Mitsubishi RV-2F Series, Instruction Manual

Page 1: ...Mitsubishi Industrial Robot RV 2F Series INSTRUCTION MANUAL ROBOT ARM SETUP MAINTENANCE BFP A8904 C...

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Page 3: ...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...

Page 4: ...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 rob...

Page 5: ...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 equipme...

Page 6: ...error in writing The notes about installation of the controller and the robot arm were added neither direct rays nor the heat of lighting 2012 11 19 BFP A8904 B The lithium battery type was added to...

Page 7: ...series The specification in which all axes have the brake is included No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The details of this man...

Page 8: ...ata 2 15 2 Turning ON the control power 2 15 3 Preparing the T B 2 16 4 Selecting the origin setting method 2 17 5 Inputting the origin data 2 18 6 Installing the J1 motor cover 2 19 2 4 Confirming th...

Page 9: ...per method 5 71 1 J1 axis origin setting mechanical stopper 5 71 2 J2 axis origin setting mechanical stopper 5 73 3 J3 axis origin setting mechanical stopper 5 75 4 J4 axis origin setting mechanical s...

Page 10: ...onfirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic...

Page 11: ...Stand alone type Controller Indicates the box which arranged control parts such as robot CPU servo amplifier and the safety circuit Symbol Precaution indicating cases where there is a risk of operato...

Page 12: ...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...

Page 13: ...uries 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 accide...

Page 14: ...ot installed there is a possibility of malfunctioning by adhesion of the dust etc Don t remove the SSCNETIII cable when the power supply of the robot controller is turned on Don t face squarely the li...

Page 15: ...pecifications Table 2 1 Standard configuration No Part name Type Qty Remarks 1 Robot arm RV 2F series 1 unit 2 Guarantee card 1 copy 3 Installation bolts M8x35 4 pcs 4 Spring washer for installation b...

Page 16: ...process is shown below 1 The cardboard box is toppled over horizontally slowly Take care so that a shock may not be given Fig 2 1 a 2 Using a knife etc slit the tape fixing the upper lid of the cardbo...

Page 17: ...lower section of elbow B Please be sure to avoid holding the robot from the front back side or by the cover because the robot may tilt over and the cover may be damaged or dropped which may lead to ac...

Page 18: ...and 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 Remove the fixing plates after in...

Page 19: ...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 4 Grounding methods 2 Grounding procedures 1 Prepare the grou...

Page 20: ...s fixed when the latch is released Please connect the connector securely If it inserts by force the pin will break And it becomes the cause of failure The machine cable connectors are dedicated for th...

Page 21: ...y 4 Connects the machine cable to the corresponding connectors AMP1 AMP2 BRK and CN2 of the controller Fixes each connector by tightening the screws This completes connecting the machine cables Please...

Page 22: ...it out Please do not pull the cable of T B strongly or do not bend it too much It becomes the breaking of a wire of the cable and the cause of breakage of the connector Please installing and removing...

Page 23: ...Fig 2 9 Fig 2 9 Installing and removing the T B CR751 The installation of T B is finished A T B T B A 2 Controller T B connector Teaching pendant Details of the A section A Hand lock Two places T B co...

Page 24: ...input is found on also the robot examination report sheet Always install remove the cover with the controller control power turned OFF Failure to do so could lead to physical damage or personal injury...

Page 25: ...ABLE The menu selection screen will appear The following operations are carried out with the T B ENABLE DISABLE Up Disable Down Enable Lighting MODE MANUAL AUTOMATIC Operating from the T B Always set...

Page 26: ...BRK 5 SET INIT 6 ENHANCED CLOSE 123 ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 ORIGIN DATA D J1 J2 J3 J4 J5 J6 J7 J8 CLOSE 123 Selecting a menu The menu...

Page 27: ...he key five times will be set Press the key once and advance the cursor Press the key twice input and press the PQRS key four times input S Press the CHARACTER key and set to the numeral input mode Co...

Page 28: ...V S29 J1 06DTYY J2 2 HL9X J3 1CP55V J4 T6 MSY J5 Z21J Z J6 A12 Z0 J7 J8 CLOSE ABC ORIGIN DATA CHANGE TO ORIGIN OK No 123 Yes Moving the cursor Press the and keys Inputting characters Press the CHARAC...

Page 29: ...ators near the robot and that there are no obstacles such as tools in the robot operation range To immediately stop the robot release the deadman switch on the back of the T B The servo power will tur...

Page 30: ...ure the axis moves straight along the base coordinate system Also while maintaining the flange surface position the flange surface posture changes Control point X Y Z While maintaining the flange surf...

Page 31: ...lange surface position does not change at this time It is effective to change the posture of the wrist with the position maintained J4 axis J5 axis J6 axis X Y Z Z The current position is set as the a...

Page 32: ...og operation X Y Z Xw Yw Zw Zw Xw Yw While maintaining the flange surface posture the axis moves straight along the work coordinate system Also while maintaining the flange surface position the flange...

Page 33: ...pond to close Whenever it presses the key of OVRD the override goes up Conversely if the OVRD key is pressed it will go down The current setting speed is displayed on screen upper right and STATUS NUM...

Page 34: ...ate in the minus direction When the Z J3 keys are pressed the J3 axis will rotate in the plus direction When the Z J3 keys are pressed Rotate in the minus direction J2 axis jog operation When the robo...

Page 35: ...the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed the J6 axis will rotate in the plus direction When the C J6 keys are pressed Rotate in the minus direction J6 J5...

Page 36: ...s direction When the X J1 keys are pressed Move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction When the Y J2 keys are pressed Move along t...

Page 37: ...sounds and the robot does not move If it is going to move the robot across the operation range the buzzer of T B sounds and the robot does not move In this case please move to the counter direction X...

Page 38: ...en the X J1 keys are pressed Move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction of the tool coordinate system When the Y J2 keys are pres...

Page 39: ...in the minus direction 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...

Page 40: ...d the robot will move along the X axis plus direction When the X J1 keys are pressed Move along the minus direction When the Y J2 keys are pressed the robot will move along the Y axis plus direction W...

Page 41: ...he B J5 keys are pressed the J5 axis will rotate in the plus direction At this time to maintain the flange s position other axes move simultaneously except J4 and J6 When the B J5 keys are pressed Rot...

Page 42: ...10 here for confirmation work Assuming that the current position is on an arc centering on the Z axis the robot moves along that arc When the X J1 keys are pressed the robot will expand in the radial...

Page 43: ...J5 keys are pressed The Y axis will rotate in the plus direction When the B J5 keys are pressed Rotate in the minus direction When the C J6 keys are pressed The Z axis will rotate in the plus directio...

Page 44: ...hing point The setting definition method of the work coordinates system is shown in the following 1 Select 6 ENHANCED screen on the MENU screen Zw Xw Yw Z Y X Teaching point WO Work coordinates system...

Page 45: ...sponding to TEACH F1 The confirmation screen is displayed The screen shows the coordinate value of the origin WO of the work coordinates number 1 EMHANCED 1 SQ DIRECT 2 WORK COORD CLOSE 123 WORK COORD...

Page 46: ...re teach the three points This work coordinate data is registered into parameter WKnCORD n means the work coordinates numbers 1 8 If the function key corresponding to CLOSE is pressed it will return...

Page 47: ...s confirm that the number of the target work coordinates system is displayed correctly Display of W1 W8 at the upper right of the screen If mistaken the robot will move in the direction which is not m...

Page 48: ...he work coordinates system When the Y J2 keys are pressed Move along the minus direction When the Z J3 keys are pressed the robot will move along the Z axis plus direction on the work coordinates syst...

Page 49: ...in accordance with the work coordinates system Work coordinates system Tool length Controll point When the robot is in the transportation posture There are directions from which linear movement is no...

Page 50: ...noid valve with the enclosed screw 1 M3 x 25 2 screws 2 Connect the primary air supply air hose 6 prepared by customer to the quick joint P port 2 of the solenoid valve 1 4 2 4 1 1 GR1 GR4 AIR OUT 1 2...

Page 51: ...econdary coupler to the A port 7 of the No 2 solenoid valve 6 Connect the AIR IN 4 mark secondary coupler to the B port 8 of the No 2 solenoid valve 6 4 Connect the GR1 plug from the No 1 solenoid val...

Page 52: ...ons 4 Basic operations The basic operations from creating the program to automatic operation are explained in section 4 Basic operations in the From Controller Setup to Maintenance manual Refer that m...

Page 53: ...0 Hr operation hours Fig 5 1 Inspection schedule 0 Hr Daily inspection Monthly inspection Monthly inspection 500 Hr Monthly inspection 3 month inspection Monthly inspection Monthly inspection 1 000 Hr...

Page 54: ...troller securely connected Visual Securely connect 6 Are there any cracks foreign contamination or obstacles on the robot and controller cover Replace with a new part or take remedial measures 7 Is th...

Page 55: ...abnormal If the timing belt is loose or too tense adjust it 6 month inspection items 1 Is the friction at the timing belt teeth severe If the teeth are missing or severe friction is found replace the...

Page 56: ...tic brakes are mounted in the J2 axis motor 3 The rotation of the J3 axis motor 7 arranged in the No 1 arm is conveyed to the reduction gears 9 via the timing belt 8 to rotate the J3 axis Non excitati...

Page 57: ...xis motor 7 J3 axis motor 10 J4 axis motor 20 Gear 13 J5 axis motor 14 Timing belt 16 Reduction gears 18 J6 axis motor 3 Reduction gears 21 Reduction gears 2 Timing belt 11 Timing belt 17 J5 axis brak...

Page 58: ...nance and Inspection 5 3 2 Installing removing the cover Fig 5 3 Installing removing the cover 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...

Page 59: ...ttaching the cover after maintenance and inspection use the detaching procedure in reverse The part No and symbols in Table 5 3 correspond to Fig 5 3 No Cover names Qty Installation screw 1 Battery co...

Page 60: ...adjust and replace if necessary In addition it is serviceable if there is the sound wave type belt tension gauge in inspection and adjustment of the timing belt The recommendation gauge is shown below...

Page 61: ...o motor plate fixing screws 1 Improper tightening can cause the belt to loosen with vibration If the belt is loosened too much when adjusting the tension causing it to come off the timing pulleys 4 an...

Page 62: ...Loosen the tension adjustment screw 3 and remove the old belt 10 Copy the marks onto the new timing belt Make sure that both belts are tense when making the marks 11 Align the new timing belt with the...

Page 63: ...timing pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw 3 and cert...

Page 64: ...ming pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw 3 and certain...

Page 65: ...ming pulleys 4 and 5 or if the belt and pulley teeth engagement is deviated the machine system s origin will deviate 4 After adjustment fastens the fixing nut of tension adjustment screw 3 and certain...

Page 66: ...e belt tension is adjusted to slacken approx 2 0mm when the center of the belt is lightly pressed with a finger approx 1 3N If the belt is loosened too much when adjusting the tension causing it to co...

Page 67: ...the cover and remove the No 2 arm cover R and L 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the timing belt 4 Adjust the tension of the be...

Page 68: ...much 4 Move motor side timing belt pulley 4 in the direction of the arrow a of Fig 5 10 and remove the brake timing belt 5 Install the new brake timing belt The operations of matching the position fo...

Page 69: ...is adjusted to slacken approx 2 0mm when the center of the belt is lightly pressed with a finger approx 1 3N If the belt is loosened too much when adjusting the tension causing it to come off the tim...

Page 70: ...ing the cover and remove the No 2 arm cover R and L 3 Visually confirm that the symptoms indicated in 1 Timing belt replacement period have not occurred with the timing belt 4 Adjust the tension of th...

Page 71: ...much 4 Move motor side timing belt pulley 4 in the direction of the arrow a of Fig 5 12 and remove the brake timing belt 5 Install the new brake timing belt The operations of matching the position fo...

Page 72: ...T N Slack d mm Pressing force f N J1 14 7 43 1 0 1 0 2 9 J2 14 7 43 1 4 1 0 2 9 J3 14 7 43 1 6 1 0 2 9 J4 10 30 0 8 0 7 2 J5 10 30 2 0 0 7 2 J6 10 30 2 0 0 7 2 Exchange New article installation Axis T...

Page 73: ...il maker Default charge amount Lubrication interval Lubrication amount Cover to remove 1 J1 axis reduction gears Grease nipple WA 610 Grease Harmonic grease SK 1A Japan Harmonic Systems 11 9g 6 000Hr...

Page 74: ...er and remove the covers 3 Please protect the timing belt with the cloth etc so that the grease does not take for the timing belt at the time of oil supply 4 J5 axis lubrication port 5 the J6 axis lub...

Page 75: ...the controller simultaneously Table 5 5 The error about the battery The method of replacing the battery of robot arm is shown below refer to the separate Instruction manual Controller setup basic ope...

Page 76: ...is a measure for safety and must always be carried out 4 Remove battery cover 1 referring to Page 49 5 3 2 Installing removing the cover 5 The battery holder is located in the battery cover 1 Remove...

Page 77: ...aries with their operating conditions and thus with the degree of the equipment s wear and loss of performance As a rule of thumb however it is recommended that overhaul be carried out before the tota...

Page 78: ...troller serial No and purchase the parts from the dealer Table 5 6 Consumable part list Table 5 7 Spare parts list No Part name Type Usage place Q ty Supplier 1 Timing belt J1 axis Mitsubishi Electric...

Page 79: ...Origin data input method The origin data set as the default is input from the T B The setting method is explained in Page 13 2 3 Setting the origin 2 Mechanical stopper method This origin posture is...

Page 80: ...n the menu screen and dis play the Origin BRK selection screen 2 The type which does not have the brake in the J1 axis should go to 6 8 Press the 2 key and display the Break release selection screen 3...

Page 81: ...RIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 ORIGIN MECH J1 1 J2 J3 J4 J5 J6 J7 J8 CLOSE 123 ORIGIN MECH COMPLETED J1 1 J2 J3 J4 J5 J6 J7 J8 CLOSE 123 ORIG...

Page 82: ...kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J2 axis in minus direction and contact the axis against the mechanical...

Page 83: ...R CLOSE 123 ORIGIN MECH J1 J2 1 J3 J4 J5 J6 J7 J8 CLOSE 123 ORIGIN MECH CHANGE TO ORIGIN OK No 123 Yes ORIGIN MECH COMPLETED J1 J2 1 J3 J4 J5 J6 J7 J8 CLOSE 123 Release the brake Do cursor movement in...

Page 84: ...is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J3 axis in plus direction and contact the axis against the mechanica...

Page 85: ...R CLOSE 123 ORIGIN MECH J1 J2 J3 1 J4 J5 J6 J7 J8 CLOSE 123 ORIGIN MECH CHANGE TO ORIGIN OK No 123 Yes ORIGIN MECH COMPLETED J1 J2 J3 1 J4 J5 J6 J7 J8 CLOSE 123 Release the brake Do cursor movement in...

Page 86: ...th the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J4 axis in plus direction and contact the axis against the mechanical stopper...

Page 87: ...J3 J4 1 J5 J6 J7 J8 CLOSE 123 ORIGIN MECH CHANGE TO ORIGIN OK No 123 Yes ORIGIN MECH COMPLETED J1 J2 J3 J4 1 J5 J6 J7 J8 CLOSE 123 Release the brake Do cursor movement into the parenthesis of each axi...

Page 88: ...e brakes are to be released 5 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 6 With both hands slowly move the J5 axis in plus di...

Page 89: ...he brake is released while pressing the key 11 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 12 If the ABS mark is aligned deta...

Page 90: ...OSE 123 ORIGIN MECH J1 J2 J3 J4 J5 1 J6 1 J7 J8 CLOSE 123 SPACE ORIGIN MECH CHANGE TO ORIGIN OK No 123 Yes Release the brake Do cursor movement into the parenthesis of each axis by the arrow key The b...

Page 91: ...position There are the method of releasing the brake and adjusting with the origin position manually and the method of adjusting with the origin position by jog feed Here explain operation by brake re...

Page 92: ...nt using both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig 6 into the pinholes and fasten 7 Detach the F1 key and work the brake Press the F4...

Page 93: ...1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL SPACE ORIGIN TOOL CHANGE TO ORIGIN OK No 123 Yes TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL COMPLETED Release the brake Do cursor m...

Page 94: ...ly toward the front using both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig 6 into the pinholes and fasten For safety purposes the step for r...

Page 95: ...AKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 SPACE TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 0 1 ORIGIN TOOL CHANGE TO ORIGIN OK No 123 Yes TOOL J1 1 J2 0 J3 0 J4...

Page 96: ...ly toward the front using both hands Align the pinhole of the No 1 arm and the pinhole at the base section feed through the origin jig 6 into the pinholes and fasten For safety purposes the step for r...

Page 97: ...KE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 SPACE TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 1 0 ORIGIN TOOL CHANGE TO ORIGIN OK No 123 Yes TOOL J1 1 J2 0 J3 0 J4 0...

Page 98: ...sing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 7 Slowly rotate the J4 axis in the direction of minus with both hands Align the pinhol...

Page 99: ...J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL 1 0 ORIGIN TOOL CHANGE TO ORIGIN OK No 123 Yes TOOL J1 1 J2 0 J3 0 J4 0 J5 0 J6 0 J7 0 J8 0 CLOSE 123 REL COMPLETED 1 0 Release the brake Do cursor mo...

Page 100: ...ssing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 8 Slowly rotate the J5 axis in the direction of plus 90 degree with both hands Align...

Page 101: ...eleased 12 Pressing the F1 key is kept with the enabling switch of T B pressed down The brake is released while pressing the key 13 Hold the bolts with hands rotate them slowly and align the ABS mark...

Page 102: ...23 REL SPACE ORIGIN BRAKE 1 ORIGIN 2 BRAKE CLOSE 123 ORIGIN 1 DATA 2 MECH 3 TOOL 4 ABS 5 USER CLOSE 123 TOOL COMPLETED J1 0 J2 0 J3 0 J4 0 J5 1 J6 1 J7 0 J8 0 CLOSE 123 REL ORIGIN TOOL CHANGE TO ORIGI...

Page 103: ...E switch on the teaching pendant to ENABLE to enable the teaching pendant First set to the ABS mark arrow of the axis for which the origin is to be set with jog operation This can be set for all axes...

Page 104: ...lection screen 4 Input 1 into the axis to origin setting Press the EXE key and display Confirmation screen Note Always perform origin setting of the J5 axis and the J6 axis simultaneously 5 Press the...

Page 105: ...Confirming the operation for details on the jog operation Choose the user origin position as the position where it doesn t move by the gravity This position is left as a guideline to position all axes...

Page 106: ...o origin setting Press the EXE key and display Confirmation screen 9 Press the F1 key and the origin position is set up This complete the Origin setting by the User origin method USER J1 1 J2 0 J3 0 J...

Page 107: ...1 Confirming the origin data label Remove the J1 motor cover Refer to Page 49 5 3 2 Installing removing the cover and remove the J1 motor cover 2 Confirming the origin data Confirm the value displayed...

Page 108: ...in the position constant X Y Z A B C FL1 FL2 The types of configuration flags are shown below 1 RIGHT LEFT Q is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to...

Page 109: ...This means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis Fig 6 3 Configuration flag NONFLIP FLIP J4 axis J6 axis flange surface FLIP NON FILIP FL1 Flag...

Page 110: ...Appendix 101 Configuration flag 6Appendix...

Page 111: ...without notice 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 ELECTRI...

Page 112: ...oie 37 FIN 28400 Ulvila Phone 358 0 207 463 540 Fax 358 0 207 463 541 GREECE UTECO 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY AXICONT AUTOMATIKA Kft ROBOT CEN...