coordinate value of the origin
(WO) of the work coordinates number 1.
<EMHANCED>
1.SQ DIRECT 2.WORK COORD.
CLOSE
123
<WORK COORD> WORK NUMBER (1)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
TEACH
WX
WY
DEFINE
<WORK COORD> WORK NUMBER (1)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
W.JUMP W.GRID
CLOSE
<WORK JUMP>
CHOOSE ONE OF THE WORK NUMBER
1-8.
123
CLOSE
The screen is the example which specified
the work coordinates number 2. ("2" at the
upper right of the screen)
Operation will be canceled if the
[CLOSE] key is pressed.
<WORK JUMP>
CHOOSE ONE OF THE WORK NUMBER
1-8.
123
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
W.JUMP W.GRID
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
TEACH
WX
WY
DEFINE
Specify the teaching point [WO],[WX],[WY]
teaching the position [TEACH]
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
RECORD CURRENT POSITION.
OK?
123
Yes
No
2 Unpacking to Installation
2) Press the [2] keys in the menu screen and select "2. WORK COORD."
3) Selection of the work coordinates number
Press the [FUNCTION] keys, and display "W: JUMP" function. Press the function key corresponding to
"W: JUMP"
Press numeral key [1] - [8] and specify the work coordinates number. The coordinate value of the specified
work coordinates system is displayed.
4) The teaching of the work coordinates system
Teach the three points shown in Fig. 2-27. Confirm the name currently displayed on the "TEACHING
POINT" at the upper right of the screen. If it differs, press the function key corresponding to each
point(WO, WX, WY) to teach. Move the robot's arm by jog operation (other jogging movement), and press
the function key corresponding to "TEACH."([F1]) The confirmation screen is displayed.
Confirming the operation
2-52
2 Unpacking to Installation
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
RECORD CURRENT POSITION.
OK?
123
Yes
No
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
W.JUMP W.GRID
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
TEACH
WX
WY
DEFINE
<WORK COORD> WORK NUMBER (2)
WORK COORDINATES DATA
(3.53, -220.00, 5.14, 0.00, 0.
00, 0.00)
123
CLOSE
<WORK COORD> WORK NUMBER (2)
WORK COORDINATES DATA
(3.53, -220.00, 5.14, 0.00, 0.
00, 0.00)
123
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
TEACH
WX
WY
DEFINE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
W.JUMP W.GRID
CLOSE
<EMHANCED>
1.SQ DIRECT 2.WORK COORD.
CLOSE
123
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.
Teach the three points, WO, WX, and WY, by the same operation.
The position data taught here is each registered into the following parameters. ("n" means the work coordinates numbers 1-8)
WO= parameter: WKnWO
WX= parameter: WKnWX
WY= parameter: WKnWY
5) Setting of work coordinates (definition)
If the function key corresponding to "DEFINE" ([F1]) is pressed, the work coordinates system will be
calculated using the three points, and the result will be displayed.
The alarm occurs if the work coordinates system is incalculable. (There are the three points on the straight
line, or the two points have overlapped) In this case, reset alarm and re-teach the three points.
This work coordinate data is registered into parameter: WKnCORD. ("n" means the work coordinates
numbers 1-8)
If the function key corresponding to "CLOSE" is pressed, it will return to the previous screen.
6) Finishing of setting the work coordinates
Press the [FUNCTION] keys, and display "CLOSE" function. Press the function key corresponding to
"CLOSE". Returns to the <MENU> screen.
2-53
Confirming the operation
Return to the previous screen by pressing
the [CLOSE] ([F4]) key.
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
W.JUMP W.GRID
CLOSE
<WORK COORD> WORK NUMBER (2)
WORK COORDINATES DATA
(3.53, -220.00, 5.14, 0.00, 0.
00, 0.00)
123
CLOSE
Select WORK jog mode
WORK jog mode
<CURRENT> WORK 100% M1 T0 W1
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
Confirmation and selection of the
work coordinates system
Select the work coordinates system
<CURRENT> WORK 100% M1 T0 W1
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
Target work
coordinates system
to
CAUTION
Set jog speed
Setting the speed
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR
JOG
TOOL
XYZ
3-XYZ
⇒
2 Unpacking to Installation
Although setting of work coordinates is finishing above, confirmation of work coordinates can be done by press
ing the function key corresponding to "W GRID."([F2])
Then, the operation method of the work jog is shown.
Change to the work jog after nearing the work.
[JOG] Press the key and display the jog
screen. ("JOG" is displayed on the screen
bottom)
Check that the "WORK" in jog mode is
displayed on the screen.
If other jog modes are displayed, please press
the function key corresponding to the "WORK."
(If the jog mode which he wishes under the
screen is not displayed, it is displayed that the
[FUNCTION] key is pressed)
If it finishes jog operation, press the [JOG] key
again, or function key which correspond to
"close."
-
Confirm the target work coordinates system.
The current target number is displayed on the
screen upper right. (W1 - W8)
The number of work coordinates can be
changed by the arrow key [Upper arrow],
[Lower arrow]
Push the key [Upper arrow], the number will
increase. (W1, W2, ..... W8) Conversely, push
the key [Lower arrow], the number will
decrease
Always confirm that the number of the target work coordinates system is displayed
correctly (Display of W1-W8 at the upper right of the screen)
If mistaken, the robot will move in the direction which is not meant and will cause the
damage and the personal injuries.
Whenever it presses the key of [OVRD(Upper
arrow)], the override goes up. Conversely, if
the [OVRD(Lower arrow)] key is pressed, it will
go down.
The current setting speed is displayed on
screen upper right, and "STATUS NUMBER" of
the controller.
Set the override to 10% here for confirmation
work
Confirming the operation
2-54
2 Unpacking to Installation
The jog movement based on work coordinates system
＋X
－X
＋Y
－Y
－Z
＋Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツ
ー
ル
長
Work coordinates system
Control point
Tool length
* The direction of the end axis will not
change. Move the control point with
a straight line in accordance with the
work coordinates system
When the software version is R5 (F-Q series)/S5 (F-D series) or later, the additional WORK jog operation,
Ex-T jog, is available. The conventional WORK jog operation and the Ex-T jog operation can be switched by
setting the parameters WK1JOGMD 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
XYZ key operation Moves along each axis of the work coordi-
C key operation With the control point position maintained,
AB key operation The robot does not move. The robot does not move.
0 (initial value) 1
nates system
the direction changes along the work coordinates system.
Same as the conventional WORK jog
While the control point position is
changed, the direction changes on the Z
axis of the work coordinates system (Zw).
・ When the [+X (J1)] keys are pressed, the robot will move along the X axis (Xw) plus direction on the work
coordinates system.
When the [-X (J1)] keys are pressed, Move along the minus direction.
・ When the [+Y (J2)] keys are pressed, the robot will move along the Y axis (Yw) plus direction on the work
coordinates system.
When the [-Y (J2)] keys are pressed, Move along the minus direction.
・ When the [+Z (J3)] keys are pressed, the robot will move along the Z axis (Zw) plus direction on the work
coordinates system.
When the [-Z (J3)] keys are pressed, Move along the minus direction.
When the X, Y, or Z keys are used, the operation is the same in the WORK jog and the Ex-T jog modes.
2-55
Confirming the operation
＋X
－X
＋Y
－Y
－Z
＋Z
＋
－
+Z
-Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツ
ール
長
Changing the end axis posture
<1> Work jog mode
* The position of the control point does not change.
The end axis is rotated.
Work coordinates system
Tool length
Control point
＋X
－X
＋Y
－Y
－Z
＋Z
+Xw
+Yw
+Zw
-Zw
-Xw
-Yw
ツ
ー
ル
長
SPACE
,
<2> Ex-T jog mode
Work coordinates system
Tool length
Control point
2 Unpacking to Installation
・ When the[+C (J6)] keys are pressed, the Z axis will rotate in the plus direction of the XYZ coordinate system.
When the[-C (J6)] keys are pressed, rotate in the minus direction.
・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.
Confirming the operation
2-56
2 Unpacking to Installation
There are directions from which linear movement is not possible from the transportation posture. In this case, the
robot will not move. Refer to section Page 41, "(1) JOINT jog operation"", and move the robot to a position where
linear movement is possible, and then carry out XYZ jog.
◇◆◇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.
◇◆◇ Tool length ◇◆◇
The default tool length is 0mm, and the control point is the center of the end axis.
After installing the hand, set the correct tool length in the parameters. Refer to the separate manual "Detailed
Explanation of Functions and Operations" for details.
2-57
Confirming the operation
Install to inside the No. 2 arm
cover U
No. 2 arm cover U
Solenoid valve
Fix to plate.
primary piping air hose (φ6)
(P port)
Hand output signal connection connectors (GR1, GR2)
Connect to the GR1 and GR2 connectors of the robot side.
Fixing screws (M4 x 30), two
screws - left and right
(included in the solenoid valve
set)
Items for customer to prepare
・ A Philips screwdriver (M4 screws)
・ Air hose for secondary piping (φ4)
Note) Although the type
in the diagram is the RH6FH, installation location
is the same also in RH3FH.
Solenoid valve exhaust hose (φ6)
(R port)
Note) When connecting this air hose, be
sure to remove the dust cap attached on
the robot base section.
Secondary piping connection joint (φ4)
(A, B ports)
A port: From the left side in order 1, 3, 5, 7
B port: From the left side in order 2, 4, 6, 8
Primary piping connection joint (φ6)
(P port)
Solenoid valve exhaust
joint (φ6)
(R port)
Hand output signal connection
cables (GR1, GR2)
Base section
Primary piping connection joint
(φ6) (upper side: AIR IN)
Solenoid valve exhaust joint (φ6)
(lower side: RETURN)
3Installing the option devices
3 Installing the option devices
3.1 Installing the solenoid valve set
The installation summary of the solenoid valve is shown in Fig. 3-1 and Fig. 3-2. Remove the No.2 arm cover U,
and install the solenoid valve on the No.2 arm. Turn the controller’s power OFF before this installing operation.
Refer to Page 81, "5.3.2 Installing/removing the cover" for removing/ installing the cover.
It is necessary to set the parameters (HIOTYPE, HANDYPE) in accordance with solenoid valve type (sink type/
source type) and output signal before using the solenoid valve set.
Refer to the separate volume, "Instruction Manual/Detailed Explanations of Functions and Operations" for how to
set parameters.
(1) RH-3FH/6FH series
Fig.3-1 ： Solenoid valve installation procedures (RH-3FH/6FH)
The installation procedure is detailed below.
1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) Fix the solenoid valve to the plate in the position indicated in Fig. 3-1. Place it so that the solenoid valve's
primary piping connection joints (P, R ports) are located on the right hand side, and fix it securely using the
M4 screws included (tightening torque: 1.39 to 1.89N ・ m).
Installing the solenoid valve set
3-58
3Installing the option devices
CAUTION
3) Connect the connector (GR1, GR2) of solenoid valve with connector of robot arm side (GR1, GR2). Connect
with the same names. The hand output signal cables of the robot arm side are located close to where the
solenoid valve is installed and are tied up with cable tie. Pull out and connect them to the connectors. Fix
the connectors so that they will not move along with the robot movement. (Refer to Page 73, "3.7 Connec
tor protection when the option devices are installed").
4) Connect the primary piping air hose (φ6). The air hoses are located close to where the solenoid valve is
installed and are tied up with cable tie. Cut the cable tie and connect them. Of the two air hoses, connect
the one marked “AIR IN” to the solenoid valve's P port, and the one marked “RETURN” to the R port.
Note) When connecting the RETURN air hose, be sure to remove the dust cap attached at the RETURN
joint on the robot base section. If the cap is not removed, exhaust air pressure will increase and
the solenoid valve may not operate properly.By connecting the exhaust air hose (φ6: customer
preparation) to this RETURN air joint, exhaust air from the solenoid valve is able to escape to the
designated point.
5) Connect the secondary piping air hose (φ4).
The optional hand curl tube, the hand internal wiring and piping set, or the air hose prepared by customer
can all be used, however when pulling the tip of the air hose out from the shaft please be sure to use the
optional hand internal wiring and piping set.
Connect the air hoses to solenoid valve port A and port B. Please refer to Table 3-1 and connect to the
necessary ports. Covers the unused solenoid valve joints with the plugs included.
Note) When pulling the tip of the air hose out from the shaft, please be sure to use the optional hand
internal wiring and piping set. Silicon grease to apply to friction points is included with the product
(please refer to Page 66, "3.5 Hand internal wiring and piping set"). Further, when using the
optional external wiring and piping box, the air hose can be pulled out from the rear of the No. 2
arm (please refer to Page 71, "3.6 External Wiring and Piping Box").
6) If the hand output cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate. The plate have some holes for fixing the cable/hose with a cable tie.
Also, anchor the cables to the plate by a cable tie to prevent the cable connectors from moving freely.
Otherwise, the connectors may be damaged due to the impact of hitting devices near the connectors while
the robot is under operating condition.
7) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please inform
the dealer, if exchange is necessary.
-
The installing of the solenoid valve set is completed.
When installing the solenoid valve set, check that no cables are pinched and no air
hoses are bent.
Cable pinching may cause a break in a cable or damage of the solenoid valve cover. Air
hose bending may cause a malfunction of the solenoid valve.
3-59
Installing the solenoid valve set
(2) RH-12FH/20FH series
１
３
５
７
２
４
６
８
Install to inside the No. 2 arm
cover U
No. 2 arm cover U
Solenoid valve
Fix to plate.
primary piping air hose (φ6)
(P port)
Hand output signal connection
connectors (GR1, GR2)
Connect to the GR1 and GR2
connectors of the robot side.
Fixing screws (M4 x 8), four screws
- left and right
(included in the solenoid valve set)
Items for customer to prepare
・ A hexagon wrench (M4 screws)
・ Air hose for secondary piping (φ6)
Solenoid valve exhaust hose (φ6)
(R port)
Note) When connecting this air hose, be
sure to remove the dust cap attached on
the robot base section.
Secondary piping connection joint (φ6)
(A, B ports)
A port: From the left side in order 1, 3, 5, 7
B port: From the left side in order 2, 4, 6, 8
Primary piping connection joint (φ6)
(P port)
Solenoid valve exhaust joint (φ6)
(R port)
Hand output signal connection
cables (GR1, GR2)
Base section
Primary piping connection joint
(φ6) (upper side: AIR IN)
Solenoid valve exhaust joint (φ6)
(lower side: RETURN)
For the elbow coupling addition
KJL06-99 *SUS street elbow
(SMC Corp.)
3Installing the option devices
Fig.3-2 ： Solenoid valve installation procedures (RH-12FH/20FH)
The installation procedure is detailed below.
1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) Fix the solenoid valve to the plate in the position indicated in Fig. 3-1.Place it so that the solenoid valve's
primary piping connection joints (P, R ports) are located on the upper side, and fix it securely using the M4
screws included (tightening torque: 1.39 to 1.89N ・ m).
3) Connect the connector (GR1, GR2) of solenoid valve with connector of robot arm side (GR1, GR2). Connect
with the same names. The hand output signal cables of the robot arm side are located close to where the
solenoid valve is installed and are tied up with cable tie. Pull out and connect them to the connectors. Fix
the connectors so that they will not move along with the robot movement. (Refer to Page 73, "3.7 Connec
tor protection when the option devices are installed").
4) Connect the primary piping air hose (φ6). The air hoses are located close to where the solenoid valve is
installed and are tied up with cable tie. Cut the cable tie and connect them. Of the two air hoses, connect
the one marked “AIR IN” to the solenoid valve's P port, and the one marked “RETURN” to the R port.
Note) When connecting the RETURN air hose, be sure to remove the dust cap attached at the RETURN
joint on the robot base section. If the cap is not removed, exhaust air pressure will increase and
the solenoid valve may not operate properly.By connecting the exhaust air hose (φ6: customer
Installing the solenoid valve set
3-60
-
3Installing the option devices
CAUTION
preparation) to this RETURN air joint, exhaust air from the solenoid valve is able to escape to the
designated point.
5) Connect the secondary piping air hose (φ6).
The optional hand curl tube, the hand internal wiring and piping set, or the air hose prepared by customer
can all be used, however when pulling the tip of the air hose out from the shaft please be sure to use the
optional hand internal wiring and piping set.
Connect the air hoses to solenoid valve port A and port B. Please refer to Table 3-1 and connect to the
necessary ports. Covers the unused solenoid valve joints with the plugs included.
Note) When pulling the tip of the air hose out from the shaft, please be sure to use the optional hand
internal wiring and piping set. Silicon grease to apply to friction points is included with the product
(please refer to Page 66, "3.5 Hand internal wiring and piping set"). Further, when using the
optional external wiring and piping box, the air hose can be pulled out from the rear of the No. 2
arm (please refer to Page 71, "3.6 External Wiring and Piping Box").
6) If the hand output cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate. The plate have some holes for fixing the cable/hose with a cable tie.
Also, anchor the cables to the plate by a cable tie to prevent the cable connectors from moving freely.
Otherwise, the connectors may be damaged due to the impact of hitting devices near the connectors while
the robot is under operating condition.
7) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please inform
the dealer, if exchange is necessary.
The installing of the solenoid valve set is completed.
When installing the solenoid valve set, check that no cables are pinched and no air
hoses are bent.
Cable pinching may cause a break in a cable or damage of the solenoid valve cover. Air
hose bending may cause a malfunction of the solenoid valve.
(3) Hand number and solenoid valve ports (common to RH-FH series)
The connection correspondence after installation is as shown in Table 3-1.
Table 3-1 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports
Hand Hand port Solenoid valve port Solenoid valve used
Hand
Hand 2
Hand 3
Hand 4
1
OPEN 1
CLOSE 2
OPEN 3
CLOSE 4
OPEN 5
CLOSE 6
OPEN 7
CLOSE 8
1 st row
2 nd row
3 rd row
4 th row
3-61
Installing the solenoid valve set
Connector of robot arm side
Coiled and stored by cable tie
When this cable is connected to the robot
the power supply is applied to the end of
this cable. The end of the cable is free at
factory shipping. so, if the tool side is not
connected it may be cause of the trouble
such as broken the fuse by short circuit.
Before connecting to the robot, customer
should check whether or not the cable tip
has been properly treated.
CAUTION
*The type in the diagram is the RH-6FH, however the location is the
same on the RH-3FH/12FH/20FH.
Connect inside the No. 2 arm
cover U
No. 2 arm cover U
3Installing the option devices
3.2 Installing the hand input cable
Fig. 3-3 shows the hand input cable’s storage location on the robot.
Please use the optional external wiring and piping box to pull the hand input cable out externally. After connecting
the hand input cable connector, reference Page 71, "3.6 External Wiring and Piping Box", and pull it out from the
robot arm.
When passing through the inside of the shaft and using it, please use the optional hand internal wiring and piping
set.
Remove the No. 2 arm cover U and connect the connector above the No. 2 arm. Turn the controller’s power OFF
before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover" for removing/ installing the cover.
Fig.3-3 ： Installing the hand input cable
The installation procedure for the hand input cable is shown below
1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) The hand input cable is stored in the location shown in Fig. 3-3. Pull out and check the connectors (HC1,
HC2).
3) Connect the connector (HC1,HC2) of optional cable with connector of robot arm side (HC1, HC2). Connect
with the same names. Fix the connectors so that they will not move along with the robot movement. (Refer
to Page 73, "3.7 Connector protection when the option devices are installed").
4) Pull the hand input cables out of the robot arm. Referencing Page 71, "3.6 External Wiring and Piping Box",
pull the cable out.
When installation of the optional external wiring and piping box finished, installing the hand input cable is complete.
Installing the hand input cable
3-62
3Installing the option devices
Connector of robot arm side
Coiled and stored by cable tie
Connect inside the No. 2 arm
cover U
No. 2 arm cover U
*The type in the diagram is the RH-6FH, however the location is the
same on the RH-3FH/12FH/20FH
.
3.3 Installing the hand output cable
Fig. 3-4 shows the hand output cable’s storage location on the robot.
Please use the optional external wiring and piping box to pull the hand output cable out externally. After connect
ing the hand output cable connector, reference Page 71, "3.6 External Wiring and Piping Box", and pull it out from
the robot arm.
Remove the No. 2 arm cover U and connect the connector above the No. 2 arm. Turn the controller’s power OFF
before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover" for removing/ installing the cover.
-
Fig.3-4 ： Installing the hand output cable
The installation procedure for the hand output cable is shown below
1) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
2) The hand output cable is stored in the location shown in Fig. 3-4. Pull out and check the connectors (GR1,
GR2).
3) Connect the connector (GR1, GR2) of optional cable with connector of robot arm side (GR1, GR2). Connect
with the same names. Fix the connectors so that they will not move along with the robot movement. (Refer
to Page 73, "3.7 Connector protection when the option devices are installed").
4) Pull the hand output cables out of the robot arm. Referencing Page 71, "3.6 External Wiring and Piping Box",
pull the cable out.
When installation of the optional external wiring and piping box finished, installing the hand output cable is
complete.
3-63
Installing the hand output cable
3Installing the option devices
3.4 Changing the operating range
The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set
inside of that area.
If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the
operating range as shown below.
(1) Operating range changeable angle
The operating range must be set up at angels indicated by Table 3-2.
Table 3-2 ： Operating range changeable angle
Note1)
Type
RH-3FH/6FH series
J1 RH-3FH35*/45*/
55*RH-6FH35*/45*/
55*
RH-12FH/20FH series
J1 RH-12FH55*/70*/85*
RH-20FH85*/100*
Direction
Mechanical stopper angle +172.3 deg +152.3 deg +132.3 deg
Mechanical stopper position P10 P11 P12
Mechanical stopper angle -172.3 deg -152.3 deg -132.3 deg
Mechanical stopper position P10 N11 N12
Mechanical stopper angle +173.3 deg +153.3 deg +133.3 deg
Mechanical stopper position P10 P11 P12
Mechanical stopper angle -173.3 deg -153.3 deg -133.3 deg
Mechanical stopper position P10 N11 N12
Note1)The "*" of the robot type indicates up/down stroke length and environment specification. It is possible to change the
movement ranges shown in Table 3-2 for any model.
Note2)Refer to Fig. 3-5 for mechanical stopper position.
Note3)The changeable angle shown in Table 3-2 indicates the operation range by the software. The mechanical stopper angle
in the table shows the limit angle by the mechanical stopper. Use caution when layout designing of the robot.
Note4)The changeable angle can be set independently on the + side and - side.
Note2)
+ side +170
- side -170
+ side +170
- side -170
Standard
Change angle
deg +150 deg +130 deg
deg -150 deg -130 deg
deg +150 deg +130 deg
deg -150 deg -130 deg
Note3) Note4)
Changing the operating range
3-64
3Installing the option devices
P10
N11
N12
P11
P12
Installation bolt:
Hexagon socket head cap screw
・ RH-3FH/6FH series: M10 x 20
・ RH-12FH/20FH series: M12 x 20
* Changing the operating range is pre
-
pared optional.
(2) The change method of the operating range
■ Installation of the mechanical stopper
1) Turn off power to the controller.
2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to Table 3-2 and Fig. 3-5.
About the mechanical stopper position and the relation of bolt size is shown in Fig. 3-5. When the screw
hole is covered by the arm, move the No.1 armslowly by hand.
Fig.3-5 ： Mechanical stopper position
■ Change the operating range parameters
Specify the operating range to parameters MEJAR with appropriate values (variable angles given in Table 3-2) by
the following steps:
1) Turn on power to the controller.
2) Set up the operating range changed into parameter MEJAR
MEJAR: (J1 minus (-) side, J1 plus (+) side, □ , □ , □ , ...).
■ Change the mechanical stopper origin position parameters
If you have changed operating range on the J1 minus(-) side, change mechanical stopper origin position parame
ters by the following step:
1) Set MORG parameter to the angle which set mechanical stopper position.
MORG: (J1 mechanical stopper angle, □ , □ , □ , ...).
■ Check the operating range
After changing the parameter, turn off the controller power and turn on again. Then, move the axis changed by
joint jog operation to the limit of the operating range.
Confirm that the robot stops by limit over at the changed angle.
The changing of the operating range is completed.
-
3-65
Changing the operating range
CAUTION
CAUTION
3Installing the option devices
3.5 Hand internal wiring and piping set
Remove the No. 2 arm cover U and fix this option to the plate on the No. 2 arm.
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"for
removing/ installing the cover.
(1) Installation procedure
The installation procedure is shown below.
Refer to the installation diagram shown from the next section, and perform the installation correctly. Installation
diagram of RH-3FH series is shown in Fig. 3-6, and RH-6FH series is shown in Fig. 3-7, RH-12FH/20FH series is
shown in Fig. 3-8.
1) Move the J3 axis to the top end with a jog operation and shut off the controller's power supply. This is
necessary for space standard settings when feeding the air hose and hand input cable through the inside of
the shaft.
2) Remove the screws fixing the No. 2 arm cover U, and remove the No. 2 arm cover U.
3) Pass the tool (hand) side of the secondary piping air hoses and hand input cables through the shaft. Make
sure that the air hoses and the cables are not twisted or crossed.
4) Fix the air hoses and the cables with a cable tie so as to position the end of the expanding sleeve 10mm
away from the opening of the shaft.
5) The highest point of the curved section of the air hoses and cables should be matched up with the top of
the fixing plate.
If the air hoses and the cables are not long enough or too long, when the robot oper
ates, excessive bending and friction with the shaft upper end or the cover may result
in a break or abnormal operations of the tool (hand).
6) In the state of the steps 4) and 5), fix the air hoses and the cables to the (a) and (b) portions of the plate
with cable ties. For the (a) portion, wrap the air hoses and the cables with cushion rubber before fixing.
7) Cut the secondary piping air hoses in appropriate length, and connect the air hoses to the solenoid valve.
The diagram shows the connection to the optional solenoid valve as an example. The air hoses can also be
pulled out from the rear of the No. 2 arm by using another option: an external wiring and piping box. For the
details, refer to Page 71, "3.6 External Wiring and Piping Box".
For the connection to the optional solenoid valve, connect the air hoses to the A and B ports of the sole
noid valve.
8) When using the hand input cable connect the connectors (HC1, HC2) of optional hand input cable to
connectors (HC1, HC2) of robot side. Connect with the same names. The connectors of robot side and
cables are tied up by cable tie at (c) portion. Cut the cable tie and pull them out.
The connected connectors are stored to the (c) portion.
When the hand input cable is not used tie up the connector and fix to the plate by cable tie.
Do not remove the cable ties which fixing connectors.
Fix the plate on the No. 2 arm, other cables and air hoses with cable ties. In this way,
the internal cables and connectors do not touch the plate edge and others, or break
due to the vibration during the robot operation.
9) Carry out piping and wiring on the tool side.
Fix the air hoses and the cables, which are pulled out from the shaft lower end, to the hand side. Check
again that the highest point of the curved section of the air hoses and the cables reaches the height of the
fixing plate upper end, and then fix the air hoses and the cables at the outlet of the shaft. In the case of
oil-mist and clean specification models, to avoid mists entering and ensure the cleanliness level, use liquid
gasket and others to seal the outlet on the shaft tip where the air hoses and the cables are pulled out.
10) Apply silicon grease to the contact surface between the air hoses of the fixing plate and the cables, the
cable sliding portion from the shaft upper end to the fixed portion, and the opening on the shaft upper end.
11) Power on the controller, perform the jog operation for the J3 and J4 axes, and check that the air hoses
and the cables do not interfere with other components.
-
-
Hand internal wiring and piping set
3-66
3Installing the option devices
CAUTION
Do not power on the controller when the internal cables are connected to the con
nectors on the robot.
If the end of the cables on the tool side is not processed, troubles such as fuse blown
by ground fault or short circuit may occur. Check that the end of the cables has been
processed before powering on the controller (Refer to Page 73, "3.7 Connector pro
tection when the option devices are installed").
12) Turn off the controller’s power supply, then install the No.2 arm cover U securely as before with fixing
screws (tightening torque: 1.39 to 1.89 Nm).
When installing the cover, check that no air hose or cable is pinched, and no air hose is bent.
Note) The installation surface of a clean and a oil-mist specification covers is using sealing material. In the
event that the sealing material has been removed or has been bent or broken to the extent that it
cannot be return to the original form, be sure to replace the sealing material. Please contact dealer
when the sealing material needs to be replaced.
The installing of the hand internal wiring and piping set is completed.
-
-
3-67
Hand internal wiring and piping set
Connect inside the
No. 2 arm cover U
No.2 arm cover U
Match up the peak of the
air hose and cable with the
top end of the fixing plate
Expanding sleeve
Approx. 10mm
Silicone grease application places
Perform the operation of the J3
and J4 axes, and check that no
interference occurs.
J3 axis
J4 axis
Top end of the
J3 axis operat
-
ing range
Seal the outlet with the liquid gasket.
（Only for clean/oil mist specification）
Fixing air hoses and
cables inside a hand.
(a)
(b)
1)
2)、 12)
3)
4)
5)、 9)
10)
6)
(c)
8)
11)
9)
9)
3Installing the option devices
(2) RH-3FH series
Refer to Page 66, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3-
6 are correspond to the same numbers in "(1)Installation procedure".
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"
for removing/ installing the cover.
Fig.3-6 ： Installing the hand internal wiring and piping set (RH-3FH)
Hand internal wiring and piping set
3-68
3Installing the option devices
Connect inside the No.
2 arm cover U
No.2 arm cover U
2)、 12)
(c)
8)
Match up the peak of the air
hose and cable with the top
end of the fixing plate
Expanding sleeve
Approx. 10mm
4)
5)、 9)
Silicone grease application places
10)
(a)
(b)
3)
6)
Top end of the
J3 axis operat
-
ing range
1)
Perform the operation of the
J3 and J4 axes, and check
that no interference occurs.
J3 axis
J4 axis
11)
Seal the outlet with the liquid gasket.
（Only for clean/oil mist specification)
Fixing air hoses and
cables inside a hand.
9)
9)
(3) RH-6FH series
Refer to Page 66, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3-
7 are correspond to the same numbers in "(1)Installation procedure".
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"
for removing/ installing the cover.
Fig.3-7 ： Installing the hand internal wiring and piping set (RH-6FH)
3-69
Hand internal wiring and piping set
Connect inside the No.
2 arm cover U
No.2 arm cover U
2)、 12)
Match up the peak of the air hose and
cable with the top end of the fixing plate
Expanding
sleeve
Approx. 10mm
4)
5)、 9)
Silicone grease
application places
10)
3)
(a)
(b)
6)
(c)
8)
11)
Seal the outlet with the liquid gasket.
（Only for clean/oil mist specification)
Fixing air hoses and
cables inside a hand.
9)
9)
Top end of the
J3 axis operat
-
ing range
1)
Perform the operation of the
J3 and J4 axes, and check that
no interference occurs.
J3 axis
J4 axis
3Installing the option devices
(4) RH-12FH/20FH series
Refer to Page 66, "(1) Installation procedure" and install cables and air hoses correctly. The numbers in Fig. 3-
8 are correspond to the same numbers in "(1)Installation procedure".
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover"
for removing/ installing the cover.
Fig.3-8 ： Installing the hand internal wiring and piping set (RH-12FH/20FH series)
Hand internal wiring and piping set
3-70
3Installing the option devices
<a>Coupling
φ6 two couplings
(RH-3FH/6FH only)
J2 axis reduction gears
Installation holes
(M4 screw four places)
External Wiring and Piping Box
Fix to the rear of the No. 2 arm
(remove the No. 2 arm cover B)
*The diagram shows an example of pulling the
hand input cable
Air hose
Cable clamp
Cable
*Diagram shows an image of pulling out air hose and cables
Table 3-3 ： Hose and cables which can be pulled out
Note) Fix all with cable tie (sections <d> and <e> of the diagram)
No Air hoses/cables
Position to pull out
Example usage
RH-3FH/6FH RH-12FH/20FH
(1) Primary piping air hose (φ6-2 hoses)
(The primary piping is equipped from rear of
base to No. 2 arm)
<a>
Coupling
φ6 two couplings
Coupling
<b> φ6 two
couplings
Primary air supply to externally
installed solenoid valve.
(2) Secondary piping air hose (φ4-8 hoses: RH-
3FH/6FH, φ6-8 hoses: RH-12FH/20FH)
(Air hose of the optional hand internal wiring
and piping set or prepared by the customer)
<b>
Coupling
φ4 eight
couplings
Coupling
φ6 eight
couplings
Taking in the secondary air from
externally installed solenoid valve.
Pulling out the secondary air from
optional solenoid valve.
(3) Optional hand output cable
<c>
φ21 hole four
place
φ21 hole four
place
For driving the externally installed
solenoid valve.
(4) Optional hand input cable Taking in the input signals from tools
such as the hand.
<c> Cable clamp attachment hole (φ21)
Two points-left and right.
Blind plug attached.
<d> In the other side has two
holes for fixing the hose and
cable by cable tie.
<f> Positions to fix with cable tie
(two positions left and right)
<e> Fix to the external wiring and
piping box with cable tie
(has two holes for fixing)
The hole for fixing the cable tie
No. 2 arm cover U
<b>Coupling
φ4 eight couplings
(RH-3FH/6FH)
φ6-eight couplings
(RH-12FH/20FH)
*The type in the diagram is the RH-6FH, however the installation method is the same on the RH-3FH/12FH/20FH
.
3.6 External Wiring and Piping Box
The air hose that is connected inside the robot, the optional hand output cable, the hand input cable, etc., can all
be pulled out from the rear of the No. 2 arm.
These can be used to connect a customer supplied solenoid valve to the hand output cable, etc.
Fig.3-9 ： External Wiring and Piping Box
3-71
External Wiring and Piping Box
ロックナット
樹脂ナット用簡易スパナ
キャップ
ロックナットと簡易スパナ
の平面部を合わせます
外部配線配管
ボックス
ケーブルクランプ
ロックナット
ロボットアーム内へ
引出すケーブル
(ハンド出力ケーブルなど)
To remove the blind plug, hold the lock nut with the supplied simple
spanner for resin nuts, and loosen the cap with a screwdriver.
The supplied simple spanner is used when attaching a cable clamp the
same way.
<How to remove the blind plug>
(Attached to a hand output cable
and a hand input cable)
To the inside of a robot arm
Cable to pull out
(hand output cable, etc.)
External wiring and
piping box
(this option box)
Lock nut
Cable clamp
Simple spanner for resin nuts
Lock nut
Cap
Make sure that the sup
-
plied spanner securely
hold the lock nut.
3Installing the option devices
Fig. 3-9 shows the installation procedure for the external wiring and piping box. The procedure is the same in RH-
3FH/6FH/12FH/20FH. Remove the No. 2 arm cover B and install this option using the same screw holes. The
installation procedure is shown below.
Turn the controller’s power OFF before this operation. Refer to Page 81, "5.3.2 Installing/removing the cover" for
removing/ installing the cover.
1) Remove the each fixing screws and remove the No. 2 arm cover U and the No. 2 arm cover B.
2) Pull out the air hoses or cables from the opening which removed the No. 2 arm cover B.
3) Fix (or connect) the air hoses and cables to this option box.
Previously adjust the air hose and cables to an appropriate length. Make sure that the wiring and piping lines
avoid the side of the J2 reducer (because gap is narrow, it interfere with the No. 2 arm cover U).
Connect the air hoses with the joint inside this option box.
Remove the blind plug attached to this option box and fix the cable with the cable clamp.
The installing of the external wiring and piping box is completed.
Fig.3-10 ： Fixing the Cable
4) Fix the air hoses and cables to the hole inside of this box by using the attached cable tie. (section <e> of
Fig. 3-9)
Note) Be sure to fix the air hoses and cables to prevent the hoses falling out and breaking the cable. Also,
fix carefully so that the air hose and cables may not be pulled too much.
5) Install securely the external wiring and piping box to the screw holes that previously installed the No. 2 arm
cover B by attached screw. (tightening torque: 1.39 to 1.89Nm).
When installing pull it little by little from the No. 2 arm side, making sure that the air hose and cables are not
bent or trapped.
6) Make sure that the wiring and piping lines on the No.2 arm avoid the side of the J2 reducer (because gap is
narrow, it interfere with the No. 2 arm cover U).
Fix the hoses and cables to the hole shown in section <f> of Fig. 3-9 using cable tie. There are 2 holes,
located left and right.
7) If the cables and the air hoses have excess length, please tie the excess section using cable tie.
8) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the clean and the oil-mist specification covers is using sealing material.
In the event that the sealing material has been removed or has been bent or broken to the extent
that it cannot be return to the original form, be sure to replace the sealing material. Please contact
dealer when the sealing material needs to be replaced.
In the case of oil-mist and clean specification models, to ensure the cleanliness level, use liquid gas
ket and others to seal the outlet on the shaft tip where the air hoses and the cables are pulled out.
-
External Wiring and Piping Box
3-72
3Installing the option devices
㻯㼛㼚㼢㼑㼞㻌㼠㼔㼑㻌㼖㼛㼕㼚㼠㻌㼜㼍㼞㼠㻌㼛㼒㻌㼠㼔㼑㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㼟
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3.7 Connector protection when the option devices are installed
The connectors for the hand input and output cables are stored inside the No. 2 arm so that they do not rub
against peripheral parts under the vibrations generated by the robot movement. When an option device is installed,
the stored connectors are pulled out for connection to the option device. To avoid interference with peripheral
parts, the connectors must be fixed.
Otherwise, the hand input or output cable may break.
The following shows an example of how to fix the connectors.
Table 3-4 ： Customer prepared products
Name Qty. Recommended product (Manufacture)
Expanding sleeve 440mm EXP-13-PT (Kitagawa Industries Co., Ltd.)
Cable tie 5 to 6 pcs. T18R (HellermannTyton Co., Ltd.)
1) Before connecting the HC1 and HC2 connectors for the hand input signals and the GR1 and GR2
connectors for the hand output signals, insert the cables into the expanding sleeve.
㻴㼍㼚㼐㻌㼕㼚㼜㼡㼠㻌㼟㼕㼓㼚㼍㼘㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻌㻔㻴㻯㻝㻘㻌㻴㻯㻞㻕
㻴㼍㼚㼐㻌㼛㼡㼠㼜㼡㼠㻌㼟㼕㼓㼚㼍㼘㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻌㻔㻳㻾㻝㻘㻌㻳㻾㻞㻕
㻴㼍㼚㼐㻌㼕㼚㼜㼡㼠㻌㼏㼍㼎㼘㼑
㻴㼍㼚㼐㻌㼛㼡㼠㼜㼡㼠㻌㼏㼍㼎㼘㼑
㻿㼛㼘㼑㼚㼛㼕㼐㻌㼢㼍㼘㼢㼑
2) Connect the HC1 and HC2 connectors for the hand input signals and the GR1 and GR2 connectors for the
hand output signals, and cover the joint part with the expanding sleeve.
Fix the cables with cable ties at the both ends of the expanding sleeve.
㻱㼤㼜㼍㼚㼐㼕㼚㼓㻌㼟㼘㼑㼑㼢㼑
3-73
Connector protection when the option devices are installed
㻯㼍㼎㼘㼑㻌㼠㼕㼑
㻴㼛㼘㼑
㻯㼍㼎㼘㼑㻌㼠㼕㼑
3) Arrange the expanding sleeve in a ring-like shape and fix it with a cable tie.
4) Store the expanding sleeve in the position shown in the figure below.
3Installing the option devices
5) Fix the expanding sleeve with a cable tie using a hole on the metal plate.
Connector protection is completed.
Connector protection when the option devices are installed
3-74
4Basic operations
4 Basic operations
The basic operations from creating the program to automatic operation are explained in section "4. Basic
operations" in the "From Controller Setup to Maintenance" manual. Refer that manual as necessary.
4-75
<Guideline for inspection period>
For one shift.......... 10 Hr/day ×20 days/month × 3 months = approx. 600 Hr
For two shifts........ 15 Hr/day ×20 days/month ×3 months = approx. 1,000 Hr
[Caution] When using two lines, the 3-month inspection, 6-month inspection and yearly
inspection must be carried out when half the time has passed.
0 Hr
Monthly inspection
Monthly inspection
1,000 Hr Monthly inspection 3-month inspection
Monthly inspection
Monthly inspection
2,000 Hr Monthly inspection 3-month inspection 6-month inspection
Monthly inspection
Monthly inspection
3,000 Hr Monthly inspection 3-month inspection
Monthly inspection
Monthly inspection
4,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection
8,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection 2-year inspection
12,000 Hr Monthly inspection 3-month inspection 6-month inspection Yearly inspection 2-year inspection 3-year inspection
Operating
time
Daily 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 Maintenance and inspection interval
Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry
out at set intervals. Always carry these out to prevent unforeseen trouble, to maintain the product for a long time,
and to secure safety.
(1) Inspection schedule
In addition to the monthly inspection, add the following inspection items every three months (estimated at 1,000
Hr operation hours).
Fig.5-1 ： Inspection schedule
Maintenance and inspection interval
5-76
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
Carry out the daily inspections with the procedures given in Table 5-1.
Table 5-1 ： Daily inspection items (details)
Procedure Inspection item (details) Remedies
Before turning power ON (Check the following items before turning the power ON.)
1 Are any of the robot installation bolts loose?
(Visual)
2 Are any of the cover tightening screws loose?
(Visual)
3 Are any of the hand installation bolts loose?
(Visual)
4 Is the power supply cable securely connected?
(Visual)
5 Is the machine cable between the robot and controller securely
connected?
(Visual)
6 Are there any cracks, foreign contamination or obstacles on the robot
and controller cover?
7 Is there any abnormality in the pneumatic system? Are there any air
leaks, drain clogging or hose damage? Is the air source normal?
(Visual)
8 Are there any cracks, foreign contamination or obstacles on the bel
lows? (For clean/oil mist specification)
(Visual)
After turning the power ON (Turn the power ON while monitoring the robot.)
1 Is there any abnormal motion or abnormal noise when the power is
turned ON?
During operation (try running with an original program)
1 Check whether the movement points are deviated?
Check the following points if there is any deviation.
1. Are any installation bolts loose?
2. Are any hand installation section bolts loose.
3. Are the positions of the jigs other than the robot deviated?
4. If the positional deviation cannot be corrected, refer to
"Troubleshooting", check and remedy.
2 Is there any abnormal motion or abnormal noise?
(Visual)
Securely tighten the bolts.
Securely tighten the screws.
Securely tighten the bolts
Securely connect.
Securely connect.
Replace with a new part, or take remedial measures.
Drain the drainage, and remedy the air leaks (replace
the part).
-
Replace with a new bellows.
Follow the troubleshooting section.
Follow the troubleshooting section.
Follow the troubleshooting section.
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Inspection items
5.2.2 Periodic inspection
Carry out periodic inspection with the procedures given in Table 5-2.
Table 5-2 ： Periodic inspection items (details)
Procedure Inspection item (details) Remedies
Monthly inspection items
1 Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.
5Maintenance and Inspection
2 Are any of the connector fixing screws or terminal block terminal
screws loose?
3-month inspection items
1 Is there any grease of the shaft section still? Wipe off the old grease and supply the new grease.
6-month inspection items
1 Has the dust accumulated into bellows?
(For clean/oil mist specification, When environment with much dust)
Yearly inspection items
1 Replace the backup battery in the robot arm. Exchange it referring to Page 105, "5.3.7 Replacing
2-year inspection items
1 Is the friction at the timing belt teeth severe? If the teeth are missing or severe friction is found,
2 Is the timing belt tension abnormal? If the timing belt is loose or too tense, adjust it.
3-year inspection items
1 Replace the bellows (J3 axis).
(For clean/oil mist specification)
Securely tighten the screws.
Remove bellows and clean the inside.
(Refer to Page 99, "5.3.5 Replacing the bellows" for
how to remove bellows)
the backup battery".
replace the timing belt.
Replace it referring to Page 99, "5.3.5 Replacing the
bellows"
Note) Supply the grease to each axis with referring to Page 101, "5.3.6 Lubrication".
Inspection items
5-78
5Maintenance and Inspection
CAUTION
③J2軸モータ
④減速機
②減速機
①J1軸モータ
⑤J4軸モータ
⑧J3軸モータ
⑥J4軸タイミングベルト1
⑨J3軸タイミングベルト
⑦J4軸タイミングベルト2
⑪ボールネジスプライン
ベース
第1アーム
第2アーム
第2アームカバーD
第2アームカバーU
No.2 arm cover U
<11>Ball screw spline
No.2 arm cover D
<8> J3 axis motor
No.2 arm
Base
<2>Reduction gears
<6>J4 axis timing belt1
<9>J3 axis timing belt
<3> J2 axis motor
<5> J4 axis motor
<1> J1 axis motor
<7>J4 axis timing belt2
No.1 arm
<4>Reduction gears
<RH-3FH series>
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 Depart
ment 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 108, "5.5 Maintenance parts" of this manual. Always contact your dealer when parts are needed.
The origin of the machine system could deviate when this work is carried out.
"Review of the position data" and "re-teaching" will be required.
5.3.1 Robot arm structure
The outline drawing of RH-3FH series is shown in Fig. 5-2, and RH-6FH/12FH/20FH series is shown in Fig. 5-3.
-
Fig.5-2 ： Outline structure drawing of robot arm (RH-3FH)
5-79
Maintenance and inspection procedures
③J2軸モータ
④減速機
②減速機
①J1軸モータ
⑤J4軸モータ
⑧J3軸モータ
⑥J4軸タイミングベルト1
⑨J3軸タイミングベルト
⑦J4軸タイミングベルト2
⑪ボールスプライン
⑩ボールネジ
ベース
第1アーム
第2アーム
第2アームカバーD
第2アームカバーU
No.2 arm cover U
<11>Ball spline
<7>J4 axis timing belt2
No.2 arm cover D
<8> J3 axis motor
No.2 arm
Base
<4>Reduction gears
<6>J4 axis timing belt1
<9>J3 axis timing belt
<5> J4 axis motor
<1> J1 axis motor
<10>Ball screw
No.1 arm
<3> J2 axis motor
<2>Reduction gears
<RH-6FH/12FH/20FH series>
5Maintenance and Inspection
Fig.5-3 ： Outline structure drawing of robot arm (RH-6FH/12FH/20FH)
Maintenance and inspection procedures
5-80
5Maintenance and Inspection
<4> ADD cover
(lower side of back of base)
<3> No.2 arm cover B
(Back of No.2 arm cover)
<5> Battery cover
<6> CONBOX cover
(upper side of back of base)
*The type in the diagram is the RH-3FH, however the cover
is the same on the RH-6FH/12FH/20FH.
<1> No.2 arm cover U
<2> No.2 arm cover D
Note) The cover
on the top
face of the
No.1 arm is
not removing.
CAUTION
5.3.2 Installing/removing the cover
Fig.5-4 ： Installing/removing the cover
Check to see that the packing has not been torn or peeled off when the cover
was mounted/removed. If it has been torn or peeled off, please contact dealer. If
the cover is used with the packing torn or peeled off, oil mist and other
substances may enter inside the arm and cause a malfunction.
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Maintenance and inspection procedures
5Maintenance and Inspection
Table 5-3 ： Cover fixing screw list
No. Cover name
Common to RH-3FH/6FH/12FH/20FH series
(1) No.2 arm cover U Truss head screw, M4 x 10: 6 RH-3FH/6FH series
(2) No.2 arm cover D Truss head screw, M4 x 10: 6
(3) No.2 arm cover B Hexagon socket screw, M4 x 8: 4
(4) ADD cover Hexagon socket screw, M4 x 8: 2
(5) Battery cover Truss head screw, M4 x 10: 6
(6) CONBOX cover Hexagon socket screw, M4 x 8: 4
Note1)The fixing torque for each screw are 1.39-1.89Nm.
Installation screw name: Qty.
Truss head screw, M4 x 10: 8 RH-12FH series, RH-20FH85** series
Truss head screw, M4 x 10: 10 RH-20FH100** series
Note1)
Remarks
(1) Refer to Fig. 5-4 and remove the covers.
(2) The names of the covers and installation screws are given in Table 5-3.
(3) When reattaching the covers after a maintenance inspection, proceed in the reverse order of their removal.
Tightening the screw with the torque shown in Table 5-3.
[Note] Sealant is applied to the installation surface of cover in the oil mist and clean specification models. Be sure
to replace the sealant if it has been dislocated and bent or crushed and does not return to its original
shape. Moreover, in the case of oil mist and clean specification models, it is necessary to remove the bel
lows. Refer to Page 99, "5.3.5 Replacing the bellows" for details on how to remove bellows.
-
Maintenance and inspection procedures
5-82
5Maintenance and Inspection
CAUTION
CAUTION
5.3.3 Packing Replacement Procedure
The packing gets deteriorated with the passage of time and must be replaced as required. Table 5-4 provides
guidelines for replacing the packing. Replace the packing in accordance with the instructions given below. If the
packing is not replaced in a timely manner, water or oil will be allowed to intrude the robot, possibly making it
inoperative.
Table 5-4 ： Packing replacement guideline
Service environment
General environment
Clean room
Oil mist Pressurized
Note1) When used in the "general" or "clean room" environment, robot can do away with pressurization.
Whether or not
robot is pressurized
Not pressurized
Not pressurized
Not pressurized When the cover mounted on the robot is removed/put back in place
Note1)
Note1)
When signs of cracking or peeling are noted in the packing.
When packing must be replaced
(1) Packing Replacement Instructions
Stick again new packing as before.
1) Remove the old packing, and clean and degrease the surface on which it has been placed.
2) The sticking surface of packing is double-coated adhesive tape. Referring to "Fig.5-5 ： Example of sticking
packing (good example)" and "Fig.5-7 ： Sticking the cord-like packing", and stick the packing in line with
form . Be careful for the packing not to slide. The example of unsuitable packing slid is shown in "Fig.5-
6 ： Example of sticking packing (bad example)".
3) Although the No.2 arm cover (U) sticks two or more packings per place, it has length with which packing
ends overlap. Stick packing in the following procedures. For more information, see "Fig.5-8 ： Examples of
packing overlaps". Examples of improperly treated cut edge are shown, as well.
a) Stick packing in line with form of the sticking surface. Finally, cut packing so that adjoining pieces have
a 1mm overlap at the end.
b) Apply liquid gasket to the cut edges. (Designated liquid gasket: 1212 (Maker: Three Bond))
c) Stick so that the gap may not be made to each other's packing.
Do not install the cover immediately after sticking packing. Install the cover,
after the 6 hours pass after sticking packing for gasket hardening.
4) Confirm that packing is stuck correctly and install the cover. When tightening the bolts fixing the cover,
avoid tightening them to a specified torque at a time. Tighten the bolt in the order shown as much as
possible in the "Fig. 5-9 Example of order which tighten bolts" The torque which tightens the fixing bolt of
each cover is shown in "Table 5-3 ： Cover fixing screw list".
Stick the packing securely, pressing down with the finger. If sticking is insuffi
cient, when the cover is installed, packing slides by the pressure, and there is a
possibility that it may become impossible to secure protection performance.
Completion of packing replacement
-
5-83
Maintenance and inspection procedures
Fig.5-5 ： Example of sticking packing (good example)
Packing is stuck securely
without sliding.
Sliding.
Some of the packings to be used are cord-like.
Stick such packings by bending in line with the form.
Stick the packing
Cord-like packing
Location at which
packing is bent
Location at which gasket
is applied.
5Maintenance and Inspection
Fig.5-6 ： Example of sticking packing (bad example)
Fig.5-7 ： Sticking the cord-like packing
Maintenance and inspection procedures
5-84
5Maintenance and Inspection
Join by liquid gasket
[2] Apply liquid gasket to the cut edges.
[1] Cut the packing so that there is a 1mm overlap at
the end.
ガスケットを塗布していない
パッキンが接触していない
パッキンがずれている
パッキンが重なっている
パッキンの切断面が乱れている
パッキンが斜めに切断されている
ガスケットを塗布していない
パッキンが接触していない
パッキンがずれている
パッキンが重なっている
パッキンの切断面が乱れている
パッキンが斜めに切断されている
Unsuitable overlap of packing
A 1mm overlap
[3] Stick the packing so that there is no gap between the
adjacent pieces.
Gasket is not applied.
Ends of packing are not in contact with each
other.
Displacement at the ends of packing
Ends of packing overlap each other.
Cut edge of packing is irregular.
End of packing is cut diagonally.
Fig.5-8 ： Examples of packing overlaps
5-85
Maintenance and inspection procedures
Fig.5-9 ： Example of order which tighten bolts
1 3
4
2
5Maintenance and Inspection
Maintenance and inspection procedures
5-86
5 Maintenance and Inspection
Image of Measurement by the sound
wave type belt tension gauge
Measurement by the push-pull gauge
CAUTION
CAUTION
5.3.4 Inspection, maintenance and replacement of timing belt
This robot uses a timing belt for the drive conveyance system of the J5 axis. 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 adjust
ment are inadequate, the life could drop and noise could be generated. Sufficient aging to remove the initial elon
gation of the belt, and adjustment of the belt tension have been carried out before shipment from the factory.
However, depending on the robot working conditions, elongation will occur gradually over a long time. The tension
must be confirmed during the periodic inspection.
The replacement is necessary if the timing belt is in the condition which showed in "(1)Timing belt replacement
period". The inspection and adjustment and replacement method of the timing belt of each axis is shown below.
Please check, and adjust and replace if necessary.
In addition, it is serviceable if there is the sound wave type belt tension gauge in inspection and adjustment of the
timing belt. The recommendation gauge is shown below. Please prepare by customer. Refer to the Page 98, "(7)
Timing belt tension" for the tension adjustment value of the timing belt.
Maker: Gates Unitta Asia Company,
Type: U-505
-
-
Fig.5-10 ： Tension adjustment method of timing belt
(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) When cracks from at the base or back of the belt teeth.
2) When the belt expands due to adherence of oil, etc.
3) When the belt teeth wear (to approx. half of the tooth width).
4) When the belt teeth jump due to belt teeth wear.
5) When the belt snaps.
5-87
Maintenance and inspection procedures
Due to the manufacturing of the timing belt, initial wear will occur. Wear chips may
accumulate in the cover after approx. 300 Hr of operating the robot, but this is not a
fault. If the wear chips appear soon after wiping them off, replace the belt.
When the belt is replaced, the machine system origin may deviate. In this case, the
position data must be reviewed.
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