Page 1 Mitsubishi Electric Industrial Robot RV-FR Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE RV-2FR series RV-4FR series RV-7FR series RV-13FR series RV-20FR series BFP-A3474-E...
Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
Page 5 WARNING 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. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
Page 6 CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
Page 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. ACIN cable connection Groove for main Three phase Single phase <1> <2> Controller rear key (wide) AC200V...
Page 8 Revision history Date of Point Instruction Manual No. Revision Details 2017-04-28 BFP-A3474 ・ First print ・”(10) RV-4FR/7FR series: Inspection and replacement of J3-axis timing belt” was mod - 2017-07-10 BFP-A3474-A ified. 2018-03-01 BFP-A3474-B ・ Descriptions of CR800-Q controller were added. ・...
Page 9 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) 2017-2020 MITSUBISHI ELECTRIC CORPORATION...
Page 10: Table Of Contents
CONTENTS Page 1 Before starting use .......................... 1-1 1.1 Using the instruction manuals ....................1-1 1.1.1 The details of each instruction manuals ................1-1 1.1.2 Symbols used in instruction manual ..................1-2 1.2 Safety Precautions ........................1-3 1.2.1 Precautions given in the separate Safety Manual ..............1-4 2 Unpacking to Installation ................................
Page 11 CONTENTS Page (4) Setting the parameter ............................. 3-53 (5) Check the operating range ............................ 3-54 3.2 Installing the J1 axis operating range change (RV-4FR/7FR/13FR series) ..........3-55 3.2.1 RV-4FR/7FR series ..............................3-55 (1) Configuration ................................3-55 (2) Changeable angle ............................... 3-56 (3) Installation procedure ..............................
Page 12 CONTENTS Page (13) RV-4FR/7FR/13FR series: Inspection and replacement of J5 axis timing belt ....... 4-131 (14) RV-4FR/7FR/13FR series: Inspection and replacement of J6-axis timing belt ...... 4-133 (15) Timing belt tension .............................. 4-135 (16) Amount of movement of each axis during the timing belt tension measurement ....4-136 5.3.4 Lubrication ..................................
Page 13: Before Starting Use
1Before starting use 1 Before starting use This chapter explains the details and usage methods of the instruction manuals, the basic terminology and the safety precautions. Moreover, handling and operation of a teaching pendant (T/B) are described based on R32TB in instruction manuals. If using other T/B, such as R56TB, refer to a supplied instruction manual of the T/B.
Page 14: Symbols Used In Instruction Manual
1Before starting use 1.1.2 Symbols used in instruction manual The symbols and expressions shown in Table 1-1 are used throughout this instruction manual. Learn the meaning of these symbols before reading this instruction manual. Table 1-1:Symbols in instruction manual Terminology Item/Symbol Meaning iQ Platform compatible type...
Page 15: Safety Precautions
1Before starting use 1.2 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
Page 16: Precautions Given In The Separate Safety Manual
1Before starting use 1.2.1 Precautions given in the separate Safety Manual The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
Page 17 1Before starting use CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.
Page 18: Unpacking To Installation
2Unpacking to Installation 2 Unpacking to Installation 2.1 Confirming the product The standard configuration of the robot arm, part of the purchased product, is shown in Table 2-1. Confirm the parts. Users who have purchased optional products should refer to the separate "Standard Specifications". Table 2-1 ：...
Page 19 2Unpacking to Installation Part name Type Qty. Remarks RV-7FR series Robot arm RV-7FR series Either 1 unit Installation bolts Ｍ8 x 40 4 pcs. For robot arm installation Spring washer for installation bolts For M8 4 pcs. Plain washer for installation bolts For M8 4 pcs.
Page 20 2Unpacking to Installation Part name Type Qty. Remarks RV-13FR series Robot arm RV-13FR series Either 1 unit Installation bolts Ｍ12 x 55 4 pcs. For robot arm installation Spring washer for installation bolts For M12 4 pcs. Plain washer for installation bolts For M12 4 pcs.
Page 21: Installation
2Unpacking to Installation 2.2 Installation DANGER Install the robot with a safety fence or enclosure around it. Otherwise, operators may be injured due to unintended access to the robot. 2.2.1 Unpacking (1) RV-2FR/2FRB (a) Topples over (b) Pull out (slowly) (d) Take out ④...
Page 22 2Unpacking to Installation CAUTION When repackaging the robot in the wooden frame, always use the fixing plates. Installation 2-10...
Page 23: Rv-2Frl/2Frlb
2Unpacking to Installation (2) RV-2FRL/2FRLB Pull out 引き抜く <2> <1> Tape ①テープ Upper lid ②上ブタ The fork insertion フォークリフトの爪挿入口 slots for a forklift truck Knobs for manual transportation 人手運搬用取っ手 (Also provided on the opposite side) （反対側にもあり）（ｂ）（ａ） CAUTION CAUTION Always unpack the An unopened package...
Page 24: Rv-4Fr/7Fr/13Fr Series
2Unpacking to Installation (3) RV-4FR/7FR/13FR series Pull off 引き抜く <1> Tape ①テープ ②上ブタ <2> Upper lid The fork insertion フォークリフトの爪挿入口 slots for a forklift truck （ｂ）（ａ） CAUTION Robot arm ロボット本体 Always unpack the robot at a flat place. The robot could tilt over if unpacked at an unstable place.
Page 25: Transportation Procedures (Transportation By People)
2Unpacking to Installation 2.2.2 Transportation procedures (Transportation by people) Mass Approx. RV-2FR/2FRB: 21kg No.2 arm Fixing plate A Approx. RV-2FRL/2FRLB: 23kg Elbow CAUTION 注意 VORSICHT Fixing plate B Lower section of elbow (b) Flange of base (a) Fixing plate C (only with RV-2FRL/2FRLB) Base Fig.2-4 ：...
Page 26 2Unpacking to Installation Table 2-2 ： Transportation posture (RV-2FR series) Axis RV-2FR RV-2FRL 0° Note1) -121° -118° Note1) 161° 0° 50° 47° 0° Note1)The value is a reference value. Release the brake and move the arm until it contact against the mechanical stopper.
Page 27: Transportation Procedures (Transporting With A Crane)
2Unpacking to Installation 2.2.3 Transportation procedures (Transporting with a crane) The transportation procedure is shown in Fig. 2-5 for (RV-4FR/7FR series) and Fig. 2-6 (RV-13FR series). RV-4FR/RV-7FR series Mass Note 1) Wire RV-4FR: Approx. 39kg RV-4FRL: Approx. 41kg RV-4FRJL: Approx. 39kg Fixing plate RV-7FR: Approx.
Page 28 2Unpacking to Installation 1) Attach the transporting jigs to the left and right sides of the shoulder section, and securely fix with screws and plain washers. (RV-4FR series: M6x20, each three screws for the right and left. RV-7FR series: M8x25, each two screws for the right and left.
Page 29: Installation Procedures
2Unpacking to Installation 2.2.4 Installation procedures The installation procedure of the robot arm is shown below. Installation bolt RV-2FR series: 4-M8×35 RV-4FR/7FR series: 4-M8×40 RV-13FR series: 4-M12×55 Spring washer Plain washer RV-2FR series RV-4FR series RV-7FR series RV-13FR series Fig.2-7 ：...
Page 30 2Unpacking to Installation Model Installation hole size Installation bolt (attachment) RV-13FR series 4-φ14 M12 hexagon socket head cap screw 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 6.3a or more.
Page 31: Grounding Procedures
2Unpacking to Installation 2.2.5 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-8, but the dedicated grounding (Fig. 2-8 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Setup, Basic Operation and Maintenance"...
Page 32: Connecting With The Controller
2Unpacking to Installation 2.2.6 Connecting with the controller Robot arm (Base section rear) RV-4FR series RV-7FR series RV-2FR series RV-13FR series Controller rear Fig.2-10 ： Connecting the machine cables Carry out the following procedure after installing the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"...
Page 33 2Unpacking to Installation 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 The machine cable connectors are dedicated for the controller side and robot arm side, so take special care when connecting.
Page 34: Connection Of Controller And Machine Cable
2Unpacking to Installation (2) Connection of controller and machine cable 1) Make sure that the power of the controller is turned OFF. 2) Connect the controller side connector of the machine cable to CN1 connector on the rear side of the con - troller.
Page 35: About Oil Mist Specification
2Unpacking to Installation 2.2.7 About oil mist specification (1) Piping for pressurization inside robot arm In use in oil mist environment, please connect the φ8 air hose to the coupling 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"...
Page 36: Confirming The Operation
2 Unpacking to Installation 2.3 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, the Work jog that moves along the work coordinate system, and the CYLNDER jog that moves along the circular arc.
Page 37: Installing The Teaching Pendant (T/B)
2 Unpacking to Installation 2.3.1 Installing the teaching pendant (T/B) Installing the T/B, with turning off the controller power. CAUTION Please do not pull the cable of T/B strongly or do not bend it too much. It becomes the breaking of a wire of the cable and the cause of breakage of the connector.
Page 38: Preparing The T/B
2 Unpacking to Installation (2) Preparing the T/B Next, prepare to use the T/B 1) Set the mode of the controller to "MANUAL". 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear. The following operations are carried out with the T/B. 上：DISABLE Disable Down: Enable...
Page 39 2 Unpacking to Installation J4 axis ＋ J4軸 J3 axis J3軸－－ J5 axis J5軸＋－＋＋ J6 axis J6軸－ J2 axis J2軸－－＋＋ J1 axis J1軸 5-axis type/6-axis type * Each axis moves independently. The 5-axis type robot has no J4 axis. Fig.2-14 ：...
Page 40 2 Unpacking to Installation －X －Y －Z －＋＋Y ＋－－＋Z Control point 制御点＋＋X 5-axis type/6-axis type * While maintaining the flange surface posture, the axis moves straight along the tool coordinate system. Also, while maintaining the flange surface position, the flange surface posture changes. For the 5-axis type robot, the axis moves only in the X and Z axis directions of tool coordinate system.
Page 41 2 Unpacking to Installation ＋Z Vertical 上下円弧 Radius 半径 Control point 制御点－Ｘ－Ｙ＋Y ＋X －Z 5-axis type/6-axis type * 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.
Page 42: Joint Jog Operation
2 Unpacking to Installation (3) JOINT jog operation Select joint jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) JOINT 100% M1 T0 Check that the "joint" in jog mode is displayed on +0.00 +0.00 the screen.
Page 43 2 Unpacking to Installation ◇◆◇ When the robot is in the transportation posture ◇◆◇ The axes may be outside the movement area. Move these axes toward the inner side of the movement area. J3 axis jog operation － J3 axis J3軸回転...
Page 44: Xyz Jog Operation
2 Unpacking to Installation (4) XYZ jog operation Select XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) JOINT 100% M1 T0 Check that the "XYZ" in jog mode is displayed on +0.00 +0.00 the screen.
Page 45 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the flange surface posture ＋Z ＋Z...
Page 46: Tool Jog Operation
2 Unpacking to Installation (5) TOOL jog operation Select TOOL jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) JOINT 100% M1 T0 Check that the "TOOL" in jog mode is displayed +0.00 +0.00 on the screen.
Page 47 2 Unpacking to Installation ◇◆◇If the buzzer of T/B sounds and the robot does not move ◇◆◇ If it is going to move the robot across the operation range, the buzzer of T/B sounds and the robot does not move. In this case, please move to the counter direction. Changing the flange surface posture －...
Page 48: 3-Axis Xyz Jog Operation
2 Unpacking to Installation (6) 3-axis XYZ jog operation Select XYZ456 jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) JOINT 100% M1 T0 Check that the "XYZ456" in jog mode is +0.00 +0.00 displayed on the screen.
Page 49 2 Unpacking to Installation Changing the flange surface posture ＋ J5 axis J5軸 J4 axis J4軸－＋－＋ J6 axis J6軸－ SPACE * The 5-axis type robot has no J4 axis. 5-axis type/6-axis type * The wrist pose can be changed maintaining the flange's position. ・...
Page 50: Cylnder Jog Operation
2 Unpacking to Installation jog operation CYLNDER Select cylindrical jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) JOINT 100% M1 T0 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen.
Page 51 2 Unpacking to Installation Changing the flange surface posture ＋Z ＋Z Control point 制御点 (Tool coordinate (ツール座標系) ＋Z system) SPACE －＋＋－－＋＋X －＋Y ＋Y ＋＋－＋Z －Ｘ－Ｘ－Ｙ－Ｙ Control point 制御点...
Page 52: Work Jog Operation
2 Unpacking to Installation (8) 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.
Page 53 2 Unpacking to Installation 1) Select "6.ENHANCED" screen on the screen. 　　　　　　 1.FILE/EDIT 2.RUN 1.SQ DIRECT 2.WORK COORD. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 　 123 CLOSE 2) Press the [2] keys in the menu screen and select "2. WORK COORD." 　　...
Page 54 2 Unpacking to Installation Presses the function key corresponding to"Yes", the robot's current position is registered, and the registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed. WORK NUMBER (2) WORK NUMBER (2) TEACHING POINT (WO) TEACHING POINT (WO)
Page 55 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]) WORK NUMBER (2) WORK NUMBER (2) TEACHING POINT (WO) WORK COORDINATES DATA X: 214.12...
Page 56 2 Unpacking to Installation The WORK jog operation and the Ex-T jog operation can be switched by setting the parameters WK1- JOGMD to WK8JOGMD of each work coordinates system. The respective operations are as follows. WORK jog operation mode Conventional WORK jog Ex-T jog Parameters WKnJOGMD (n is 1 to8) set- 0 (initial value)
Page 57 2 Unpacking to Installation Changing the flange surface posture <1> Work jog mode ＋Z ＋Z +Zw' －＋＋ Control point +Xw' －－＋＋－－ Control point ＋ +Yw' －Ｘ－Ｘ－Ｙ－Ｙ＋Y ＋Y ＋X ＋X －Z －Z Work coordinates system...
Page 58 2 Unpacking to Installation <2> Ex-T jog mode ＋Z Control point ＋Z Control point －－＋＋＋＋－－－Ｘ－－Ｘ－－Ｙ＋－Ｙ＋ Work coordinates system ＋Y ＋X Work coordinates system ＋Y (Ex-T coordinates system) －Z ＋X (Ex-T coordinates system)
Page 59: Setting The Hand Parameters
2 Unpacking to Installation ◇◆◇ 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"...
Page 60: Installing The Option Devices
3Installing the option devices 3 Installing the option devices 3.1 Installing the operating range change (RV-2FR series) 3.1.1 Installing the J1 axis operating range change The configuration, changeable angle, and installation outline of J1 axis operating range change (1S-DH-11J1) are shown below.
Page 61: Installation Procedure
3Installing the option devices (3) Installation procedure The installation procedure of the J1 axis operating range change is shown below. When installing this option, you should move the J1 axis to the 0 degrees by jog operation previously, and do this work.
Page 62: Check The Operating Range
3Installing the option devices (5) Check the operating range After changing the parameter, turn off the controller power and turn on again. And, 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 J1 axis operating range is completed.
Page 63: Installation Procedure
3Installing the option devices (3) Installation procedure The installation procedure of the J2 axis operating range change is shown below. When installing this option, you should move the J2 axis to the 0 degrees by jog operation previously, and do this work.
Page 64: Check The Operating Range
3Installing the option devices (5) Check the operating range After changing the parameter, turn off the controller power and turn on again. And, 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 J2 axis operating range is completed.
Page 65: Installation Procedure
3Installing the option devices (3) Installation procedure The installation procedure of the J3 axis operating range change is shown below. When installing this option, you should move the J3 axis to the +160 degrees by jog operation previously, and do this work.
Page 66: Check The Operating Range
3Installing the option devices (5) Check the operating range After changing the parameter, turn off the controller power and turn on again. And, 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 J3 axis operating range is completed.
Page 67: Installing The J1 Axis Operating Range Change (Rv-4Fr/7Fr/13Fr Series)
3Installing the option devices 3.2 Installing the J1 axis operating range change (RV-4FR/7FR/13FR series) The configuration, changeable angle and installation outline of J1 axis operating range change are shown below. 3.2.1 RV-4FR/7FR series (1) Configuration The configuration parts of this option are shown in Table 3-7.
Page 68: Changeable Angle
3Installing the option devices (2) Changeable angle The changeable angle of RV-4FR series is shown in Table 3-8, and of RV-7FR series is shown in Table 3-9. Use as reference for the installation position of Variable stopper block to the wished angle and use/disuse of the Mechanical stopper screw A/B and the parameter setup value.
Page 69 3Installing the option devices The installation procedure of the J1 axis operating range change is shown below. When installing this option to the minus side, should move the J1 axis to the +70 degrees using jog operation previously, and do this work. [Note] When installing this option for safety, you should cut off the power supply of the controller.
Page 70: Installation Procedure
3Installing the option devices (3) Installation procedure The installation procedure of the J1 axis operating range change is shown below. When installing this option to the minus side, should move the J1 axis to the +70 degrees using jog operation previously, and do this work.
Page 71: Setting The Parameter
3Installing the option devices 3) Install the Variable stopper block <5> by using two screws (RV-4FR: screw <8>, RV-7FR: screw <7>). There are two installation positions in the +/- side respectively. Install to the position of the angle which limits the operating range with referring to Table 3-8 Table...
Page 72: Rv-13Fr Series
3Installing the option devices 3.2.2 RV-13FR series (1) Configuration The configuration parts of this option (1F-DH-05J1) are shown in Table 3-10. Please confirm. Table 3-10 ： Configuration devices Part name Qty. Mass (kg) Remarks <1> Stopper Block J1 <2> Resin Stopper B One piece each for + side/- side <3>...
Page 73 3Installing the option devices The installation procedure of the J1 axis operating range change is shown below. [Note] When installing this option for safety, you should cut off the power supply of the controller. Surely fix the screw of M4 by 15.7Nm, and the screw of M10 by 26.5Nm, and the screw of M12 by 26.5Nm.
Page 74: Installation Procedure
3Installing the option devices (3) Installation procedure The installation procedure of the J1 axis operating range change is shown below. [Note] Previously, move the J1 axis to the position of the +90 degrees or the -90 degrees by jog operation. CAUTION When installing this option for safety, you should cut off the power supply of the con - troller.
Page 75 3Installing the option devices 3) Because to install the Mechanical Stopper screw, once move the J1 axis to the position of 0 degree. Turn on the power supply and move the J1 axis by jog operation. Stopper Block J1 <1> 　...
Page 76: Setting The Parameter
3Installing the option devices (4) Setting the parameter Specify the operating range to parameters MEJAR with appropriate values (variable angles given in Table 3-11) by the following steps. 1) Turn on the power supply. 2) Set up the operating range changed into parameter MEJAR. MEJAR: (J1 minus (-) side, J1 plus (+) side, ***, ***, ***, ...).
Page 77: Installing The Solenoid Valve Set
3Installing the option devices 3.3 Installing the solenoid valve set (1) RV-2FR series Fig.3-5 ： Solenoid valve installation procedures Fig. 3-5 shows the solenoid valve installation procedures and the solenoid valve connector connection procedures. The installation procedures are as follow. This work must be carried out with the controller power turned OFF. 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.
Page 78 3Installing the option devices 3) Connect the AIR IN "1" mark secondary piping coupler to the A port <4> of the No. 1 solenoid valve <3> with an air hose (φ4 approx. 250mm, prepared by customer.) In the same manner, connect the AIR IN "2" mark secondary piping coupler to the B port 5 of the No. 1 solenoid valve.
Page 79: Rv-4Fr/7Fr Series, Rv-7Frll
3Installing the option devices 3.3.1 RV-4FR/7FR series, RV-7FRLL As shown in Fig. 3-6, install the solenoid valve set on the forearm. Forearm Solenoid valve set * The figure is an example installed 1F-VD02-02. Fig.3-6 ： The installation image of the optional solenoid valve set (RV-4FR series) The installation procedure of solenoid valve set depends on robot series and specifications.
Page 80 3Installing the option devices (1) RV-4FR/7FR series, RV-7FRLL This paragraph explains how to install the solenoid valve set to RV-4FR/7FR series and RV-7FRLL robots. (The solenoid valve set of 1F-VD04-02 is used as an example.) Turn the controller’s power OFF before this installing operation. In addition, an instruction is described based on internal wiring and piping specification.
Page 81 3Installing the option devices 2) Installs the air hose. (only internal wiring and piping specification) Connects the port A/B of solenoid valve to use and the coupling on the front side installed by above- mentioned "1)" with air hoses (φ4). * The figure is an example which connected the first and second solenoid valve.
Page 82 3Installing the option devices 4) Cut the φ4 secondary piping air hoses. (only internal wiring and piping specification) Cutting the φ4 secondary piping air hoses facilitates connection to the solenoid valve. CAUTION Securely cut and connect the air hose to a surely suitable length. Failure to observe this could lead to the air hose breaks within an arm, and a solenoid valve becomes the cause of not operating to a normality.
Page 83 3Installing the option devices 5) Cut the φ6 primary piping air hoses. (standard/internal wiring and piping specification common) To facilitate connection to the solenoid valve, measure the length of φ6 primary piping air hoses (AIR IN and RETURN) from the end of rubber sheet at the base of the air hoses before cutting ...
Page 84 3Installing the option devices 7) Connect the φ4 secondary piping air hoses. (only internal wiring and piping specification) Connect the φ4 secondary piping air hoses to the couplings on the back side of the solenoid valve. Connect the air hoses sequentially from No.1. ...
Page 85 3Installing the option devices 8) Connect the connector. (standard/internal wiring and piping specification common) a) To prevent the lead wire from being put, checks that the lead wire which has come out of the solenoid valve is stored inside a solenoid-valve set as shown in a figure. If that is not right, store as shown in a figure.
Page 86 3Installing the option devices 9) Connect the elbow couplings to the solenoid valve set. (standard/internal wiring and piping specification common) First, connect the elbow couplings for AIR IN (white) to the "P" port, and then connect the elbow couplings for RETURN (black) to the "R" port. port "R"...
Page 87 3Installing the option devices 10) Install the solenoid valve set to the forearm. (standard/internal wiring and piping specification common) Install the solenoid valve set to the forearm and match their positions. Take care not to put air hoses or cables between them. Forearm top The solenoid valve is installed to the shaded area.
Page 88 3Installing the option devices 11) Installs the solenoid valve set on the forearm upside. (standard/internal wiring and piping specification common) Firmly fix the solenoid valve set using the original fixing screws of the No.2 arm cover U. (Tightening torque: 1.39-1.89N ・ m). Then, from the No.2 arm cover L side, check that the air hoses in the forearm are not bent.
Page 89: Rv-13Fr/13Frl, Rv-20Fr
3Installing the option devices (2) RV-13FR/13FRL, RV-20FR Install the solenoid valve set on the forearm. The installation procedure of solenoid valve set depends on robot series and specifications. Refer to the expla - nation section corresponding to the robot which uses and install the solenoid valve set properly. This paragraph explains how to install the solenoid valve set to RV-13FR/13FRL and RV-20FR robots.
Page 90 3Installing the option devices Then, connects the port A/B of solenoid valve to use and the coupling on the front side installed by above- mentioned "1)" with air hoses (φ4). Connect attached conversion couplings (φ6 to φ4) Port B Port A * The figure is an example which connected the first and second solenoid valve.
Page 91 3Installing the option devices Connector: GR2 Connector: GR1 "R" port coupling "P" port coupling c) Cconnect the piping inside the wrist. (only internal wiring and piping specification) Cuts the air hose inside of the wrist to suitable length, and connect to the coupling on the back side of solenoid valve set.
Page 92 3Installing the option devices 5) Installs the solenoid valve set on the forearm upside. (standard/internal wiring and piping specification common) Installs the solenoid valve set instead of the No.2 arm cover U removed above. CAUTION When you install the solenoid valve set, be careful to not put the cable and air hose between the cover and arm and do not break the air hose.
Page 93: Installing The Hand Input Cable
3Installing the option devices 3.4 Installing the hand input cable (1) RV-4FR/7FR/13FR series The installation procedure of the hand input cable is shown below. Turn the controller’s power OFF before this installing operation. Note) Although the robot's figure described to each page is RV-4FR series, the method is the same on other robot series.
Page 94 3Installing the option devices 4) Fixes the cable clamp box securely by the fixing screws as before. Installs carefully so that the cable may not be inserted. CAUTION Fixing screws When you install the cable clamp (Three places) box, be careful to not put the cable between the cable clamp box and arm.
Page 95: Installing The Hand Output Cable
3Installing the option devices 3.5 Installing the hand output cable (1) RV-4FR/7FR/13FR series As shown in Fig. 3-7, connects with connector GR1 and GR2 inside the forearm, and pulls out the hand output cable from the cable clamp box at the forearm lower part. Note）...
Page 96 3Installing the option devices 3) Feed the hand output cable through to the cable clamp box side from No.2 arm cover U side inside the arm. When the cable inside the No.2 arm cover U is pulled out, it will become easy. Feed the hand output cable through between the motors.
Page 97 3Installing the option devices 6) Fixes the cable clamp box securely by the fixing screws as before. Installs carefully so that the cable may not be inserted. * The figure is the example to which the J4 axis was Fixing screws moved to upside down position by jog operation.
Page 98: Installing The Forearm External Wiring Set/Base External Wiring Set
3Installing the option devices 3.6 Installing the forearm external wiring set/base external wiring set The installation procedure of forearm external wiring set/base external wiring set is shown below. When the forearm external wiring set and base external wiring set are used in the recommended pairs (see Table 3-17), the cables for the same purpose can be pulled out from the forearm section and base section.
Page 99: Installing The Forearm External Wiring Set
3Installing the option devices 3.6.1 Installing the forearm external wiring set Use this option set to replace the existing cable clamp box. The installation summary is shown in Fig. 3-8. For the 6-axis type robot, move the J4 axis in advance to the upside down position by jog operation to facilitate installation of this option.
Page 100 3Installing the option devices Table 3-19 ： Pin assign of hand input cable Note1) Note1) Color Signal name Color Signal name Connector (HC) Connector (HC) Purple Brown White Blue Gray Black Pink Yellow +24V(HND) Green RG(HND) Note1) Shows the pin number of the connector previously attached to the customer wiring side. Connector type: 1-1827864-6, Pin type: 1827570-2, Maker: Tyco Electronics 5) Confirms after the connection that the cable interferes with neither the robot arm nor the peripheral device and the not having receive stress.
Page 101: Installing The Base External Wiring Set
3Installing the option devices 3.6.2 Installing the base external wiring set The installation summary of the base external wiring set is shown bellow. Mounts this option instead of the CONBOX cover R. Note) Although the robot's figure described to each page is RV-4FR series, the method is the same on other robot series.
Page 102 3Installing the option devices 6) Grounding and installation of a ferrite core The cable which connects the multifunctional electric hand controller or force sensor interface needs install - ing a ferrite core or grounding according to Table 3-20. Failure to perform the grounding or install a ferrite core causes malfunction.
Page 103: Basic Operations
4Basic operations 4 Basic operations The basic operations from creating the program to automatic operation are explained in section "4. Basic operations" in the "Controller setup, basic operation, and maintenance" manual. Refer that manual as necessary. 3-91...
Page 104: Maintenance And Inspection
5Maintenance and Inspection 5 Maintenance and Inspection The maintenance and inspection procedures to be carried out to use the robot for a long time without trouble are described in this chapter. The types and replacement methods of consumable parts are also explained. 5.1 Type of inspection and maintenance works Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.
Page 105: Inspection Items
5Maintenance and Inspection 5.2 Inspection items The inspection items for the robot arm are shown below. Also refer to section "5. Maintenance and inspection" in the "Controller setup, basic operation, and maintenance" manual, and inspect the controller. 5.2.1 Daily inspection items shows the procedure and inspection items.
Page 106: Periodic Inspection
5Maintenance and Inspection 5.2.2 Periodic inspection The inspection items and timings for the robot arm are shown below. (1) Inspection item Carry out periodic inspection given in Table 5-3. Table 5-3 ： Periodic inspection items (details) Inspection item (details) Remedies Monthly inspection Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.
Page 107: Schedule
5Maintenance and Inspection (2) Schedule The following shows the schedule for the periodic inspection works. Perform the periodic inspection works as appropriate according to the following table. Note2) Inspection schedule Type of periodic inspection works Operating time Note1) 15 hours per 8 hours per Monthly 6-month...
Page 108: Maintenance And Inspection Procedures
5Maintenance and Inspection 5.3 Maintenance and inspection procedures The procedures for carrying out the periodic maintenance and inspection are described in this section. Thoroughly read the contents, and follow the instructions. This work can be commissioned to the Mitsubishi Service Depart - ment for a fee.
Page 109 5Maintenance and Inspection <13>J5 axis motor <15>J5 axis timing belt for brake <10>J4 axis motor <11> Timing belt <14> Timing belt <16> Reduction gears <21> Reduction gears <17>J5 axis brake <12> Reduction gears <20>Gear <23>J6 axis brake <18>J6 axis motor <19>...
Page 110 5Maintenance and Inspection (2) RV-4FR/7FR series Non-excitation magnetic brakes are mounted in all axes's motor. 1) The rotation of the J1 axis motor <1> arranged in the base is conveyed to the reduction gears <3> via the timing belt <2> to rotate the J1 axis. 2) The J2 axis rotation is driven by the J2 axis motor <4>...
Page 111 5Maintenance and Inspection (3) RV-13FR series Non-excitation magnetic brakes are mounted in all axes's motor. 1) The J1 axis rotation is driven by the J1 axis motor <1> and reduction gears <2>. 2) The J2 axis rotation is driven by the J2 axis motor <3> and reduction gears <4>. 3) The J3 axis rotation is driven by the J3 axis motor <5>...
Page 112: Installing/Removing The Cover
5Maintenance and Inspection 5.3.2 Installing/removing the cover (1) RV-2FR series <6> Elbow cover R <5> Elbow cover B <8> No.2 arm cover R <7> No.2 arm cover L <4> No.1 arm cover L <3> No.1 arm cover R <1> Battery cover <2>...
Page 113 5Maintenance and Inspection (3) Depending on the robot's posture, some covers are hard to be removed. In such a case, change the robot's posture by performing jog operation to remove the covers. (4) 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 5-4.
Page 114 5Maintenance and Inspection (2) RV-4FR/7FR series <9> Wrist cover <7> No.1 arm cover R <1> No.2 arm cover U <4> Elbow cover <8> No.1 arm cover U <3> No.2 arm cover R <5> Cable clamp box <2> No.2 arm cover L <11>...
Page 115 5Maintenance and Inspection (2) The names of the cover and installation screw are given in Table 5-5. The number in Table 5-5 correspond Fig. 5-5. (3) Depending on the robot's posture, some covers are hard to be removed. In such a case, change the robot's posture by performing jog operation to remove the covers.
Page 116 5Maintenance and Inspection (3) RV-13FR series RV-13FR series <6> Wrist cover <3> Elbow cover <1> No.2 arm cover U <2> No.2 arm cover <5> Shoulder cover <4> Cable clamp box <7> CONBOX cover <2> No.2 arm cover <8> CONBOX cover R Fig.5-6 ：...
Page 117: Inspection Replacement Of Timing Belt
5 Maintenance and Inspection 5.3.3 Inspection replacement of timing belt This robot uses a timing belt for the drive conveyance system. Compared to gears and chains, the timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjustment are inade - quate, the life could drop and noise could be generated.
Page 118: Timing Belt Replacement Period
5 Maintenance and Inspection (1) Timing belt replacement period The timing belt life is greatly affected by the robot working conditions, so a set time cannot be given. However, if the following symptoms occur, replace the belt. 1) The belt tension value becomes less than the guideline value. 2) A position mismatch or gear teeth skipping occurs.
Page 119: Timing Belt Tension Measurement
5 Maintenance and Inspection (2) Timing belt tension measurement Rotate the timing pulley A to one direction while visually checking its position, and measure the belt tension at every 90 degrees, four times in total. The average of the four measurements is used as the timing belt tension value.
Page 120: Rv-2Fr Series: Inspection And Replacement Of J1-Axis Timing Belt
5 Maintenance and Inspection (3) RV-2FR series: Inspection and replacement of J1-axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-9. <3>Tension adjustment screw With the fixing nut <1>Motor plate fixing screw <6>Motor plate hook Pulls and fixing <4>Timing pulley A (motor side)
Page 121 5 Maintenance and Inspection <3>Tension adjustment screw <4> Timing pulley A With the fixing nut <1> Motor plate fixing screw <1>Motor plate fixing screw <6>Motor plate Mark <2>. Timing belt <5>. Timing pulley B Inside of the bottom plate of robot arm (bottom) Fig.5-10 ：...
Page 122: Rv-2Fr Series: Inspection And Replacement Of J2-Axis Timing Belt
5 Maintenance and Inspection (4) RV-2FR series: Inspection and replacement of J2-axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-11. <3>Tension adjustment screw With the fixing nut <1> Idler inatallation screw Idler J2 axis <4>...
Page 123 5 Maintenance and Inspection 11) Refer to Page 150, "5.6 Resetting the origin", and reset the origin position. 12) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the dedicated screen or parameter MFBRST of RT ToolBox3. Refer to "RT ToolBox3/RT ToolBox3 mini User's Manual"...
Page 124: Rv-2Fr Series: Inspection And Replacement Of J3-Axis Timing Belt
5 Maintenance and Inspection (5) RV-2FR series: Inspection and replacement of J3-axis timing belt The reference figure at inspection, and replacement of the timing belt is shown in Fig. 5-12. <3>Tension adjustment screw <1> Idler installation screw With the fixing nut Mark Mark Idler...
Page 125 5 Maintenance and Inspection 12) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the dedicated screen or parameter MFBRST of RT ToolBox3. Refer to "RT ToolBox3/RT ToolBox3 mini User's Manual" for operation of RT3 and refer to "Instruction Manual/Detailed Explanation of Functions and Operations"...
Page 126: Rv-2Fr Series: Inspection And Replacement Of J4-Axis Timing Belt
5 Maintenance and Inspection (6) RV-2FR series: Inspection and replacement of J4-axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-13. <1>Motor plate fixing screw Mark <3>Tension adjustment screw With the fixing nut Mark J3 axis <4>...
Page 127 5 Maintenance and Inspection 11) Refer to Page 150, "5.6 Resetting the origin", and reset the origin position. 12) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the dedicated screen or parameter MFBRST of RT ToolBox3. Refer to "RT ToolBox3/RT ToolBox3 mini User's Manual"...
Page 128: Rv-2Fr Series: Inspection And Replacement Of J5 Axis Timing Belt And Brake Timing Belt
5 Maintenance and Inspection (7) RV-2FR series: Inspection and replacement of J5 axis timing belt and brake timing belt The J5 axis has the timing belt rotating the J5 axis and the brake timing belt conveying the brake. The inspection and replacement method of each belt is shown below. A) Inspection, maintenance and replacement of J5-axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig.
Page 129 5 Maintenance and Inspection 9) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten the three <1> certainly (M4 screw: motor plate fixing screws tightening torque is 4.51Nm). Improper tightening can cause the belt to loosen with vibration. 10) Install the No.
Page 130 5 Maintenance and Inspection B) Inspection and replacement of J5 axis brake timing belt The reference figure at inspection and replacement of the brake timing belt is shown in Fig. 5-15. To replace the J5 axis brake timing belt, remove the J5 axis timing belt. Measure the tension before removing the J5 axis timing belt, and reinstall the belt so that the tension must be the same as the one measured before removal.
Page 131 5 Maintenance and Inspection 6) After replacement, securely tighten the two motor installation screws <1> (M4 screw: tightening torque is 4.51 Nm). (Tension is automatically adjusted by the work of the spring.) Improper tightening can cause the belt to loosen with vibration. 7) Install J5 axis timing belt with reference to above "...
Page 132: Rv-2Fr Series: Inspection And Replacement Of J6-Axis Timing Belt And Brake Timing Belt
5 Maintenance and Inspection (8) RV-2FR series: Inspection and replacement of J6-axis timing belt and brake timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-16. In the RV-2FRB/2FRLB, the J6 axis has the timing belt rotating the J6 axis and the brake timing belt conveying the brake.
Page 133 5 Maintenance and Inspection 10) Install the No. 2 arm cover L securely as before. 11) Refer to Page 150, "5.6 Resetting the origin", and reset the origin position. 12) When the maintenance forecast function is valid, reset the accumulation data about the belt. Reset by the dedicated screen or parameter MFBRST of RT ToolBox3.
Page 134 5 Maintenance and Inspection B) Inspection and replacement of J6 axis brake timing belt The reference figure at inspection and replacement of the brake timing belt is shown in Fig. 5-17. To replace the J6 axis brake timing belt, remove the J6 axis timing belt. Measure the tension before removing the J6 axis timing belt, and reinstall the belt so that the tension must be the same as the one measured before removal.
Page 135 5 Maintenance and Inspection 6) After replacement, securely tighten the two motor installation screws <1> (M4 screw: tightening torque is 4.51 Nm). (Tension is automatically adjusted by the work of the spring.) Improper tightening can cause the belt to loosen with vibration. 7) Install J6 axis timing belt with reference to above "...
Page 136: Rv-4Fr/7Fr Series: Inspection And Replacement Of J1-Axis Timing Belt
5 Maintenance and Inspection (9) RV-4FR/7FR series: Inspection and replacement of J1-axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-18. <3> Tension adjustment screw <1>Motor plate fixing screw (Three screws) With the fixing nut Motor Inside of J1 motor cover...
Page 137 5 Maintenance and Inspection 9) After adjustment fastens the fixing nut of tension adjustment screw <3>, and certainly fixes tension adjustment screw <3>. Moreover, also fasten the three <1> certainly (M4 screw: motor plate fixing screws tightening torque is 4.51 Nm). Improper tightening can cause the belt to loosen with vibration. 10) Check that the belt tension meets the value in Page 135, "(15) Timing belt tension".
Page 138: Rv-4Fr/7Fr Series: Inspection And Replacement Of J3-Axis Timing Belt
5 Maintenance and Inspection (10) RV-4FR/7FR series: Inspection and replacement of J3-axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-19. <5> Timing pulley B (joint side) <2> Timing belt <3>Tension adjustment screw With the fixing nut Mark <1>...
Page 139 5 Maintenance and Inspection 6) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 7) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 8) Align the new timing belt with the marks on the timing pulleys <4>...
Page 140 5 Maintenance and Inspection 4) Lightly loosen the two motor plate installation screws <1>. (Do not loosen too much.) 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4>...
Page 141: Rv-4Fr/7Fr Series (6-Axes Type): Inspection And Replacement Of J4-Axis Timing Belt
5 Maintenance and Inspection (11) RV-4FR/7FR series (6-axes type): Inspection and replacement of J4-axis timing belt The reference figure at inspection of the timing belt is shown in Fig. 5-21. Timing pulley B (joint side) Timing belt Timing pulley A (motor side) J4 axis motor Fig.5-21 ：...
Page 142: Rv-13Fr Series: Inspection And Replacement Of J4-Axis Timing Belt
5 Maintenance and Inspection (12) RV-13FR series: Inspection and replacement of J4-axis timing belt The reference figure at inspection of the timing belt is shown in Fig. 5-22. No.2 arm side Timing pulley A Timing belt (motor side) Timing pulley B (joint side) J4 axis motor (Back side) Elbow side...
Page 143: Rv-4Fr/7Fr/13Fr Series: Inspection And Replacement Of J5 Axis Timing Belt
5 Maintenance and Inspection (13) RV-4FR/7FR/13FR series: Inspection and replacement of J5 axis timing belt The reference figure at inspection and replacement of the timing belt is shown in Fig. 5-23 (RV-4FR/7FR series, RV-7FRLL) or Fig. 5-24 (RV-13FR/13FRL, and RV-20FR series). <1>Motor plate fixing screw RV-4FR/7FR series Mark...
Page 144 5 Maintenance and Inspection 2) Make sure that the pulleys do not move while replacing the belt. If the timing pulley A <4> and B <5> position relation deviates, the position could deviate. 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in the figure above, so that the engagement of the timing belt <2>...
Page 145: Rv-4Fr/7Fr/13Fr Series: Inspection And Replacement Of J6-Axis Timing Belt
5 Maintenance and Inspection (14) RV-4FR/7FR/13FR series: Inspection and replacement of J6-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-25 (RV-4FR/ 7FR series, RV-7FRLL) or Fig. 5-26 (RV-13FR/13FRL, RV-20FR series). RV-4FR/7FR series <2>...
Page 146 5 Maintenance and Inspection 5) Loosen the nut fixing tension adjustment screw <3>. Loosen the tension adjustment screw <3>, and remove the old belt. 6) Copy the marks onto the new timing belt. Make sure that both belts are tense when making the marks. 7) Align the new timing belt with the marks on the timing pulleys <4>...
Page 147: Timing Belt Tension
5 Maintenance and Inspection (15) Timing belt tension The following table shows the preset values of the sonic belt tension gauge, the tension value for new belt installation, and the tension value as the replacement guideline. Table 5-8 ： Belt tension Preset value Tension for new belt Replacement...
Page 148: Amount Of Movement Of Each Axis During The Timing Belt Tension Measurement
5 Maintenance and Inspection (16) Amount of movement of each axis during the timing belt tension measurement The amount of movement of each axis when the timing pulley A is rotated 90 degrees are shown in Table 5-9. Table 5-9 ： Amount of movement of each axis during the tension measurement Amount of movement Model J1 axis...
Page 149: Lubrication
5 Maintenance and Inspection 5.3.4 Lubrication (1) RV-2FR series ■ Lubrication position and specifications The grease nipple position is shown in Fig. 5-27. The lubrication specifications for each place are shown in Table 5-10. Refer to the Page 100, "5.3.2 Installing/removing the cover" for the method of removing and installing the cover.
Page 150 5 Maintenance and Inspection ［Caution］・ The brand name of the grease shown in the Table 5-10 is the grease put in at shipping. ・ The lubrication interval is a cumulative value of the operation at the maximum speed. If the operation has been suspended, or if the designated speed is slow, the lubrication time can be lengthened in proportion.
Page 151: Rv-4Fr/7Fr/13Fr Series
5 Maintenance and Inspection (2) RV-4FR/7FR/13FR series ■ Lubrication position and specifications (RV-13FR series). The lubrica - The grease nipple position is shown in Fig. 5-28 (RV-4FR/7FR series) or Fig. 5-29 tion specifications for each place are shown in Table 5-11.
Page 152 5 Maintenance and Inspection RV-13FR series Fig.5-29 ： Lubrication positions (RV-13FR series) Table 5-11 ： Lubrication specifications Lubrication oil Lubrication Lubrication Note1) Oiling method Cover to remove Parts to be lubricated (maker) interval amount RV-4FR series J1 axis reduction gears J1 motor cover J2 axis reduction gears J3 axis reduction gears...
Page 153 5 Maintenance and Inspection Lubrication oil Lubrication Lubrication Note1) Oiling method Cover to remove Parts to be lubricated (maker) interval amount J4 axis reduction gears J5 axis reduction gears Grease nipple 4B No.2 24,000Hr WA-610 （Harmonic Drive Systems Inc.） J6 axis reduction gears J6 axis gears 1.3g Wrist cover...
Page 154 5 Maintenance and Inspection 6) In the RV-13FR series, wind thread sealing tape two or three times around the thread of the screws removed from waste oil portion (1), (3), and (5) (refer to the image below). Then tighten the screws by 7.1 N·m to 8.5 N·m. If the screw is tightened with lower/higher torque or not winded a sealing tape, it may cause grease to leak.
Page 155: Replacing The Backup Battery
5 Maintenance and Inspection 5.3.5 Replacing the backup battery An absolute encoder is used for the position detector, so while power of controller is turned off the position must be saved by the backup battery. The CR800-Q controller uses a backup battery to save the program, etc. These batteries are installed when the robot is shipped from the factory, but as these are consumable parts, they must be replaced periodically by the customer.
Page 156: Replacing The Battery Of The Robot Arm
5 Maintenance and Inspection (1) Replacing the battery of the robot arm CAUTION The battery circuit board connection cable is used to supply power from the backup battery to the encoder. The cable must be connected while replacing the battery or operating usually.
Page 157 5 Maintenance and Inspection 6) All the batteries should be checked that it has been exchanged newly. If the old battery is contained, gener - ating heat and damaging may occur. 7) Install the battery cover as before. Be careful so that the cable may not be inserted. [Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.
Page 158: About Overhaul
5 Maintenance and Inspection 5.4 About Overhaul Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci - fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin - ued use.
Page 159: Maintenance Parts
Timing belt J1 axis J2 axis J3 axis J4axis "5.3.3Inspection replacement of timing belt" J5axis For J5 axis brakes Mitsubishi Electric J6 axis Note1) For J6 axis brakes Grease Reduction gears of each axis A small "5.3.4Lubrication" amount Lithium battery Base section "5.3.5Replacing the backup...
Page 160 5 Maintenance and Inspection Names Usage place Q'ty Supplier RV-4FR series (common) AC servo motor J1, J2 axis J3 axis Mitsubishi Electric J4, J5 axis J6 axis RV-4FR (Standard arm type) Reduction gears J1, J2 axis J3 axis J4 axis Mitsubishi Electric...
Page 161 5 Maintenance and Inspection Names Usage place Q'ty Supplier RV-13FLR (Long arm type) Reduction gears J1 axis J2 axis J3 axis Mitsubishi Electric J4 axis J5 axis J6 axis Maintenance parts 5-149...
Page 162: Resetting The Origin
5 Maintenance and Inspection 5.6 Resetting the origin The origin is set so that the robot can be used with a high accuracy. The origin is set so that the robot can be used with a high accuracy. Setting is required if the motor is replaced or an encoder error occurs. The origin setting methods and when each origin setting method is required are shown in Table 5-15.
Page 163: Setting The Origin With The Origin Data Input Method
5 Maintenance and Inspection 5.6.1 Setting the origin with the origin data input method (1) Confirming the origin data The origin data to be input is noted in the origin data sheet. (See Fig. 5-33.) ● Origin data history table (Origin Data History) Serial No.ES804008 Date Default .
Page 164: Selecting The Origin Setting Method
5 Maintenance and Inspection (2) Selecting the origin setting method 　　　 1) Press the [4] key on the menu screen, and display the 1.FILE/EDIT 2.RUN ORIGIN/BRAKE screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 2) Press the [1] key on the ORIGIN/BRAKE screen, and 1.ORIGIN 2.BRAKE display the origin setting method selection screen.
Page 165: Inputting The Origin Data
5 Maintenance and Inspection (3) Inputting the origin data Origin data label T/B screen Input the value confirmed in section Page 151, "(1) (D,J1,J2,J3,J4,J5,J6,J7,J8) Confirming the origin data". The correspondence of the origin data label value and axis to DATA D:(■...
Page 166: Installing The Cover
5 Maintenance and Inspection DATA 6) After inputting all of the values, press the [EXE] key. The D:( V!%S29) origin setting confirmation screen will appear. J1( 06DTYY) J2( 2?HL9X) J3( 1CP55V) J4( T6!MSY) J5( Z21J%Z) J6( A12%Z0) ) J8( CLOSE ...
Page 167: Jig Method
5 Maintenance and Inspection 5.6.2 Jig method This method is using the origin setting tool. If the origin setting tool is required, please ask nearby dealer. The reference figure of the origin setting tool is shown in Fig. 5-35. RZ6.3 Fig.5-35 ：...
Page 168: J1 Axis Origin Setting (Jig)
5 Maintenance and Inspection (1) J1 axis origin setting (jig) 　　　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE Select ORIGIN/BRK 　　　　　　　　　...
Page 169 5 Maintenance and Inspection RV-2FR series 6) Move the J1 axis slowly with both hands to the position around ±0°. Align the pinhole of the lower part of the shoulder and the pinhole at the base section, feed through the origin jig (φ6) into the pinholes and fasten.
Page 170 5 Maintenance and Inspection 10) Input "1" into the J1 axis. Set "0" to other axes. J1:( )J2:( )J3:( J4:( )J5:( )J6:( J7:( )J8:( 11) Press the [EXE] key, and display Confirmation SPACE screen. REL. CLOSE TOOL 12) Press the [F1] key, and the origin position is set up.
Page 171: J2 Axis Origin Setting (Jig)
5 Maintenance and Inspection (2) J2 axis origin setting (jig) 　　　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 2) Press the [2] key, and display the Brake release 1.ORIGIN 2.BRAKE selection screen.
Page 172 5 Maintenance and Inspection 7) Move the J2 axis slowly with both hands to the following position and align the pinhole of the No.1 arm and the pinhole at the shoulder. Robot model Position RV-2FR series Around -90° RV-4FR series Around -107°...
Page 173 5 Maintenance and Inspection CAUTION When the brake is released, the arm may fall by its own weight depending on the posture of the robot. To ensure safety, take appropriate measures such as supporting the axis to avoid the free fall. CAUTION If [F1] key or enable switch of T/B is released, the brakes will be work immediately.
Page 174 5 Maintenance and Inspection 8) Detach the [F1] key and work the brake. Press the [F4] key and return to the origin / J1:( )J2:( )J3:( J4:( )J5:( )J6:( brake screen. J7:( )J8:( REL. CLOSE 9) Press the [1] key, and display the Origin setting 1.ORIGIN 2.BRAKE selection screen.
Page 175: J3 Axis Origin Setting (Jig)
5 Maintenance and Inspection (3) J3 axis origin setting (jig) 　　　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE 2) Press the [2] key, and display the Brake release 1.ORIGIN 2.BRAKE selection screen.
Page 176 5 Maintenance and Inspection 7) Move the J3 axis slowly with both hands to the following position and align the pinhole of the No.1 arm and the pinhole at the elbow. Robot model Position Pinhole (J3) RV-2FR/4FR series Around +90°...
Page 177 5 Maintenance and Inspection CAUTION When the brake is released, the arm may fall by its own weight depending on the posture of the robot. To ensure safety, take appropriate measures such as supporting the axis to avoid the free fall. CAUTION If [F1] key or enable switch of T/B is released, the brakes will be work immediately.
Page 178 5 Maintenance and Inspection ◇◆◇ Release the brake ◇◆◇ Do cursor movement into the parenthesis of each axis by the arrow key. The brakes can be released only for the axis for which a "1" is displayed on the screen. If the brakes are not to be released, press the [0] key and display a "0".
Page 179: J4 Axis Origin Setting (6-Axis Type Robot Only)
5 Maintenance and Inspection (4) J4 axis origin setting (6-axis type robot only) 　　　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM. 4.ORIGIN/BRK 5.SET/INIT. 6.ENHANCED 　 123 CLOSE ...
Page 180 5 Maintenance and Inspection 7) Move the J4 axis slowly with both hands to the following position and align the pinhole of the No.2 arm and the pinhole at the elbow. Robot model Position RV-2FR series Around -50° Pinhole (J4 axis) RV-4FR/7FR/13FR Around ±0°...
Page 181 5 Maintenance and Inspection 11) Input "1" into the J4 axis. Set "0" to other axes. J1:( )J2:( )J3:( J4:( )J5:( )J6:( 12) Press the [EXE] key, and display Confirmation J7:( )J8:( screen. SPACE REL. CLOSE 13) Press the [F1] key, and the origin position is ...
Page 182: Origin Setting Of J5 Axis And J6 Axis (Jig)
5 Maintenance and Inspection (5) Origin setting of J5 axis and J6 axis (jig) Always perform origin setting of the J5 axis and the J6 axis simultaneously. First, set the J5 axis posture. 1) Remove the following cover. The pin hole is inside the cover. Robot model Cover RV-2FR series...
Page 183 5 Maintenance and Inspection 8) Move the J5 axis slowly with both hands to the following position and align the pinhole of the No.2 arm and the pinhole at the wrist. Robot model Position RV-2FR series Around +75° Pinhole (J5) ピン穴（J5軸）...
Page 184 5 Maintenance and Inspection 10) Install the following bolt (customer preparation) in the diagonal position at the J6 axis. Robot model Bolt ABS mark RV-2FR/4FR/7FR series M5, 2 pcs. RV-13FR series M6, 2 pcs. Hold the bolts with hands, rotate them slowly and align the ABS mark of the J6 axis with the ABS mark of the wrist area.
Page 185 5 Maintenance and Inspection 11) Confirm the axis for which the brakes are to be J1:( )J2:( )J3:( released. J4:( )J5:( )J6:( J7:( )J8:( 12) Pressing the [F1] key is kept with the enabling REL. CLOSE switch of T/B pressed down. The brake is SPACE released while pressing the key.
Page 186 5 Maintenance and Inspection TOOL 20) Press the [F1] key , and the origin position is set up. CHANGE TO ORIGIN. OK? 21) Setting of the origin is completed. COMPLETED 22) Refer to Page 182, "5.6.5 Recording the origin J1:( )J2:( )J3:(...
Page 187: Abs Origin Method
5 Maintenance and Inspection 5.6.3 ABS origin method When the origin setting of the robot is performed for the first time, this product records the angular position of the origin within one rotation of the encoder as the offset value. If the origin setting is performed according to the ABS origin method, this value is used to suppress variations in the origin setting operations and to reproduce the initial origin position accurately.
Page 188: Rv-4Fr Series
5 Maintenance and Inspection (2) RV-4FR series Within 1mm Within 1mm 1mm以内 1mm以内ＡＢＳマーク拡大図 ABS mark (+ side deviation) (- side deviation) (プラス側ずれ量) (マイナス側ずれ量) Setting range of ABS mark ＡＢＳマークの設定範囲 Note) Not used for RV- 4FRJL (5-axis type robot). The angles of each axis which sets up the ABS origin are shown below. Model J1 axis J2 axis...
Page 189: Rv-7Fr Series
5 Maintenance and Inspection (3) RV-7FR series ＡＢＳマーク拡大図 Within 1mm Within 1mm 1mm以内 1mm以内 (+ side deviation) (プラス側ずれ量) (マイナス側ずれ量) (- side deviation) Setting range of ABS mark ＡＢＳマークの設定範囲 The angles of each axis which sets up the ABS origin are shown below. Model J1 axis J2 axis...
Page 190: Rv-13Fr Series
5 Maintenance and Inspection (4) RV-13FR series ＡＢＳマーク拡大図 Within 1mm Within 1mm 1mm以内 1mm以内 (+ side deviation) (プラス側ずれ量) (マイナス側ずれ量) (- side deviation) Setting range of ABS mark ＡＢＳマークの設定範囲 The angles of each axis which sets up the ABS origin are shown below. J1 axis: 0 degrees, J2 axis: 0 degrees, J3 axis: 90 degrees, J4 axis: 0 degrees, J5 axis: 90 degrees, J6 axis: 0 degrees.
Page 191: Origin Setting Procedure
5 Maintenance and Inspection (5) Origin setting procedure Do the following operations with pressing the enabling switch of T/B lightly. 　　　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen. 3.PARAM.
Page 192: User Origin Method
5 Maintenance and Inspection 5.6.4 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 150, "Table 5-15 ： Origin setting method". The procedure for setting the origin with the user origin method is explained below. This operation is carried out with the teaching pendant.
Page 193 5 Maintenance and Inspection 8) Input "1" into the axis to origin setting. Press J1:( )J2:( )J3:( the [EXE] key, and display Confirmation screen. J4:( )J5:( )J6:( J7:( )J8:( REL. CLOSE → 9) Press the [F1] key, and the origin position is set ...
Page 194: Recording The Origin Data
5 Maintenance and Inspection 5.6.5 Recording the origin data Confirm the origin data on the teaching pendant screen (origin data input screen). The origin data label is enclosed with the following cover. Robot model Cover RV-2FR series J1 motor cover RV-4FR/7FR/13FR series CONBOX cover The teaching pendant operation method and the cover removal method for confirming the origin data is the same...
Page 195: How To Release The Brake In An Emergency
5 Maintenance and Inspection 5.7 How to release the brake in an emergency The following describes how to release the brake using the emergency power supply in an emergency. Using an emergency power supply system separated from the primary power supply of the robot prevents the robot from moving accidentally during the brake release operation, which contributes to enhancing customer safety.
Page 196 5 Maintenance and Inspection 3) When the 24V DC power supply is turned on, the controller starts and then errors (H0712, H0090, H0212) will occur. [Note] For using the R800-R/Q controller, turn ON the 24V DC power supply, then the robot CPU system power on.
Page 197: 6Appendix
6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and C. However, even with the same position data, there are several postures that the robot can change to. The posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X, Y, Z, A, B, C) (FL1, FL2).
Page 198 6Appendix (3) NONFLIP/FLIP (6-axis type robot only) This means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis. FL1 (Flag 1) &B0000 0000 ↑ 1/0=NONFLIP/FLIP Note) "&B" is shows the binary * The illustration is an example.
Page 200 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: Mitsubishi Electric Europe B.V. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 Jan. 2020 MEE Printed in Japan on recycled paper.

Mitsubishi Electric MELFA RV-FR Series Instruction Manual

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