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Mitsubishi Electric RV-4FM-SE Series Instruction Manual

Industrial robot, robot arm setup & maintenance
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Mitsubishi Industrial Robot
RV-4/7/13/20FM-SE Series
INSTRUCTION MANUAL
ROBOT ARM SETUP & MAINTENANCE
BFP-A3324-C

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Summary of Contents for Mitsubishi Electric RV-4FM-SE Series

  • Page 1 Mitsubishi Industrial Robot RV-4/7/13/20FM-SE Series INSTRUCTION MANUAL ROBOT ARM SETUP & MAINTENANCE BFP-A3324-C...
  • 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 *CR751-D or CR751-Q controller Notes of the basic component are shown. CAUTION 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. Controller Controller Three phase Single phase AC200V AC200V...
  • Page 7 Revision history Date of Point Instruction Manual No. Revision Details 2014-08-20 BFP-A3324 ・ First print 2014-12-23 BFP-A3324-B ・ ”(1) Replacing the battery (robot arm)” was changed. ・ Packing replacement procedure was added. ・ The explanation of the origin setting method were added. The description of the setting range of ABS origin method was added.
  • Page 8 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) 2014-2015 MITSUBISHI ELECTRIC CORPORATION...

  • Page 9: 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 10 CONTENTS Page 3.4 Installing the hand output cable ............................3-69 3.5 Installing the Forearm external wiring set/ Base external wiring set ............. 3-72 (1) Installing the Forearm external wiring set ....................... 3-72 (2) Installing the Base external wiring set ......................3-73 4 Basic operations ....................................

  • Page 11: 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 (R33TB) in instruction manuals. If using other T/B, such as R56TB (R57TB), refer to a supplied instruction manual of the T/B.

  • Page 12: 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...

  • Page 13: 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 14: 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 15 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 16: 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 17 2Unpacking to Installation Part name Type Qty. Remarks RV-13F series Robot arm RV-7FLLM-SExxxx Each 1 unit SExxxx means the following. SExx01: Chemical-resistant specifica - RV-13FM-SExxxx tions RV-13FLM-SExxxx SExx02: Food machinery grade H1 RV-20FM-SExxxx grease specifications Guarantee card 1 copy Installation bolts Ｍ12 x 55 4 pcs.

  • Page 18: Installation

    2Unpacking to Installation 2.2 Installation 2.2.1 Unpacking 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 ロボット本体 Robot arm Always unpack the robot at a flat place. The robot could tilt over if unpacked at an unstable place.

  • Page 19: Transportation Procedures (Transporting With A Crane)

    2Unpacking to Installation 2.2.2 Transportation procedures (Transporting with a crane) The transportation procedure is shown in Fig. 2-2 for (RV-4F/7F series) and Fig. 2-3 (RV-13F series). RV-4F/RV-7F series Mass Wire RV-4F: Approx. 39kg RV-4FL: Approx. 41kg RV-7F: Approx. 65kg Fixing plate RV-7FL: Approx.
  • Page 20 2Unpacking to Installation 1) Attach the suspension fittings to the left and right sides of the shoulder section, and securely fix with screws and plain washers. (RV-4F series: M6x20, each three screws for the right and left. RV-7F series: M8x25, each two screws for the right and left. RV-13F series: M10x45, each two screws for the right and left.) (The suspension fittings are mounted on robot arm at factory shipping) 2) Catch wires in the eye bolts installed on the suspension fittings, and quietly suspend the arm.

  • Page 21: Installation Procedures

    2Unpacking to Installation 2.2.3 Installation procedures The installation procedure of the robot arm is shown below. Ｆ Ｖ RV-4F series Ｍ Ｔ RV-4F series, RV-7F series: 4-M8x40 RV-13F series: (Installation) 4-M12x55 4-φ9 installation Ｆ hole Ｈ Spring Ｆ washer Ｍ Ｈ...
  • Page 22 2Unpacking to Installation 8) The installation surface must have sufficient strength to withstand the arm reaction during moving the robot at high speed. Table 2-2 ： Strength of the installation side (reference) Value RV-7FLL Item Unit RV-4F series RV-7F series RV-13F series RV-20F Falling moment 　...

  • Page 23: Grounding Procedures

    2Unpacking to Installation 2.2.4 Grounding procedures (1) Grounding methods 1) There are three grounding methods as shown in Fig. 2-5, but the dedicated grounding (Fig. 2-5 (a)) should be used for the robot arm and controller when possible. (Refer to the separate " Controller Controller Controller Controller...

  • Page 24: Connecting With The Controller

    2Unpacking to Installation 2.2.5 Connecting with the controller (1) CR750 controller Motor power Motor signal モータパワー モータ信号 Robot arm ロボット本体 (CN1) (CN2) （CN2） （CN1） (Rear of the base.) （ベース部背面） Note) Although the figure is the example of RV-4F other types are the same also.
  • Page 25 2Unpacking to Installation To remove the cable, insert a minus screwdriver into the hook while padding with a cloth, and remove the cable by lifting the Hook hook. Projection Minus screwdriver CAUTION When installing or removing the connector, to the connector of the other party in parallel, install or remove.

  • Page 26: Cr751 Controller

    2Unpacking to Installation (2) CR751 controller Note2) Robot arm ロボット本体 Motor signal (CN2) Motor power (CN1) モータ信号（CN2） モータ電源(CN1) Opposite side of figure (背面) Note1) AMP1 AMP2 BRK Controller コントローラ前面 CONBOX cover CONBOXカバー Two fixing screws 固定ネジ (2箇所) Two fixing screws 固定ネジ...
  • Page 27 2Unpacking to Installation Carry out the following procedure after installing the controller and the robot arm referring to the separate "Controller Setup, Basic Operation and Maintenance" and Page 11, "2.2.3 Installation procedures". And attach a cable fixation plate to the controller referring to the separate "Controller Setup, Basic Operation and Maintenance"...

  • Page 28: Setting The Origin

    2Unpacking to Installation 2.3 Setting the origin The origin is set so that the robot can be used with a high accuracy. After purchasing the robot, always carry out this step before starting work. This step must also be carried out if the combination of robot and controller being used is changed.

  • Page 29: Cr751 Controller

    2Unpacking to Installation (2) CR751 controller Explain the installation method of T/B below. 1) Check that the POWER (power supply) switch of the robot controller is OFF. 2) Connect the T/B connector to the controller’s T/B connector. Make sure to fix it securely by fastening the hand locks (in 2 places), as shown in Fig.

  • Page 30: Setting The Origin With The Origin Data Input Method

    2Unpacking to Installation 2.3.2 Setting the origin with the origin data input method (1) Confirming the origin data ● Origin data history table (Origin Data History) Serial No.ES804008 The origin data to be input is noted in the Date Default .

  • Page 31: Preparing The T/B

    2Unpacking to Installation (3) Preparing the T/B Next, prepare to use the T/B 1) Set the mode of the controller to "MANUAL". (The figure is example for CR750 controller) MODE MANUAL AUTOMATIC 2) Set the T/B [ENABLE] switch to "ENABLE". The menu selection screen will appear.

  • Page 32: Selecting The Origin Setting Method

    2Unpacking to Installation (4) Selecting the origin setting method <MENU> 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 CLOSE <ORIGIN/BRAKE> 2) Press the [1] key on the ORIGIN/BRAKE screen, and 1.ORIGIN 2.BRAKE display the origin setting method selection screen.

  • Page 33: Inputting The Origin Data

    2Unpacking to Installation (5) Inputting the origin data Origin data label T/B screen Input the value confirmed in section Page 20, "(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 <ORIGIN> DATA D:(■...

  • Page 34: Installing The Conbox Cover

    2Unpacking to Installation <ORIGIN> 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 7) Press [F1] (Yes) to end the origin setting <ORIGIN>...

  • Page 35: Confirming The Operation

    2 Unpacking to Installation 2.4 Confirming the operation In this section, the robot will be moved manually using the T/B to confirm that the operation is correct. Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis, the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate system, and the CYLNDER jog that moves along the circular arc.
  • Page 36 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 * Each axis moves independently. Fig.2-13 ： JOINT jog operation ＋Z ＋Z －...
  • Page 37 2 Unpacking to Installation －X －Y －Z － ＋ ＋Y ＋ － － ＋Z 制御点 ＋ Control point ＋X * 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. Fig.2-15 ：...
  • Page 38 2 Unpacking to Installation ＋Z Vertical 上下 円弧 Radius 半径 Control point 制御点 －Ｘ －Ｙ ＋Y ＋X －Z * 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 39: Joint Jog Operation

    2 Unpacking to Installation (1) JOINT jog operation Select joint jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "joint" in jog mode is displayed on +0.00 +0.00 the screen.
  • Page 40 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 41: Xyz Jog Operation

    2 Unpacking to Installation (2) XYZ jog operation Select XYZ jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "XYZ" in jog mode is displayed on +0.00 +0.00 the screen.
  • Page 42 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 43: Tool Jog Operation

    2 Unpacking to Installation (3) TOOL jog operation Select TOOL jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "TOOL" in jog mode is displayed +0.00 +0.00 on the screen.
  • Page 44 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 45: 3-Axis Xyz Jog Operation

    2 Unpacking to Installation (4) 3-axis XYZ jog operation Select XYZ456 jog mode [JOG] Press the key and display the jog screen. ("JOG" is displayed on the screen bottom) <CURRENT> JOINT 100% M1 T0 Check that the "XYZ456" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 46 2 Unpacking to Installation ◇◆◇ The flange surface end axis posture cannot be maintained with 3-axis XYZ jog. ◇◆◇ With 3-axis XYZ jog, the flange surface end axis posture (orientation) is not maintained when moving linearly in the X, Y or Z axis direction. Use XYZ jog to maintain the posture.

  • Page 47: 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) <CURRENT> JOINT 100% M1 T0 Check that the "CYLNDER" in jog mode is +0.00 +0.00 displayed on the screen.
  • Page 48 2 Unpacking to Installation Changing the flange surface posture ＋Z ＋Z SPACE － ＋ ＋ － ＋X － ＋Y ＋ －Ｘ －Ｙ Control * The flange position does not point 制御点 change. This is the same as the A, B ＋Y ＋X and C axis XYZ jog operation.

  • Page 49: Work Jog Operation

    2 Unpacking to Installation (6) Work jog operation Setting of the work coordinates system is necessary. By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching operations get easier. When jog operation, select by which work coordinates the robot moves The setting method of the work coordinates system using T/B (R32TB) is shown in the following.
  • Page 50 2 Unpacking to Installation 2) Press the [2] keys in the menu screen and select "2. WORK COORD." <EMHANCED>　　 　 <WORK COORD> WORK NUMBER (1) TEACHING POINT (WO) 1.SQ DIRECT 2.WORK COORD. X: 0.00 Y: 0.00 Z: 0.00 　 123 TEACH 　...
  • Page 51 2 Unpacking to Installation Presses the function key corresponding to"Yes", the robot's current position is registered, and the registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed. <WORK COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) TEACHING POINT (WO)
  • Page 52 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 COORD> WORK NUMBER (2) <WORK COORD> WORK NUMBER (2) TEACHING POINT (WO) WORK COORDINATES DATA X: 214.12...
  • Page 53 2 Unpacking to Installation When the software version is R5 (F-Q series)/S5 (F-D series) or later, the additional WORK jog operation, Ex-T jog, is available. The conventional WORK jog operation and the Ex-T jog operation can be switched by setting the parameters WK1JOGMD to WK8JOGMD of each work coordinates system. The respective operations are as follows.
  • Page 54 2 Unpacking to Installation Changing the flange surface posture <1> Work jog mode ＋Z +Zw' － ＋ ＋ +Xw' － － Control point ＋ +Yw' －Ｘ －Ｙ ＋Y ＋X －Z Work coordinates system * The position of the control point does not change. Change the direction of the flange in accordance with the work coordinates system.
  • Page 55 2 Unpacking to Installation <2> Ex-T jog mode ＋Z ＋Z Control point Control point － － ＋ ＋ ＋ ＋ － － －Ｘ － －Ｘ － －Ｙ －Ｙ ＋ ＋ Work coordinates system Work coordinates system ＋Y ＋Y (Ex-T coordinates system) ＋X ＋X (Ex-T coordinates system)
  • Page 56 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 57: Installing The Option Devices

    3Installing the option devices 3 Installing the option devices 3.1 Installing the J1 axis operating range change The configuration, changeable angle and installation outline of J1 axis operating range change are shown below. 3.1.1 RV-4F/7F series (1) Configuration The configuration parts of this option are shown in Table 3-1.

  • Page 58: Changeable Angle

    3Installing the option devices (2) Changeable angle The changeable angle of RV-4F series is shown in Table 3-2, and of RV-7F series is shown in Table 3-3. 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 59 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 60: 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 61: Setting The Parameter

    3Installing the option devices 3) Install the Variable stopper block <5> by using two screws (RV-4F: screw <8>, RV-7F: 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 3-2 Table...

  • Page 62: Rv-13F Series

    3Installing the option devices 3.1.2 RV-13F series (1) Configuration The configuration parts of this option are shown in Table 3-1. Please confirm. The option for SExx01 is 1F-DH-08, and for SExx02 is 1F-DH-05J1. Table 3-4 ： Configuration devices Part name Qty.

  • Page 63: Changeable

    3Installing the option devices (2) Changeable The changeable angle of RV-13F series is shown in Table 3-5. Use as reference for the installation position of Mechanical Stopper screw and the parameter setup value. Table 3-5 ： Changeable angle (RV-13F series) Item Standard Changeable angle...

  • Page 64: 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 65 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 66: 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 3-5) 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 67: Installing The Solenoid Valve Set

    3Installing the option devices 3.2 Installing the solenoid valve set As shown in Fig. 3-3, install the solenoid valve set on the forearm. Forearm Solenoid valve set * The figure is an example installed 1F-VD02-02. Fig.3-3 ： The installation image of the optional solenoid valve set (RV-4F series) The installation procedure of solenoid valve set depends on robot series and specifications.

  • Page 68: Rv-4F/7F Series, Rv-7Fll

    3Installing the option devices (1) RV-4F/7F series, RV-7FLL This paragraph explains how to install the solenoid valve set (1F-VD0*-02/1F-VD0*E-02) to RV-4F/7F series and RV-7FLL robots. Turn the controller’s power OFF before this installing operation. Moreover, please prepare the following furnished accessory. Solenoid-valve set attachments * Three elbow couplings are attached.
  • Page 69 3Installing the option devices 2) Cut the φ6 primary piping air hoses. 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 <Cutting dimension guide >...
  • Page 70 3Installing the option devices 4) Connect the connector. 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 71 3Installing the option devices 5) Connect the elbow couplings to the solenoid valve set. 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 72 3Installing the option devices 6) Install the solenoid valve set to the forearm. 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. To prevent cables from being pinched, push the cables into the forearm and avoid placing any cable on the Visually check that the cables and air hoses are not...
  • Page 73 3Installing the option devices 7) Installs the solenoid valve set on the forearm upside. 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. Solenoid valve set 8) Install the No.2 arm cover L to the forearm.

  • Page 74: Rv-13F/13Fl Series, Rv-20F

    3Installing the option devices (2) RV-13F/13FL series, RV-20F This paragraph explains how to install the solenoid valve set (1F-VD0*-03/1F-VD0*E-03) to RV-13F/13FL series and RV-20F robots. Turn the controller’s power OFF before this installing operation. 1) Loosen the four fixing screws of No.2 arm cover U (forearm upside) and remove the cover. (Mounts the solenoid-valve set instead of the removed cover) The connectors (GR1, GR2) and air hoses (AIR IN, RETURN) connected to the solenoid-valve set inside the cover.
  • Page 75 3Installing the option devices 3) Installs the solenoid valve set on the forearm upside. 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 76 3Installing the option devices 4) Connect the tool prepared by the customer with solenoid valve port A and B. Please prepare the air hoses to connect by customer. Install attached plugs to the port A/B couplings that are not used for the solenoid valve set. Table 3-7 shows the relation between hand condition and port number.

  • Page 77: Installing The Hand Input Cable

    3Installing the option devices 3.3 Installing the hand input cable 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-4F series, the method is the same on other robot series.
  • Page 78 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 79: Installing The Hand Output Cable

    3Installing the option devices 3.4 Installing the hand output cable As shown in Fig. 3-4, 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 80 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 81 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 82: Installing The Forearm External Wiring Set/ Base External Wiring Set

    3Installing the option devices 3.5 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. To pull out the cable of the same purpose as the forearm side and the base side, you should use this option in pair. Turn the controller’s power OFF before this installing operation.

  • Page 83: Installing The Base External Wiring Set

    3Installing the option devices 3) Install Forearm external wiring set on the position where cable clamp box was being installed, by using original three fixing screws. Installs carefully so that the cable etc may not be inserted. 4) Connects the cable pulled out to the tool or sensor etc which customer will use. The Outlet and cable names of each cables are shown in Table 3-10.
  • Page 84 3Installing the option devices 4) Install Base external wiring set on the position where CONBOX cover R was being installed, by using original three fixing screws. Installs carefully so that the cable etc may not be inserted. 5) Connects the cable of Base external wiring set to the force sensor interface etc which customer will use. The Outlet and cable names of each cables are shown in Table 3-12.

  • Page 85: 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 "From Controller Setup to Maintenance" manual. Refer that manual as necessary. 4-75...

  • Page 86: 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 Maintenance and inspection interval Maintenance and inspection are divided into the inspections carried out daily, and the periodic inspections carry out at set intervals.

  • Page 87: 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 Carry out the daily inspections with the procedures given in Table 5-1.

  • Page 88: Periodic Inspection

    5Maintenance and Inspection 5.2.2 Periodic inspection Carry out periodic inspection with the procedures given in Table 5-2. Table 5-2 ： Periodic inspection items (details) Procedure Inspection item (details) Remedies Monthly ( 3-month, 6-month) inspection items Are any of the bolts or screws on the robot arm loose? Securely tighten the bolts.

  • Page 89: 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 90 5Maintenance and Inspection RV-4F/7F series <12> J5 axis motor <16>Timing belt <14> Reduction gears <21> Reduction gears <17> Gear <15> J6 axis motor <13> Timing belt <11> Reduction gears <10> Timing belt <8> Reduction gears Elbow <6> J3 axis motor No.2 arm <9>...
  • Page 91 5Maintenance and Inspection RV-13F series <10> J5 axis motor <12> Reduction gears <11>Timing belt <5> J3 axis motor <16> Reduction gears <15> Gear <6> Reduction gears <14> Timing belt <13> J6 axis motor No.2 arm <8> Timing belt Elbow <9> Reduction gears <3>...

  • Page 92: Installing/Removing The Cover

    5Maintenance and Inspection 5.3.2 Installing/removing the cover <9> Wrist cover RV-4F/7F series <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 93 5Maintenance and Inspection Table 5-3 ： Cover fixing screw list Note1)Note2) Symbols Installation screws Remarks RV-4F/7F series For SE1101/1501/1502 Hexagon flange bolt, M4 x 12 Hexagon flange bolt, M4 x 12 5/one side Fix five screws on one side. Hexagon flange bolt, M4 x 12 Hexagon flange bolt, M4 x 20 With attachment seal washer M4 Hexagon flange bolt, M4 x 12...
  • Page 94 5Maintenance and Inspection Note1)Hexagon flange bolt. For removing and tightening, use a nut driver with width across flats 5. Note2) The tightening torque of each screws are shown below. M3 screw: 0.608 - 0.824 N·m M4 screw: 1.39 - 1.89 N·m (1) Refer to Fig.

  • Page 95: Inspection, Maintenance And Replacement Of Timing Belt

    5 Maintenance and Inspection 5.3.3 Inspection, maintenance and replacement of timing belt This robot uses a timing belt for the drive conveyance system of the J5 axis. Compared to gears and chains, the timing belt does not require lubrication and has a low noise. However, if the belt usage method and tension adjust - ment are inadequate, the life could drop and noise could be generated.

  • Page 96: Inspection, Maintenance And Replacement Of J1-Axis Timing Belt (Rv-4F/7F Series Only)

    5 Maintenance and Inspection (2) Inspection, maintenance and replacement of J1-axis timing belt (RV-4F/7F series only) The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-6. <3> Tension adjustment screw <1>Motor plate fixing screw With the fixing nut <6>Motor plate hook Pulls and fixing...

  • Page 97: Inspection, Maintenance And Replacement Of J3-Axis Timing Belt (Rv-4F/7F Series Only)

    5 Maintenance and Inspection (3) Inspection, maintenance and replacement of J3-axis timing belt (RV-4F/7F series only) The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-7. <5> Timing pulley (joint side) <2> Timing belt <3>Tension adjustment screw With the fixing nut Mark...

  • Page 98: Inspection, Maintenance And Replacement Of J4-Axis Timing Belt

    5 Maintenance and Inspection 3) Make marks on the timing belt <2> and timing pulleys <4> and <5> with a felt-tip pen as shown in Fig. 5-7 that the engagement of the timing belt <2> and timing pulleys <4> and <5> does not deviate. 4) Lightly loosen the two motor plate installation screws <1>.

  • Page 99: Inspection, Maintenance And Replacement Of J4-Axis Timing Belt (For Rv-13F Series)

    5 Maintenance and Inspection (5) Inspection, maintenance and replacement of J4-axis timing belt (For RV-13F series) The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-9. No.2 arm side <3>Tension adjustment screw With the fixing nut <4>...

  • Page 100: Inspection, Maintenance And Replacement Of J5 Axis Timing Belt

    5 Maintenance and Inspection (6) Inspection, maintenance and replacement of J5 axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-10 (RV- 4F/7F series, RV-7FLL) or Fig. 5-11 (RV-13F/20F). <1>Motor plate fixing screw RV-4F/7F series Mark RV-7FLL...
  • Page 101 5 Maintenance and Inspection ■ Replacing the J5 axis timing belt CAUTION If the timing belt of the J5 axis is removed, the forearm will drop by the self-weight. (faces in the downward) And, if the positional relation between the timing pulley (4) and (5) deviated, it will become the cause of the position deviation.

  • Page 102: Inspection, Maintenance And Replacement Of J6-Axis Timing Belt

    5 Maintenance and Inspection (7) Inspection, maintenance and replacement of J6-axis timing belt The reference figure at inspection, adjustment, and replacement of the timing belt is shown in Fig. 5-12 (RV-4F/ 7F series, RV-7FLL) or Fig. 5-13 (RV-13F/20F). RV-4F/7F series <2>...

  • Page 103: Timing Belt Tension

    5 Maintenance and Inspection ■ Replacing the J6 axis timing belt 1) Carry out steps 1) and 2) indicated in " ■ Inspecting the J6 axis timing belt" above. 2) Make sure that the pulleys do not move while replacing the belt. If the pulley <4> and <5> position relation deviates, the position could deviate.
  • Page 104 5 Maintenance and Inspection (8) Timing belt tension f ： Pressing force s ： Span d ： Slack F ： Tension ■ RV-4F series The preset value and adjustment value in the sound wave type belt tension gauge Note1) Preset value Standard tension (N) Axis Belt type...

  • Page 105: Lubrication

    5 Maintenance and Inspection 5.3.4 Lubrication (1) Lubrication position and specifications The grease nipple position is shown in Fig. 5-15 (RV-4F/7F series) or Fig. 5-16 (RV-13F series). The lubrication specifications for each place are shown in Table 5-4. Refer to the Page 82, "5.3.2 Installing/removing the cover"...
  • Page 106 5 Maintenance and Inspection RV-13F series 9. J6 axis lubrication port (Reduction gears) View A 8. J5 axis lubrication port (Back side) 10. J6 axis lubrication port (Gear) 7. J4 axis lubrication port 6. J3 axis lubrication port (Reduction gears) 2.

  • Page 107: Lubrication Method

    5 Maintenance and Inspection Lubrication oil Lubrication Lubrication Note1) Oiling method Cover to remove Parts to be lubricated (maker) interval amount RV-7FLL J1 axis reduction gears 255g Shoulder cover Grease nipple VIGO GREASE J2 axis reduction gears 20,000Hr 251g WA-110 (Nabtesco Co., Ltd.) J3 axis reduction gears 150g...
  • Page 108 5 Maintenance and Inspection SExx02: J4 axis lubrication port <4>, J5 axis lubrication port <5>, J6 axis lubrication port <6> (reduction gears) and J6 axis lubrication port <7> (gear). Securely tighten the grease nipple by 4.7 N·m to 6.3 N·m ・...

  • Page 109: 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 controller also uses a backup battery to save the program, etc. The battery is the lithium battery.

  • Page 110: Replacing The Battery (Robot Arm)

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

  • Page 111: 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 112: Maintenance Parts

    Usage place Q'ty Supplier Timing belt J1 axis J3 axis J4 axis J5 axis Mitsubishi Electric J6 axis Grease Reduction gears of each axis An needed Lithium battery Inside the CONBOX cover Table 5-7 ： Spare parts list Usage place...
  • Page 113 AC servo motor J1, J2 axis J3 axis J4 axis J5 axis J6 axis Reduction gears J1 axis Mitsubishi Electric J2 axis J3 axis J4 axis J5 axis J6 axis Various seals Application area at the time of shipment RV-13F/20F (common)

  • Page 114: 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. After purchasing the robot, always carry out this step before starting work. The origin must be reset if the combination of robot and controller being used is changed or if the motor is changed causing an encoder area.

  • Page 115: Jig Method

    5 Maintenance and Inspection 5.6.1 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. 5-19. RZ6.3 Fig.5-19 ：...

  • Page 116: J1 Axis Origin Setting

    5 Maintenance and Inspection (1) J1 axis origin setting <MENU>　　 　 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 　　　　　　　　　 <ORIGIN/BRAKE>...
  • Page 117 5 Maintenance and Inspection <BRAKE> 7) Detach the [F1] key and work the brake. J1:( )J2:( )J3:( Press the [F4] key and return to the origin / J4:( )J5:( )J6:( J7:( )J8:( brake screen. REL. CLOSE Complete brake release <ORIGIN/BRAKE> 8) Press the [1] key, and display the Origin setting 1.ORIGIN 2.BRAKE...

  • Page 118: J2 Axis Origin Setting

    5 Maintenance and Inspection (2) J2 axis origin setting <MENU>　　 　 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 <ORIGIN/BRAKE> 2) Press the [2] key, and display the Brake release 1.ORIGIN 2.BRAKE selection screen.
  • Page 119 5 Maintenance and Inspection CAUTION For safety purposes, the step for releasing the brakes must be carried out by two workers. One worker must operate the T/B, and the other must support the arm. When the brakes are released, the robot arm could drop by its own weight depending on the posture.
  • Page 120 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 121: J3 Axis Origin Setting

    5 Maintenance and Inspection (3) J3 axis origin setting <MENU>　　 　 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 <ORIGIN/BRAKE> 2) Press the [2] key, and display the Brake release 1.ORIGIN 2.BRAKE selection screen.
  • Page 122 5 Maintenance and Inspection CAUTION For safety purposes, the step for releasing the brakes must be carried out by two workers. One worker must operate the T/B, and the other must support the arm. When the brakes are released, the robot arm could drop by its own weight depending on the posture.
  • Page 123 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 124: J4 Axis Origin Setting

    5 Maintenance and Inspection (4) J4 axis origin setting <MENU>　　 　 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 <ORIGIN/BRAKE> 2) Press the [2] key, and display the Brake release 1.ORIGIN 2.BRAKE selection screen.
  • Page 125 5 Maintenance and Inspection <ORIGIN/BRAKE> 9) Press the [1] key, and display the Origin setting 1.ORIGIN 2.BRAKE selection screen. CLOSE <ORIGIN> 10) Press the [3] key, and display the Tool selec - 1.DATA 2.MECH tion screen. 3.TOOL 4.ABS 5.USER CLOSE <TOOL>...

  • Page 126: 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. <MENU>　　 　 1) Remove the No.2 arm cover L. The pin hole is 1.FILE/EDIT 2.RUN inside the cover.
  • Page 127 5 Maintenance and Inspection <BRAKE> 9) Detach the [F1] key and work the brake. J1:( )J2:( )J3:( J4:( )J5:( )J6:( J7:( )J8:( REL. CLOSE Next, set the J6 axis posture. 10) Install the bolt (M6: 2, customer preparation) in the diagonal position at the J6 axis. Bolt (M6 x 2) customer preparation Hold the bolts with hands, rotate them slowly...
  • Page 128 5 Maintenance and Inspection <ORIGIN/BRAKE> 16) Press the [1] key , and display the Origin 1.ORIGIN 2.BRAKE setting selection screen. CLOSE 17) Press the [3] key , and display the Tool <ORIGIN> selection screen. 1.DATA 2.MECH 3.TOOL 4.ABS 5.USER CLOSE 18) Press the [Arrow] key, move the cursor, and set "1"...

  • Page 129: Abs Origin Method

    5 Maintenance and Inspection 5.6.2 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 130 5 Maintenance and Inspection J4 axis Note) Refer to Fig. 5-20 for J4 axis mark attachment position. J6 axis J3 axis J5 axis J2 axis J1 axis Within 1mm Within 1mm 1mm以内 1mm以内 ABS mark ＡＢＳマーク拡大図 (+ side deviation) (- side deviation) (プラス側ずれ量) (マイナス側ずれ量) Setting range of ABS mark...

  • Page 131: Select The T/B

    5 Maintenance and Inspection The procedures for setting the origin with the ABS method are explained below. (1) Select the T/B Do the following operations with pressing the enabling switch of T/B lightly. <MENU>　　 　 1) Press the [4] key on the menu screen, and dis - 1.FILE/EDIT 2.RUN play the Origin/Brake selection screen.
  • Page 132 5 Maintenance and Inspection CAUTION After setting the origin, when the joint coordinates of the ABS mark position deviate from the coordinates of the ABS origin by 1.5° or more, align the end points of the ABS marks and set the origin using the ABS origin method again. CAUTION When the ABS mark label of the axis other than the J6 axis is peeled off, align the pinholes used to set the origin with the jig method.

  • Page 133: User Origin Method

    5 Maintenance and Inspection 5.6.3 User origin method CAUTION Before using this method, the origin must be set with the other method. The setting method is explained in Page 104, "Table 5-8 ： 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 134 5 Maintenance and Inspection <USER> 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 <ORIGIN>...

  • Page 135: Recording The Origin Data

    5 Maintenance and Inspection 5.6.4 Recording the origin data When the origin has been set with the jig method, record that origin data on the origin data label. With this, the ori - gin can be set with the origin data input method the next time. Confirm the origin data on the teaching pendant screen (origin data input screen).

  • Page 136: 6Appendix

    6Appendix 6 Appendix Appendix 1 ： Configuration flag The configuration flag indicates the robot posture. For the 6-axis type 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 137 6Appendix (3) NONFLIP/FLIP This means in which side the J6 axis is in comparison with the plane through both the J4 and the J5 axis. J4 axis FL1 (Flag 1) FLIP &B0000 0000 ↑ 1/0=NONFLIP/FLIP Note) "&B" is shows the binary NON FILIP J6 axis flange surface * The illustration is an example.
  • Page 138 6Appendix Configuration flag Appendix-128...
  • Page 140 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. GERMANY Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany Feb., 2015 MEE Printed in Japan on recycled paper.

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