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
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