MISUMI RSH1C, RSH3C User Manual

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MISUMI SINGLE-AXIS ROBOT

RSH1C/RSH2C/RSH3C

User’s Manual

ENGLISH

MISUMI Corporation

4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan

URL http://www.misumi.co.jp/english/company/office/ ME4-Ver. 1.03

Before using the RSH1C/RSH2C/RSH3C single-axis robots

(Be sure to read the following notes.)

Thank you for purchasing the single-axis robot RSH1C/RSH2C/RSH3C.

Before using this robot, read the following notes and set the origin position.

The RSH1/RSH2/RSH3 single-axis robots use an incremental type or absolute type position detector. The absolute type does not require an origin search (return-to-origin) after turning the controller power back on. However, when the controller power is turned on in the following cases, return-to-origin must be performed just the very first time.

(1) When robot cable was first connected after delivery from MISUMI.

(2) When robot cable was disconnected from the controller and then reconnected.

(3) When no absolute battery is connected.

(4) When a motor or cable was replaced.

At this point, any of the following errors is issued immediately after controller power is turned on, but this is not a malfunction . The controller will operate normally by restarting.

82 ENCODER ERROR

83 ABS. ENCODER ERR.

8A ABS. BATTERY ERR.

8B ABS. COUNT ERROR

8D ABS. OVERFLOW ERR.

Setting the origin position

Set the origin position by referring to the following section in the robot controller user's manual.

See "6.2 Origin search (return-to-origin)" in "6. Operating the robot" of the "H1

Operation Guide" section.

CAUTION

Changing the origin position to the opposite side of the initial position may cause a position shift or robot breakdowns, so use caution.

Avoid changing the origin detection method since it is dangerous in some cases. If the origin position must be changed, please consult our sales offi ce or dealer.

MEMO

General Contents

Introduction

Chapter 1 Using the Robot Safely

1-3 Industrial robot operating and maintenance personnel 1-9

1-4 Robot safety functions 1-10

1-5 Safety measures for the system 1-11

1-11

1-7 Work within the safety enclosure

1-1

1-3

1-9 Warranty

1-12

1-13

1-14

Chapter 2 Product Overview

2-1 Checking the product

2-2 Robot part names

2-1

Chapter 3 Installation and Connections

3-1 Carrying the robot

3-2 Robot installation conditions

3-3 Installing the robot

3-4 Connecting the robot to the controller

3-5 Suction hoses connection

3-6 Setting the operating conditions

3-6-1 Payload

3-7

3-10

3-11

3-1

3-2

3-3

3-5

3-6-2 Maximum speed setting

3-6-3 Duty

3-12

Chapter 4 Periodic Inspection and Maintenance

4-1 Before beginning work

4-3 Adjusting shutter looseness

4-5 Replacing the shutter

4-6 Replacing the motor

4-1

4-3

4-4

4-6

4-7

4-8

4-10

4-13

4-16

Chapter 5 Troubleshooting

5-1

Chapter 6 Specifications

6-12

Appendix

About machine reference

Moment of inertia calculation ii

i

Introduction

The MISUMI single-axis robots RSH1/RSH2/RSH3 are industrial robots that offer improved ease of use, resistance to environmental conditions, and maintenance work. A wide varaiety of product lineup allows you to select the desired robot model that best matches your application.

This user's manual describes the safety measures, handling, adjustment and maintenance of the RSH1C/RSH2C/RSH3C robots for correct, safe and effective use.

Be sure to read this manual carefully before installing the RSH1C/RSH2C/RSH3C robots.

Even after you have read this manual, keep it in a safe and convenient place for future reference.

• This user's manual should be used with the robot and considered an integral part of it. When the robot is moved, transferred or sold, send this manual to the new user along with the robot. Be sure to explain to the new user the need to read through this manual.

• Specifications of robot models other than standard models may be omitted in this manual if they are common to those of standard models. In this case, refer to the specifications of standard models.

• For details on specific operation of the robot, refer to the separate user’s manual for the robot controller being used.

NOTES

◆

The contents of this manual are subject to change without prior notice.

◆

While every effort has been made to ensure the contents of this manual are correct, please contact us if you find any part of this manual to be unclear, confusing or inaccurate.

MEMO

Chapter 1 Using the Robot Safely

Contents

1-1

1-3

1-3 Industrial robot operating and maintenance personnel 1-9

1-4 Robot safety functions

1-5 Safety measures for the system

1-10

1-11

1-7 Work within the safety enclosure

1-9 Warranty

1-11

1-12

1-13

1-14

1-1 Safety information

To ensure correct and safe use of MISUMI industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS

AND INSTRUCTIONS included in this manual. Failure to take necessary safety measures or mishandling due to not following the instructions in this manual may result in trouble or damage to the robot and injury to personnel (robot operator or service personnel) including fatal accidents.

Warning symbols and signal words used in this manual are classified as explained below.

Make sure that you fully understand the meaning of each symbol and comply with the instructions.

DANGER

FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR

DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING OR

REPAIRING THE ROBOT.

WARNING

FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY

OR DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING

OR REPAIRING THE ROBOT.

CAUTION

Failure to follow CAUTION instructions may result in injury to the robot operator, bystanders or persons inspecting or repairing the robot, or damage to the robot and/or robot controller.

NOTE

Explains the key point in the operation in a simple and clear manner.

Reference

Gives useful information related to the robot operation.

1-1

1-1 Safety information

Refer to the user's manual by any of the following methods to operate or adjust the robot safely and correctly.

1. Operate or adjust the robot while referring to the printed version of the user's manual (available for an additional fee).

2. Operate or adjust the robot while viewing the CD-ROM version of the user's manual on your computer screen.

3. Operate or adjust the robot while referring to a printout of the necessary pages from the CD-ROM version of the user's manual.

It is not possible to list all safety items in detail within the limited space of this manual. So it is essential that the user have a full knowledge of basic safety rules and also that the operator makes correct judgments on safety procedures during operation. For specific safety information and standards, refer to the applicable local regulations and comply with the instructions.

This manual and warning labels supplied with or affixed to the robot are written in English. Unless the robot operators or service personnel understand English, do not permit them to handle the robot.

* Cautions regarding the official language of EU countries

For equipment that will be installed in EU countries, the language used for the user's manuals, CE declarations, and operation screen characters is English only.

Warning labels only have pictograms or else include warning messages in English.

In the latter case, Japanese messages might be added.

1-2

1-2 Essential precautions

Particularly important cautions for handling or operating the robot are described below. In addition, precautions during installation, operation, inspection and maintenance are also provided in each chapter. Be sure to comply with these instructions to ensure safe use of the robot.

(1) Observe the following cautions during automatic operation.

• Install a safeguard (safety enclosure) to keep any person from entering within the movement range of the robot and suffering injury due to being struck by moving parts.

• Install a safety interlock that triggers emergency stop when the door or panel is opened.

• Install a safety enclosure so that no one can enter inside except from doors or panels equipped with safety interlocks.

• Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels of the safety enclosure.

DANGER

SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBOT.

• KEEP OUTSIDE OF GUARD DURING OPERATION.

• LOCK OUT POWER BEFORE APPROACHING ROBOT.

Warning label 1

DANGER

Serious injury or death will result from impact with moving robot.

• Keep outside of guard during operation.

• Lock out power before approaching robot.

(2) Use caution to prevent hands or fingers from being pinched or crushed.

• Use caution to prevent hands or fingers from being pinched or crushed by the moving parts when carrying the robot or during teaching.

• Warning labels 2 are supplied with the robot and should be affixed to the robot or conspicuous spots near the robot.

WARNING

MOVING PARTS CAN PINCH OR CRUSH.

KEEP HANDS AWAY FROM ROBOT ARMS.

1-3

1-2 Essential precautions

Warning label 2

WARNING

Moving parts can pinch or crush.

Keep hands away from robot arms.

(3) Follow the instructions on warning labels and in this manual.

• Be sure to read the warning labels and this manual carefully and make sure you thoroughly understand their contents before attempting installation and operation of the robot.

• Before starting robot operation, be sure to reread the procedures and cautions relating to your work as well as descriptions in this chapter (Chapter 1, "Using the

Robot Safely").

• Never install, adjust, inspect or service the robot in any manner that does not comply with the instructions in this manual.

• Warning labels 3 are supplied with the robot and should be affixed to the robot or conspicuous spots near the robot.

WARNING

IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR

DEATH.

READ THE USER'S MANUAL AND ALL WARNING LABELS BEFORE OPERATION.

Warning label 3

WARNING

Improper installation or operation can result in serious injury or death. Read user's(owner’s) manual and all warning labels before operation.

1-4

1-2 Essential precautions

(4) Do not remove, alter or stain the warning labels.

WARNING

IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN ESSENTIAL

PRECAUTIONS MIGHT NOT BE TAKEN, RESULTING IN ACCIDENTS.

• DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE ROBOT.

• DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED

ONTO THE ROBOT BY THE USER.

• PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON

THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE

SAFETY ENCLOSURE.

(5) Do not use the robot in environments containing inflammable gas, etc.

WARNING

• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE

INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT.

• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE

GAS, DUST OR LIQUIDS. EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT.

(6) Do not use the robot in locations possibly subject to electromagnetic interference,

etc.

WARNING

AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC

INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY

INTERFERENCE. MALFUNCTIONS MIGHT OTHERWISE OCCUR.

(7) Use caution when releasing the brake of a vertical use robot.

WARNING

THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CAUSING

A HAZARDOUS SITUATION.

• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE VERTICAL AXIS

WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.

• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL

AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO PERFORM

DIRECT TEACH.

1-5

1-2 Essential precautions

(8) Provide safety measures for end effector (gripper, etc.).

WARNING

• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY

CREATE NO HAZARDS (FOR EXAMPLE, A WORKPIECE THAT COMES LOOSE)

EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS SHUT OFF OR POWER

FLUCTUATIONS OCCUR.

• IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END

EFFECTOR MAY FLY OFF OR DROP, THEN PROVIDE APPROPRIATE SAFETY

PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE, WEIGHT,

TEMPERATURE AND CHEMICAL PROPERTIES.

(9) Use caution when removing the motor. (Vertical use robots) w

WARNING

THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE MOTOR IS RELEASED,

CAUSING A HAZARDOUS SITUATION.

• TURN OFF THE ROBOT CONTROLLER AND PROP UP THE VERTICAL AXIS WITH

A SUPPORT STAND BEFORE REMOVING THE MOTOR.

• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL

AXIS PARTS AND INSTALLATION BASE.

(10) Be careful not to touch the motor and peripheral parts when hot.

WARNING

The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.

Before handling these parts during inspection or servicing, turn off the controller, wait for a while and check that the parts have cooled.

(11) Take the following safety precautions during inspection of controller.

WARNING

• WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON THE

OUTSIDE OF THE CONTROLLER DURING INSPECTION, ALWAYS FIRST TURN OFF

THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER

TO PREVENT POSSIBLE ELECTRICAL SHOCK.

• NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER.

• REFER TO THE "C21/C22 ROBOT CONTROLLER USER'S MANUAL" FOR

PRECAUTIONS ON HANDLING THE CONTROLLER.

1-6

1-2 Essential precautions

(12) Consult us for corrective action when the robot is damaged or malfunctions occur.

WARNING

IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS,

CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT

YOUR MISUMI SALES OFFICE OR DEALER FOR CORRECTIVE ACTION.

Damage or Trouble Possible Danger

Damage to machine harness or robot cable Electrical shock, malfunction of robot

Damage to exterior of robot

Flying outwards of damaged parts during robot operation

Abnormal operation of robot

(positioning error, excessive vibration, etc.)

Malfunction of robot

Z-axis brake trouble Dropping of load

(13) Protective bonding w

WARNING

BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL

SHOCK.

(14) Be sure to make correct parameter settings.

CAUTION

The robot must be operated with correct tolerable moment of inertia and acceleration coeffi cients according to the manipulator tip mass and moment of inertia. If these are not correct, drive unit service life may end prematurely, and damage to robot parts or residual vibration during positioning may result.

(15) Follow the specified procedures when installing, adjusting or inspecting the robot.

WARNING

ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING, ADJUSTING

OR INSPECTING THE ROBOT. NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED

IN THIS MANUAL.

(16) Do not attempt any repair, parts replacement and modification.

WARNING

DO NOT ATTEMPT ANY REPAIR, PARTS REPLACEMENT AND MODIFICATION

UNLESS DESCRIBED IN THIS MANUAL.

THESE WORKS REQUIRE TECHNICAL KNOWLEDGE AND SKILL, AND MAY ALSO

INVOLVE WORK HAZARDS.

1-7

1-2 Essential precautions

(17) Location for installing the controller and the Handy Terminal

The robot controller and the Handy Terminal should be installed at a location that is outside the robot movement range yet where it is easy to operate and view the robot performing tasks.

(18) Protect electrical wiring and hydraulic/pneumatic hoses as needed.

Install a cover or similar item to protect the electrical wring and hydraulic/pneumatic hoses from possible damage.

(19) Install an operation status light.

Install an operation status light (signal light tower, etc.) at an easy-to-see position so the operator will know whether the robot is merely stopped or is in emergency-error stop.

(20) Clean work tools, etc.

Work tools such as welding guns and paint nozzles which are mounted in the robot arm will preferably be cleaned automatically.

(21) Provide adequate lighting.

Make sure to provide enough lighting to ensure safety during work.

(22) Prevent the gripped object from flying outwards.

If the object or workpiece gripped by the robot might fly outward or drop and create a hazard to the operator, then protective equipment should be installed by taking the size, weight, temperature and chemical properties of the object into account.

(23) Draw up "work instructions" and makes sure the operator learns them well.

Decide on "work instructions" for the following items in cases where personnel must work within the robot movement range to perform teaching, maintenance or inspection. Make sure the workers know these "work instructions" well.

(1) Robot operating procedures needed for tasks such as startup procedures and handling switches

(2) Robot speeds used during tasks such as teaching

(3) Methods for workers to signal each other when two or more workers perform tasks

(4) Steps that the worker should take when a problem or emergency occurs

(5) Steps to take after the robot has come to a stop when the emergency stop device was triggered, including checks for cancelling the problem or error state and safety checks in order to restart the robot.

(6) In cases other than above, the following actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation, as listed below.

1. Show a display on the operator panel

1-8

1-3 Industrial robot operating and maintenance personnel

2. Ensure the safety of workers performing tasks within the robot movement range

3. Clearly specify position and posture during work

Position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error/problem occurs

4. Install noise prevention measures

5. Use methods for signaling operators of related equipment

6. Use methods to decide that an error has occurred and identify the type of error

Implement the "work instructions" according to the type of robot, installation location, and type of work task.

When drawing up the "work instructions", make an effort to include opinions from the workers involved, equipment manufacture's technicians, and workplace safety consultants, etc.

(24) Display a sign on operation panel during work

Display an easy to understand sign or message on the Handy Terminal or operation panel during the job task, to prevent anyone other than the operators for that job task from mistakenly operating a start or selector switch. If needed, take other measures such as locking the cover on the operation panel.

(25) Make daily and periodic inspections.

(1) Always make sure that daily and periodic inspections are performed, and make a pre-work check to ensure there are no problems with the robot or related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary.

(2) When you make periodic inspections or repairs, make a record and store it for at least 3 years.

1-3 Industrial robot operating and maintenance personnel

Operators or persons who handle the robot such as for teaching, movement check, inspection, adjustment, and repair must receive appropriate training and also have the skills needed to perform the job correctly and safely. They must read the user's manual carefully to understand its contents before attempting the robot operation.

Tasks related to industrial robots (teaching, movement check, inspection, adjustment, repair, etc.) must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots.

1-9

1-4 Robot safety functions

1-4 Robot safety functions

This function detects an overload applied to the motor and shuts off the servo power.

(2) Abnormal temperature detection

This detects an abnormal temperature rise in the controller driver and shuts off the servo power.

The following measures should be taken when an error (overload error, abnormal temperature error) occurs.

1. Reduce the speed.

2. Insert a "stop period" in the operation.

3. Reduce the acceleration coefficient.

Soft limits can be set on each axis to limit the working envelope in manual operation after return-to-origin and during automatic operation.

Note: The working envelope is the area limited by soft limits.

WARNING

SOFT LIMITS MUST BE SET WITHIN THE MOVEMENT RANGE (MECHANICAL

STOPPER). IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE, THE ROBOT

AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED, CAUSING

THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT

TO MALFUNCTION.

If the servo power is suddenly shut off during high-speed operation by emergency stop or safety functions, these mechanical stoppers prevent the axis from exceeding the movement range.

Note: The movement range is the area limited by mechanical stoppers.

WARNING

ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER

SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS.

(5) Vertical axis brake

An electromagnetic brake is installed on the vertical use robot to prevent the vertical axis from sliding down when servo power is turned off. This brake is working when the controller is off or the vertical axis servo power is off even when the controller is on.

The vertical axis brake can be released with the Handy Terminal when the controller power is turned on.

1-10

1-5 Safety measures for the system w

WARNING

THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CREATING

A HAZARDOUS SITUATION.

• PRESS THE EMERGENCY STOP BUTTON AND PROP THE VERTICAL AXIS WITH A

SUPPORT STAND BEFORE RELEASING THE BRAKE.

• USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL

AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO PERFORM

DIRECT TEACH.

1-5 Safety measures for the system

Since the robot is commonly used in conjunction with an automated system, dangerous situations are more likely to occur from the automated system than from the robot itself. Accordingly, appropriate safety measures must be taken on the part of the system manufacturer according to the individual system. The system manufacturer should provide a proper instruction manual for safe, correct operation and servicing of the system.

After making installations, adjustments, inspections, or maintenance or repairs to the robot, make a trial run using the following procedures.

(1) If a safety enclosure has not yet been provided right after installation of the robot, rope off or chain off around the movement area of the manipulator in place of the safety enclosure, and observe the following points.

1. Use sturdy, stable posts which will not fall over easily.

2. The rope or chain should be easily visible by everyone around the robot.

3. Place a sign to keep the operator or other personnel from entering the movement range of the manipulator.

(2) Check the following points before turning on the controller.

1. Is the robot securely and correctly installed?

2. Are the electrical connections to the robot correct?

3. Are items such as air pressure correctly supplied?

4. Is the robot correctly connected to peripheral equipment?

5. Have safety measures (safety enclosure, etc.) been taken?

6. Does the installation environment meet the specified standards.

1-11

1-7 Work within the safety enclosure

(3) After the controller is turned on, check the following points from outside the safety

enclosure.

1. Does the robot start and stop as intended? Can the operation mode be selected correctly?

2. Does each axis move as intended within the soft limits?

3. Does the end effector move as intended?

4. Are the signal transmissions to the end effector and peripheral equipment correct?

5. Does emergency stop work?

6. Are the teaching and playback functions normal?

7. Are the safety enclosure and interlock working as intended?

8. Does the robot move correctly during automatic operation?

1-7 Work within the safety enclosure

(1) Work within the safety enclosure

When work is required inside the safety enclosure, always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel, except for the following cases.

1) Soft limit settings

For item 1), follow the precautions and procedure for each section. To perform item 2), refer to the description in (2) below.

(2) Teaching

When performing teaching within the safety enclosure, comply with the instructions listed below.

1) Check or perform the following points from outside the safety enclosure.

1. Make sure that no hazards are present within the safety enclosure by a visual

check.

2. Check that the Handy Terminal is operating normally.

3. Check that no failures are found in the robot.

4. Check that emergency stop works correctly.

5. Select teaching mode and prohibit automatic operation.

2) Never enter the movement range of the manipulator while within the safety

enclosure.

1-12

1-8 Automatic operation

Automatic operation described here includes all operations in AUTO mode.

(1) Check the following before starting automatic operation.

1. No one is within the safety enclosure.

2. The Handy Terminal and tools, etc., are in their prescribed positions.

3. The alarm or error lamps on the robot and peripheral equipment do not flash.

4. The safety enclosure is securely installed with safety interlocks actuated.

(2) Observe the following during automatic operation or in cases where an error occurs.

1)After automatic operation has started, check the operation status and signal light to ensure that the robot is in automatic operation.

2) Never enter the safety enclosure during automatic operation.

3) If an error occurs in the robot or peripheral equipment, observe the following procedure before entering the safety enclosure.

1. Press the emergency stop button to set the robot to emergency stop.

2. Place a sign on the start switch, indicating that the robot is being inspected in

order to keep any other person from touching the start switch and restarting the

robot.

1-13

1-9 Warranty

1-9 Warranty

The MISUMI robot and/or related product you have purchased are warranted against defects or malfunctions as described below.

Warranty description : This warranty conforms to the "warranty description" listed

at the end of the MISUMI "FA Mechanical Standard

Warranty Period : The warranty period ends when any of the following applies:

(1) After one year has elapsed from the date of installation

(2) After 2,400 hours of operation

1-14

Chapter 2 Product Overview

Contents

2-1 Checking the product

2-2 Robot part names

2-1

2-1 Checking the product

2-1 Checking the product

After unpacking, make sure that all components and accessories are included (as specified in your order). Also check the product for any damage on the exterior which might have occurred during shipping.

If there are any missing parts or damage due to shipping, please notify your MISUMI sales office or representative immediately.

WARNING

• ALWAYS USE TWO OR MORE PEOPLE TO TAKE THE ROBOT UNIT OUT OF THE

PACKAGE. EACH PERSON SHOULD GRIP THE ROBOT UNIT NEAR ONE END

FROM THE LOWER SIDE. CARRY WITH THE ROBOT FACING UPWARD (SLIDER

SIDE UPWARDS).

• WHEN UNPACKING, CAREFULLY HOLD THE ROBOT NOT TO DROP IT. IF THE

ROBOT FALLS, SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE

DAMAGED.

2-2 Robot part names

Robot part names

Slider cover

Shutter clamp plate

Suction air joint

Slider

End cover

Robot cable (motor wires)

Robot cable (I/O signal wires)

Shutter

Side cover

2-1

MEMO

2-2

Chapter 3 Installation and Connections

Contents

3-1 Carrying the robot

3-2 Robot installation conditions

3-2-1 Installation environments

3-2-2 Installation base

3-3 Installing the robot

3-4 Connecting the robot to the controller 3-7

3-5 Suction hoses connection 3-10

3-6 Setting the operating conditions

3-6-1 Payload

3-6-2 Maximum speed setting

3-6-3 Duty

3-11

3-12

3-1

3-2

3-3

3-5

3-1 Carrying the robot

3-1 Carrying the robot

Always use two people to carry the robot unit. Each person should grip the robot unit near one end from the lower side and carry with the load well balanced. Carry with the robot facing upward (slider side upwards). w

WARNING

ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE

ROBOT.

• REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS ATTACHED

TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT. THE SLIDER WILL LOSE

BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES.

• KEEP THE ROBOT BALANCED AND DON'T LET IT TILT WHILE MOVING IT. IF THE

ROBOT TILTS, THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING

SERIOUS INJURIES SUCH AS CRUSHED FINGERS.

• MOVE THE SLIDER SO THAT BALL NUT SECTION IS POSITIONED IN THE NEAR

CENTER OF THE ROBOT BEFORE CARRYING THE ROBOT. FAILURE TO DO SO

MAY CAUSE THE BALL SCREW TO SWING OR VIBRATE LARGELY WHILE

CARRYING THE ROBOT.

• NEVER ATTEMPT TO HOLD THE ROBOT IN ANY OF THE FOLLOWING MANNERS.

[Never try this when moving!]

• DO NOT CARRY BY HOLDING THE SLIDER.

• DO NOT CARRY BY HOLDING THE CABLE.

• DO NOT CARRY BY GRIPPING THE END COVER.

• DO NOT CARRY BY HOLDING THE SLIDER COVER.

3-1

3-2 Robot installation conditions

3-2 Robot installation conditions

3-2-1 Installation environments

Be sure to install the robot in the following environments.

Items Specifications

Allowable ambient temperature

0 to 40°C

Allowable ambient humidity 35 to 85% RH (no condensation)

Altitude

Ambient environments

Vibration

Working space

0 to 1000 meters above sea level

Avoid installing near water, cutting water, oil, dust, metallic chips and organic solvent.

Avoid installation near corrosive gas and corrosive materials.

Avoid installation in atmosphere containing inflammable gas, dust and liquid.

Avoid installation near objects causing electromagnetic interference, electrostatic discharge and radio frequency interference.

Do not subject to impacts or vibrations.

Allow sufficient space margin to perform jobs (teaching, inspection, repair, etc.)

For detailed information on how to install the robot controller, refer to the separate "C21/

C22 Controller User's Manual".

WARNING

AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT

CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY, OR IN

ENVIRONMENTS WHERE EXCESSIVE MOISTURE, CORROSIVE GASES, METALLIC

POWDER OR DUST ARE GENERATED. MALFUNCTIONS, FAILURES OR SHORT

CIRCUITS MAY OTHERWISE RESULT.

WARNING

• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS

WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT.

• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE

GAS, DUST OR LIQUIDS.

EXPLOSIONS OR FIRE COULD OTHERWISE RESULT.

3-2

3-2 Robot installation conditions w

WARNING

AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC

INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY

INTERFERENCE. MALFUNCTIONS MAY OTHERWISE OCCUR.

WARNING

DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION.

ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE

ROBOT TO FALL OVER.

3-2-2 Installation base

To mount the robot, use an installation base that satisfies the following conditions.

(1) The installation base is subjected to a great deal of stress while the robot is in operation. Prepare a sufficiently rigid and stable installation base, taking into account the robot weight including the end effector (gripper) and workpiece.

WARNING

IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE, VIBRATION

(RESONANCE) MAY OCCUR DURING OPERATION, CAUSING ADVERSE EFFECTS

ON THE ROBOT WORK.

(2) The installation base surface must be machined within a flatness of ±0.05mm/500mm.

CAUTION

The robot positioning accuracy or the service life might be reduced if the installation surface precision is insuffi cient.

3-3

3-2 Robot installation conditions

(3) Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts. Avoid installing the robot with less than the specified number of bolts or installing the robot closer to one end as shown at the lower right.

Robot installation example

Installation base

Good example Bad example w

WARNING

WHEN INSTALLING THE ROBOT, ALWAYS USE ALL M5 TAPPED HOLES DRILLED IN

THE BOTTOM OF THE ROBOT. USING LESS THAN THE SPECIFIED NUMBER OF

BOLTS TO INSTALL THE ROBOT MAY CAUSE VIBRATION AND POOR POSITIONING

ACCURACY. THIS MAY ALSO RESULT IN POSITIONING ERRORS AND REDUCED

SERVICE LIFE IN THE WORST CASES.

NOTE

Positions of robot mounting holes differ according to the stroke length of each robot. Refer to the dimensional outlines shown in "6-1 Main unit specifi cations".

3-4

3-3 Installing the robot

3-3 Installing the robot

WARNING

• BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROBOT

CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE

CONTROLLER IS OFF. SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT

STARTS TO OPERATE DURING INSTALLATION.

• BE SURE TO USE THE BOLTS OF THE SPECIFIED SIZE AND LENGTH AND TIGHTEN

THEM SECURELY TO THE CORRECT TORQUE IN THE CORRECT POSITIONS.

FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS,

POSITION ERRORS AND SERIOUS ACCIDENTS.

DO NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY

INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE

MALFUNCTIONS.

Drill holes through the installation base where the robot is to be secured. Then secure the robot with the specified bolts from the bottom. The bolts and tightening torque are shown below.

Bolt

Hex socket-head M5 bolt, strength: 8.8T, length: installation base thickness + 9mm (maximum)

Tightening torque 60kgf·cm to 90kgf·cm

M5 bolt c

CAUTION

The robot frame is made of aluminum so be careful not to damage the screw threads when tightening the bolts.

3-5

3-3 Installing the robot

● Protective bonding w

WARNING

ALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT ELECTRICAL

SHOCK.

Always use the ground terminal (M4 screw) on the robot unit to make ground connection.

The ground terminal location is shown below.

Ground terminal

Robot cable c

CAUTION

• A secure ground connection (less than 100-ohm resistance to ground) is

recommended.

• Use electrical wire thicker than AWG14 (2mm

) as the ground wire.

WARNING

ALWAYS TURN OFF THE POWER TO THE CONTROLLER BEFORE MAKING THE

GROUND CONNECTION.

Provide a terminal marked "PE" as the protective conductor for the entire system, and connect it to an external protective conductor. Also securely connect the ground terminal on the robot frame to the protective conductor.

(Symbol 417-IEC-5019)

3-6

3-4 Connecting the robot to the controller

3-4 Connecting the robot to the controller

Connect the robot cables to the mating connectors on the controller as shown. Refer to the robot controller user's manual for the controller connectors.

WARNING

• BEFORE CONNECTING THE CABLES, CHECK THAT THERE ARE NO BENDS OR

BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE

NOT DAMAGED. CONTACT FAILURE MAY CAUSE ROBOT MALFUNCTIONS.

• ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF

BEFORE CONNECTING THE ROBOT CABLES TO THE CONTROLLER.

CAUTION

After connecting the robot cable intermediate connectors together, fi t the connector hoods together securely.

Intermediate connector (motor wire)

Intermediate connector (signal wire)

1) Connect the robot cables (motor and signal wires) to the mating connectors coming out from the robot.

Robot cable connector

(signal wire)

Robot cable connector

(motor wire)

3-7

3-4 Connecting the robot to the controller

2) After making the connections, fit the connector hoods together securely.

Hood

● Robot cable connections

Single-axis robot

RSH1C/RSH2C/RSH3C

Robot cable (power cable)

Handy Terminal

C21/C22 controller

COM1

200V

CHARGE

ROB

I/O

MOTOR

I/O

RGEN

PWR

ERR

CLR

RUN

FUNC

STOP

Hood * After making connections,

fasten the hoods securely.

Robot cable (signal cable)

3-8

3-4 Connecting the robot to the controller

System Configurations

C21/C22 controller

Power supply

AC100 to 115/

200 to 230V±10%

Resolver signal

(communication cable)

Motor power

COM1

200V

CHARGE

ROB

I/O

MOTOR

I/O

RGEN

PWR

ERR

RS-232C communication control

RS-232C or communication control

(communication cable)

CLR

RUN

FUNC

STOP

Handy Terminal

Input 16 general-purpose pins

7 custom-purpose pins

Output 16 general-purpose pins

3 custom-purpose pins

RS-Manager communication software

External control

(PLC)

Single-axis robot

RSH1C/RSH2C/RSH3C

The controller is supplied with the robot as a standard unit.

The Handy Terminal is optional.

3-9

3-5 Suction hoses connection

3-5 Suction hoses connection

The RSH1C/RSH2C/RSH3C robots are designed to connect to an air unit that suctions air inside the robot to maintain cleanliness.

When using the robot in a clean room, adjust the suction air to the following flow rate.

Hose outside diameter : φ 10

Number of hoses : 1

Suction rate : 90 N /min.

CAUTON

Avoid excessive bends in the air hoses. Lay out the air hoses to keep the hose length to the air unit as short as possible. Too long of a hose may prevent obtaining the specifi ed suction fl ow rate.

NOTE

An effective fl ow rate can be obtained by using a 8mm inner diameter hose from the suction source and then connecting that hose to a 10mm outer diameter hose at a position 50mm away from the robot.

3-10

3-6 Setting the operating conditions

3-6 Setting the operating conditions

3-6-1 Payload

Optimal acceleration for the MISUMI single-axis robots RSH1C/RSH2C/RSH3C is automatically determined by setting the controller payload parameter. Set the total weight of the workpiece and the end effectors such as grippers attached to the robot slider in the payload parameter as shown below.

CAUTION

Be sure to enter an accurate value when making this setting, since a mistake will cause troubles such as vibration or a shorter machine service life span.

● To set the payload parameter

Use the following method when setting the payload parameter on the C21/C22 controller. For how to set the parameter, refer to the "H1 Operation Guide" section in the "C21/C22 Controller User's Manual".

1) Connect the Handy Terminal to the controller and turn on the power to the controller.

The main menu screen appears as shown below.

Point

Operation

Parameter

Monitor

Run mode

Connection

Terminal

NRM [01]

2) On the main menu screen, select "Parameter".

The "Parameter" menu screen opens showing selectable menu items.

3) Move the cursor to "Servo parameter" and press ■ .

The currently set Servo parameters are displayed.

Parameter

Run parameter

I/O parameter

Option parameter

Servo parameter

NRM [01] Servo parameter

Payload 1

Max. accel. 1

Payload 2

Max. accel. 2

NRM [01]

3.50

Kg m/s

3-11

3-6 Setting the operating conditions

4) Move the cursor to "Payload 1" and press ■ .

The selected parameter can now be changed.

Servo parameter

Payload 1

Max. accel. 1

Payload 2

Max. accel. 2

NRM [01]

3.50

Kg m/s

5) Change the parameter value.

6) Press ■ to enable the change.

Use the same procedure to change "Payload 2" if needed.

7) Press [CLR].

This returns to the "Parameter" menu screen.

3-6-2 Maximum speed setting

In operation of a single-axis robot with a long stroke ball screw, resonance of the ball screw may occur. In this case, the maximum speed must be reduced to an appropriate level.

Refer to Chapter 6, "Specifications" for information on how to set the maximum speed according to the stroke length.

If the maximum speed does not reach a hazardous level, reducing the speed is unnecessary even when the robot has a long stroke axis.

CAUTION

Do not operate the robot if the ball screw is vibrating. The ball screw may otherwise wear out prematurely.

3-6-3 Duty

To achieve maximum service life for the MISUMI single-axis robots, it is recommended to operate the robot within the allowable duty (50%). The duty is calculated as follows:

Duty (%) =

Operation time

Operation time + Non-operation time s 100

If the robot duty is too high, an error such as "overload" or "overheat" may occur. In this case, increase the stop time to reduce the duty.

3-12

Chapter 4 Periodic Inspection and Maintenance

Contents

4-1 Before beginning work

4-2-1 Daily inspection

4-2-2 Three-month inspection

4-2-3 Six-month inspection

4-2-4 Three-year inspection

4-3 Adjusting shutter looseness

4-5 Replacing the shutter

4-6 Replacing the motor

4-1

4-3

4-4

4-6

4-7

4-8

4-10

4-13

4-16

4-1 Before beginning work

4-1 Before beginning work

Periodic inspection and maintenance are essential to ensure safe and efficient operation of MISUMI robots. This chapter describes periodic inspection items and procedures for the

RSH1C/RSH2C/RSH3C. Before beginning work, read the precautions below and also in

Chapter 1 "Using the Robot Safely" and follow the instructions.

DANGER

IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF

THE ROBOT, STAY OUT OF THE WORKING AREA OF THE ROBOT DURING

OPERATION. DO NOT TOUCH ANY PARTS INSIDE THE CONTROLLER.

KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT

THE OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER

OCCURS.

WARNING

• WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT

OR MAINTENANCE, ALWAYS TURN OFF THE CONTROLLER AND THE

EXTERNAL SWITCH BOARD.

• DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 10 MINUTES

AFTER THE CONTROLLER HAS BEEN TURNED OFF.

• WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO

MECHANICAL MOVEMENT OF THE ROBOT, KEEP THE EMERGENCY STOP

BUTTON PRESSED.

• USE ONLY LUBRICANT AND GREASES SPECIFIED BY MISUMI.

• WHEN REPLACING PARTS, USE ONLY THE PARTS SPECIFIED BY MISUMI.

TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO

CONTAMINATE THEM DURING ADJUSTMENT, PARTS REPLACEMENT OR

REASSEMBLY.

• DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER.

MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR

THREATEN OPERATOR SAFETY.

• WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE, RETIGHTEN THE BOLTS

AND SCREWS SECURELY.

• DURING ROBOT ADJUSTMENT OR MAINTENANCE, PLACE A SIGN

INDICATING THAT THE ROBOT IS BEING ADJUSTED OR SERVICED TO PREVENT

OTHERS FROM TOUCHING THE CONTROL KEYS OR SWITCHES. PROVIDE A

LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED.

4-1

4-1 Before beginning work

When applying grease to the ball screw and linear guide, take the following precautions.

WARNING

PRECAUTIONS WHEN HANDLING GREASE:

• INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES.

BEFORE HANDLING THE GREASE, WEAR YOUR SAFETY GOGGLES TO ENSURE

THE GREASE WILL NOT COME IN CONTACT WITH THE EYES.

• INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH

SKIN. BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH

SKIN.

• DO NOT TAKE ORALLY OR EAT. (EATING WILL CAUSE DIARRHEA AND

VOMITING.)

• HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE GREASE

CONTAINER, SO USE PROTECTIVE GLOVES.

• KEEP OUT OF THE REACH OF CHILDREN.

• DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS

COULD LEAD TO SPARKS AND FIRES.

EMERGENCY TREATMENT:

• IF GREASE GETS IN THE EYES, WASH LIBERALLY WITH PURE WATER FOR ABOUT

15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT.

• IF GREASE COMES IN CONTACT WITH THE SKIN, WASH AWAY COMPLETELY

WITH SOAP AND WATER.

• IF TAKEN INTERNALLY, DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT

A PHYSICIAN FOR PROPER TREATMENT.

4-2

4-2 Periodic inspection

4-2-1 Daily inspection

Check the following points on a daily basis, before and after robot operation.

Checkpoints

Cables and shutter

Check items

Check for scratches, dents, and excessively tight bends.

Stain or grime on the shutter surface *1

Check for unusual vibration and noise.

Notes

Replace if necessary.

Ball screws and bearings

Motor Check for unusual vibration and noise, and for abnormal temperature rise.

*1: Depending on robot operating conditions, stain or grime may appear in a stripe pattern near the slider stop point on the shutter surface. If this is found, use cloth moistened with alcohol or detergent to wipe away the stain or grime.

4-3

4-2 Periodic inspection

4-2-2 Three-month inspection

Take the following precautions when performing 3-month inspection.

WARNING

THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS

RELEASED, CAUSING A HAZARDOUS SITUATION. DO NOT RELEASE THE BRAKE

WHEN LUBRICATING VERTICAL USE ROBOT PARTS.

When applying grease to the ball screws and linear guide, take the following precautions.

WARNNIG

PRECAUTIONS WHEN HANDLING GREASE:

• INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES.

BEFORE HANDLING THE GREASE, WEAR YOUR SAFETY GOGGLES TO ENSURE

THE GREASE WILL NOT COME IN CONTACT WITH THE EYES.

• INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH

SKIN. BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH

SKIN.

• DO NOT TAKE ORALLY OR EAT. (EATING WILL CAUSE DIARRHEA AND

VOMITING.)

• HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE CONTAINER, SO

USE PROTECTIVE GLOVES.

• KEEP OUT OF THE REACH OF CHILDREN.

• DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS

COULD LEAD TO SPARKS AND FIRES.

EMERGENCY TREATMENT:

• IF GREASE GETS IN THE EYES, WASH LIBERALLY WITH PURE WATER FOR ABOUT

15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT.

• IF GREASE COMES IN CONTACT WITH THE SKIN, WASH AWAY COMPLETELY

WITH SOAP AND WATER.

• IF TAKEN INTERNALLY, DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT

A PHYSICIAN FOR PROPER TREATMENT.

4-4 w

WARNING

DISPOSING OF GREASE AND THE CONTAINER:

• PROPER DISPOSAL IS COMPULSORY UNDER FEDERAL, STATE AND LOCAL

REGULATIONS. TAKE APPROPRIATE MEASURES IN COMPLIANCE WITH LEGAL

REGULATIONS IN YOUR COUNTRY.

• DO NOT PRESSURIZE THE EMPTY CONTAINER. PRESSURIZING MAY CAUSE THE

CONTAINER TO RUPTURE.

• DO NOT ATTEMPT TO WELD, HEAT UP, DRILL HOLES OR CUT THIS CONTAINER.

THIS MIGHT CAUSE THE CONTAINER TO EXPLODE AND THE REMAINING

MATERIALS INSIDE IT TO IGNITE.

4-2 Periodic inspection

Check the following points every 3 months and apply grease if needed.

Checkpoints

Ball screw, linear guide, ball bushing

Shutter

Check items

• Check for dust buildup or debris.

Clean if necessary. Apply grease after cleaning.

• Check to see if the ball screw, linear guide and ball bushing are lubricated

(not dry). Apply grease if necessary.

Clean room robots: LG2 (NSK)

• Check for looseness or slack. Adjust if necessary.

Notes

See "4-4" in this chapter.

See "4-3" in this chapter.

CAUTION

Failing to use MISUMI-recommended grease can shorten the life of the ball screw and the linear guide.

4-5

4-2 Periodic inspection

4-2-3 Six-month inspection

Take the following precautions when performing 6-month inspection.

WARNING

THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS

RELEASED, CAUSING A HAZARDOUS SITUATION. DO NOT RELEASE THE BRAKE

WHEN LUBRICATING THE VERTICAL USE ROBOT PARTS.

When applying grease to the ball screws and linear guide, take the following precautions.

WARNING

PRECAUTIONS WHEN HANDLING GREASE:

• INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES. BEFORE HANDLING

THE GREASE, WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL

NOT COME IN CONTACT WITH THE EYES.

• INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH

SKIN. BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH

SKIN.

• DO NOT TAKE ORALLY OR EAT. (EATING WILL CAUSE DIARRHEA AND

VOMITING.)

• HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE CONTAINER, SO

USE PROTECTIVE GLOVES.

• KEEP OUT OF THE REACH OF CHILDREN.

• DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS

COULD LEAD TO SPARKS AND FIRES.

EMERGENCY TREATMENT:

• IF GREASE GETS IN THE EYES, WASH LIBERALLY WITH PURE WATER FOR ABOUT

15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT.

• IF GREASE COMES IN CONTACT WITH THE SKIN, WASH AWAY COMPLETELY

WITH SOAP AND WATER.

• IF TAKEN INTERNALLY, DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT

A PHYSICIAN FOR PROPER TREATMENT.

4-6 w

WARNING

DISPOSING OF GREASE AND THE CONTAINER:

• PROPER DISPOSAL IS COMPULSORY UNDER FEDERAL, STATE AND LOCAL

REGULATIONS. TAKE APPROPRIATE MEASURES IN COMPLIANCE WITH LEGAL

REGULATIONS IN YOUR COUNTRY.

• DO NOT PRESSURIZE THE EMPTY CONTAINER. PRESSURIZING MAY CAUSE THE

CONTAINER TO RUPTURE.

• DO NOT ATTEMPT TO WELD, HEAT UP, DRILL HOLES OR CUT THIS CONTAINER.

THIS MIGHT CAUSE THE CONTAINER TO EXPLODE AND THE REMAINING

MATERIALS INSIDE IT TO IGNITE.

4-2 Periodic inspection

Check the following points every 6 months and adjust or replace parts if needed.

Checkpoints

Major bolts and screws on robot

Ball screw, linear guide

Controller

Greasing to ball screw/nut section and linear guide

Slider

Shutter

Check items

Check for looseness. Tighten if loose.

• Check the ball screw and linear guide for backlash.

Tighten if necessary.

Notes

• Check for vibration during operation. Tighten bolts if necessary to secure drive unit and/or shaft.

• Check for backlash due to wear.

• Check if terminals are loose.

• Check if connectors are loose

Apply LG2 grease (NSK) to the ball screw nut section and linear guide every 6 months.

On long-stroke (750mm or more) robots, check the slider inside the top cover for wear or damage every 6 months.

Check for looseness or slack.

Adjust if necessary.

See "4-4" in this chapter.

See "4-3" in this chapter.

CAUTION

Failing to use MISUMI-recommended grease can shorten the life of the ball screw and the linear guide.

4-2-4 Three-year inspection

Check the following points every 3 years or more often if the robot is used frequently.

Checkpoints

Ball screw/nut section and linear guide

Check items

Check ball screw/nut and linear guide for backlash due to wear.

Notes

4-7

4-3 Adjusting shutter looseness

4-3 Adjusting shutter looseness

The shutter may elongate or develop a slight stretch after long-term use. Continuous operation with a stretched shutter may cause a "slack" (or a gap between the shutter and the cover of the robot) and degrade the degree of cleanliness. In such cases, adjust looseness in the shutter as explained below.

1) Prepare the required tools and grease.

• Phillips-head screwdriver

2) Turn off the controller.

3) Place a sign indicating that the robot is being inspected, to keep others from operating the controller switch.

4) Enter the safety enclosure.

5) While moving the slider back and forth by hand, find the position where the shutter is loosest.

When a vertical installation model is used, slowly move the robot in jog before entering the safety enclosure and find the position of maximum shutter looseness.

6) Loosen the screws (2 places) securing the shutter clamp plate on the side where the shutter is loose.

4-8

7) While pulling (pressing down) on both ends of the shutter with your fingers, tighten the two screws to secure the shutter clamp plate.

At this point, alternately tighten the two screws a little at a time.

4-3 Adjusting shutter looseness

8) While moving the slider back and forth by hand a few times, check that no looseness or slack occurs in the shutter and also that the shutter does not sway right or left.

If any abnormality is found, repeat the adjustment in steps 6) and 7).

9) Go outside the safety enclosure.

10) Check that no one is inside the safety enclosure and then turn on the controller.

NOTE

When securing the shutter clamp plate, tighten the screws equally on left and right a little at a time, so that the shutter surface does not protrude or bulge above the slider.

4-9

4-4 Applying grease

When applying grease to the ball screw according to periodic inspection, follow the procedure below. Grease can be applied to the ball screw nut section using the grease nipples. Prepare a grease gun in this case.

1) Prepare the required tools and grease.

• Phillips-head screwdriver

• Grease gun

• Recommended grease: NSK LG2

2) Turn off the controller.

3) Place a sign indicating that the robot is being inspected, to keep others from operating the controller switch.

4) Enter the safety enclosure.

5) Apply grease using the following procedures.

● Greasing the ball screw

1. Remove the two screws securing the shutter clamp plate on one side of the

robot.

2. Open the shutter by pulling it up from the side where the screws were removed.

CAUTION

When opening the shutter, be careful not to scratch the shutter surface.

4-10

4-4 Applying grease

3. Wipe away old grease with a clean cloth. Then apply grease by hand to the ball

screw threads and move the slider back and forth to spread the grease.

● Greasing the linear guide

There are two methods of greasing the linear guide.

(1)Remove only the end cover to grease the linear guide

(2)Open the cover by pulling it up to grease the linear guide.

Method (1) : Remove only the end cover to grease the linear guide

1. Remove the 2 screws securing the end cover on the motor side, and remove the

(For how to remove the end cover, refer to "4-6 Replacing the motor".)

2. Wipe away old grease with a clean cloth. Then use a grease gun to inject new

grease into the two grease nipples on the right and left of the ball guide bearing.

Grease nipple

Grease gun

(Nozzle outside diameter:

9mm or less)

4-11

4-4 Applying grease

Method (2) : When opening the shutter by pulling it up to grease the linear guide

1. Remove the 2 screws securing the shutter clamp plate on the non-motor side.

2. Open the shutter by pulling it up from the side where the screws were removed.

CAUTION

When opening the shutter, be careful not to scratch the shutter surface.

3. Wipe away old grease with a clean cloth.

Then use a grease gun to inject new grease into the two grease nipples on the

right and left of the ball guide bearing. In this case, use a grease gun with a bent

nozzle as shown.

Grease nipple

Grease gun

6) Wipe away excess grease with a clean cloth.

When a vertical installation model is used, go outside the safety enclosure, check no one is inside the safety enclosure, and turn on the controller. Then slowly move the slider back and forth a few times in MANUAL mode to spread the grease. Next, turn off the controller and re-enter the safety enclosure to continue the job.

7) Reattach the end cover and shutter.

(For how to adjust the shutter, refer to "4-3 Adjusting shutter looseness".)

4-12

4-5 Replacing the shutter

4-5 Replacing the shutter

1) Turn off the controller.

2) Place a sign indicating that the robot is being inspected, to keep others from operating the controller switch.

3) Enter the safety enclosure.

4) Remove the 8 screws (4 screws on each side) securing the slider cover and remove the cover.

5) Remove the screws securing the shutter clamp plates (2 screws on each clamp plate, a total of 4 screws) at both ends of the robot.

6) Remove the 4 screws securing the roller and remove the roller.

4-13

4-5 Replacing the shutter

7) Remove the shutter.

8) Attach the new shutter in place.

NOTE

Attach the shutter so it is positioned in the center of the cover.

9) Reattach the roller that was removed in step 6).

10) Reattach the shutter clamp plates that were removed in step 5. Finger-tighten the

screws (do not tighten securely).

4-14

4-5 Replacing the shutter

11) Move the slider back and forth by hand a few times so that the shutter fits in the

center of the cover.

NOTE

As a general guide, the shutter tension is appropriate when the shutter surface is

Step approximately 1mm below the upper step in the slider. Approx. 1mm below step

Slider

12) Move the slider to one end, and while pressing down on the shutter in the center

of the slider, tighten the shutter clamp plate screws (finger-tightened in step 10)

alternately a little at a time.

NOTE

When securing the shutter clamp plate, tighten the screws equally on left and right a little at a time, so that the shutter surface does not protrude or bulge above the slider.

13) Use the same procedure to tighten the screws on the other shutter clamp plate,

alternately a little at a time. After tightening, check that the shutter does not protrud

(or bulge) above the slider, If the shutter is protruding, loosen the screws on the

shutter clamp plates on both ends and repeat the adjustment in steps 11) and 12).

CAUTION

If the shutter protrudes (bulges) above the slider, the shutter surface might rub against the slider cover creating dust or grit. This will also shorten the shutter service life.

14) While moving the slider back and forth by hand a few times, check that the shutter

does not slacken or sway right or left. If slack or sway occurs in the shutter, repeat

the adjustment from step 11) to step 13).

When a vertical installation model is used, go outside the safety enclosure, check

no one is inside the safety enclosure, and turn on the controller. Then slowly move

the slider back and forth a few times in MANUAL mode to check the movement.

After checking, turn off the controller and re-enter the safety enclosure to continue

the job.

15) Reattach the slider cover.

16) Go outside the safety enclosure.

17) Check no one is inside the safety enclosure and thee turn on the controller.

4-15

4-6 Replacing the motor

4-6 Replacing the motor

CAUTION

A positional shift occurs by replacing the motor. It is therefore necessary to perform return-to-origin and set point data again after replacing the motor.

When removing the parts, note their positional relation and assembly order.

1) Turn off the controller.

2) Place a sign indicating that the robot is being inspected, to keep others from operating the controller switch.

3) Enter the safety enclosure.

4) Remove the 6 screws (2 screws on the sides and 4 screws for the cable) securing the end cover on the motor side, and remove the end cover.

Likewise, remove the 2 screws securing the end cover on the non-motor side and remove the end cover.

5) Remove the shutter.

(For how to remove the shutter, refer to "4-5 Replacing the shutter".)

6) Remove the screws securing the side covers (5 screws on each side) and remove both side covers.

(For how to remove the side covers, refer to "4-4 Applying grease".)

4-16

4-6 Replacing the motor

7) Remove the ground wire.

8) Remove the 4 bolts securing the motor and remove the motor.

9) Remove the wave washer and flat washer.

CAUTION

When removing the motor, the fl at washer might be left in the bearing inside the motor, so use caution.

Wave washer

Flat washer

4-17

4-6 Replacing the motor

10) Remove the 4 bolts securing the rotor and pull out the rotor.

11) Install the new rotor.

12) Install the wave washer and flat washer in the correct order.

13) Install the new motor.

14) Reassemble in the reverse order (steps 12 to 4).

4-18

4-6 Replacing the motor

● Checking the machine reference

1) On the main menu screen, select "Operation".

The "Operation" menu screen appears showing selectable menu items.

Point

Operation

Parameter

Monitor

Run mode

Connection

Terminal

NRM [01]

2) Move the cursor to "Origin search" and press ■ .

The "Origin search" screen appears showing the origin search method and direction.

Operation

Servo status

Origin search

Run

Reset

NRM [01] Origin search

Method: TORQUE

Direction: CCW

Coordinates:Normal

NRM [01]

Current pos.

128.00 mm

RUN:Origin search start

Current pos.

128.00 mm

3) Ensure safety and press [RUN] to start an origin search.

The message "Running…" appears during origin search.

If you want to stop the origin search, press [STOP].

Origin search

Method: TORQUE

Coordinates:--

Running…

NRM [01]

RUN:Origin search start

Current pos.

128.00 mm

4-19

4-6 Replacing the motor

4) When origin search is complete, check the message.

The message "OK" and machine reference (Ref. = ** %) appear when the origin search has ended successfully.

Origin search

Method: TORQUE

Coordinates:

NRM [01]

Ref. = 50 %

RUN:Origin search start

Current pos.

128.00 mm

5) Press [CLR].

This returns to the "Origin search" screen. Pressing [CLR] once more returns to the

"Operation" menu screen.

4-20

Chapter 5 Troubleshooting

Contents

5-1

5-1 Positioning error

If a positioning error occurs, check the following points to find the solution before you determine the robot or controller has malfunctioned. If the trouble still exists even after checking these points, please contact us with a detailed description of the trouble.

Position deviates.

The position deviates after moving the robot or set up of workpiece tool.

Robot bumped into something, or there are traces of bumping into (rubbing against) something.

Operation was correct, but position deviates.

Yes

Is cable broken?

Are cables correctly wired?

Are connectors correctly fitted?

Yes

Check wiring and connectors.

Replace the cable.

(1) Check tool and workpiece for warping.

(2) Check robot alignment.

Are the robot, tools and workpiece correctly installed?

Yes

Check installation method.

Check for looseness of robot mechanical parts.

Mechanical cause

No Does the position return after return-to-origin operation?

Yes

(1) Check for looseness of mechanical parts. Retighten

(2) Replace mechanical parts.

Electrical cause

Yes

Take measures against noise.

Is there a large source of noise nearby?

Check or replace the motor, cable and controller.

5-1

MEMO

5-2

Chapter 6 Specifications

Contents

6-1 Main unit specifications

6-1-1 RSH1C

6-1-2 RSH2C

6-1-3 RSH3C

6-2 AC servo motor specifications

6-2-1 AC servo motor termination

6-2-2 Brake cable specifications

6-1

6-4

6-7

6-10

6-11

6-12

6-1 Main unit specifications

6-1 Main unit specifications

6-1-1 RSH1C

● Basic specifications

Motor output AC (W)

Repeated positioning accuracy (mm) 1

Deceleration mechanism

Ball screw lead (mm)

Maximum speed (mm/sec) 4

Maximum payload

(kg)

Horizontal installation

Vertical installation

Rated thrust (N)

Stroke (mm)

Horizontal installation

Total length (mm)

Vertical installation

Maximum cross-section outside dimensions (mm)

Cable length (m)

Controller

Horizontal installation

Vertical installation

Cleanliness class

Amount of suction air (N /min)

1000

–

100

±0.02

Ball screw

12(Class C10)

720

141

150 to 800 (50 pitch)

Stroke length + 320

Stroke length + 355

W80×H75

Standard : 3.5 Option: 5/10

C21/C22

Class 10 2

30 to 90 3

360

283

1: Positioning repeatability in one direction

2: Degree of cleanliness per 1 cf (0.1μm base) when suction blower is used

3: The required amount of suction air differs depending on the usage and environment, so it is recommended to set the suction rate at the upper limit of the listed values.

However, if, for example, the operation speed is determined and will not be changed after the robot operation has started, you can set an appropriate suction rate by referring to the table below. In that case, refer to the suction rates which are higher than the rate applicable for the operation speed.

Speed (mm/s)

100

250

500

800

1000

Amount of suction air (N ℓ /min)

4: When the stroke is longer than 600mm, the ball screw may resonate depending on the moving range (critical speed). In this case, adjust to reduce the operating speed by referring to the maximum speeds shown in the table below.

Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Lead 20 1000 950 800 700 650

Maximum setting speed

(mm/sec)

Speed

Lead 12

Lead 6

Speed setting

720

360

–

648

324

95% 80% 70% 65%

540

270

468

234

432

216

360

180

90% 75% 65% 60% 50%

6-1

6-1 Main unit specifications

● Static loading moment

M Y

(Unit: N•m)

110 M P

M R

● Allowable overhang*

* Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.)

■ Horizontal installation

Horizontal installation (Unit: mm)

A B C

Lead 20

Lead 12

Lead 6

5kg

10kg

12kg

5kg

10kg

15kg

20kg

10kg

20kg

30kg

40kg

131 39 69

115 31 57

207 43 92

144 26 41

112 18 40

225 20 54

162 11 31

■ Wall installation

Wall installation

Lead 20

Lead 12

Lead 6

5kg

10kg

12kg

5kg

10kg

15kg

20kg

10kg

20kg

30kg

40kg

A B

(Unit: mm)

121 71 211

42 24 88

29 16 66

164 78 328

62 29 158

26 12 83

7 4 32

87 33 353

■ Vertical installation

6-2

Vertical installation (Unit: mm)

Lead 12

Lead 6

2kg

4kg

6kg

8kg

1kg

2kg

3kg

4kg

A C

440 442

207 209

130 132

91 92

237 238

106 96

62 62

34 40

Plate thickness 8

10H7

6-1 Main unit specifications

(Tolerance between knocks±0.02)

(0.4)

60.5

(63.4)

Slider upper surface

6.4

3.5

6-3

6-1 Main unit specifications

6-1-2 RSH2C

● Basic specifications

Motor output AC (W)

Repeated positioning accuracy (mm) 1

Deceleration mechanism

Ball screw lead (mm)

Maximum speed (mm/sec) 4

Maximum payload

(kg)

Horizontal installation

Vertical installation

1000

100

±0.01

Ball screw φ 15(Class C7)

600

169

150 to 1050 (50 pitch)

Stroke length + 325

Stroke length + 360

300

339 Rated thrust (N)

Stroke (mm)

Total length (mm)

Maximum cross-section outside dimensions (mm)

Cable length (m)

Controller

Horizontal installation

Vertical installation

Horizontal installation

Vertical installation

W80×H75

Standard : 3.5 Option: 5/10

C21/C22

Cleanliness class

Amount of suction air (N /min)

Class 10

30 to 90

1: Positioning repeatability in one direction

2: Degree of cleanliness per 1 cf (0.1μm base) when suction blower is used

3: The required amount of suction air differs depending on the usage and environment, so it is recommended to set the suction rate at the upper limit of the listed values.

Speed (mm/s)

100

250

500

800

1000

Amount of suction air (N

90 ℓ /min)

4: When the stroke is longer than 700mm, the ball screw may resonate depending on the moving range (critical speed). In this case, adjust to reduce the operating speed by referring to the maximum speeds shown in the table below.

Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050

Lead 20 1000 900 800 700 650 600 550 500 speed

(mm/sec)

Speed

Maximum setting

Lead 10

Lead 5

Speed setting

600

300

–

– 90% 80% 70% 65% 60% 55% 50%

510 450 390 360 330 300 270 240

255 225 195 180 165 150 135 120

85% 75% 65% 60% 55% 50% 45% 40%

● Static loading moment

M Y

(Unit: N•m)

110 M P

6-4

M R

6-1 Main unit specifications

● Allowable overhang*

* Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.)

■ Horizontal installation

Horizontal installation

Lead 20

Lead 10

Lead 5

5kg

10kg

15kg

20kg

10kg

20kg

30kg

40kg

20kg

30kg

40kg

50kg

259

149

100

251

127

256

188

(Unit: mm)

122

179

130

■ Wall installation

Wall installation

Lead 20

Lead 10

Lead 5

5kg

10kg

15kg

20kg

10kg

20kg

30kg

40kg

20kg

30kg

40kg

50kg

147

100

(Unit: mm)

220

197

152

■ Vertical installation

Vertical installation (Unit: mm)

A C

Lead 20

Lead 10

Lead 5

6kg

8kg

5kg

10kg

2kg

4kg

2kg

4kg

15kg

16kg

255

111

300

131

113

260

115

302

133

114

6-5

6-1 Main unit specifications

Plate thickness 8

10H7

6-6

(Tolerance between knocks±0.02)

(0.4)

60.5

(63.4)

Slider upper surface

3.5

6.4

6-1 Main unit specifications

6-1-3 RSH3C

● Basic specifications

Motor output AC (W)

Repeated positioning accuracy (mm) 1

Deceleration mechanism

Ball screw lead (mm)

Maximum speed (mm/sec) 4

Maximum payload

(kg)

Rated thrust (N)

Stroke (mm)

Total length (mm)

Horizontal installation

1000

100

±0.01

Ball screw φ 15(Class C7)

600

300

84 169

150 to 1050 (50 pitch)

Stroke length + 389

339

Maximum cross-section outside dimensions (mm)

Cable length (m)

Controller

Horizontal installation

Vertical installation

W80×H75

Standard : 3.5 Option: 5/10

C21/C22

Cleanliness class

Amount of suction air (N /min)

Class 10

30 to 90

1: Positioning repeatability in one direction

2: Degree of cleanliness per 1 cf (0.1μm base) when suction blower is used

3: The required amount of suction air differs depending on the usage and environment, so it is recommended to set the suction rate at the upper limit of the listed values.

Speed (mm/s)

100

250

500

800

1000

Amount of suction air (N

90 ℓ /min)

4: When the stroke is longer than 650mm, the ball screw may resonate depending on the moving range (critical speed). In this case, adjust to reduce the operating speed by referring to the maximum speeds shown in the table below.

Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050

Lead 20 1000 900 800 700 650 600 550 500 450 speed

(mm/sec)

Speed

Maximum setting

Lead 10

Lead 5

Speed setting

600

300

–

– 90% 80% 70% 65% 60% 55% 50% 45%

510 450 390 360 330 300 270 240 210

255 225 195 180 165 150 135 120 105

85% 75% 65% 60% 55% 50% 45% 40% 35%

6-7

6-1 Main unit specifications

● Static loading moment

M Y

128

163

(Unit: N•m)

143 M P

M R

● Allowable overhang*

* Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.)

■ Horizontal installation

Horizontal installation (Unit: mm)

A B C

10kg 687 274 200

Lead 20

Lead 10

20kg 401 125 92

30kg 338 76 57

20kg 622 137 111

40kg 472 57 47

Lead 5

60kg 375 30 25

20kg 1087 148 127

40kg 844 63 54

60kg 707 34 29

80kg 594 20 17

■ Wall installation

Wall installation (Unit: mm)

A B C

10kg 163 225 617

Lead 20

Lead 10

20kg

30kg

20kg

40kg

Lead 5

60kg

20kg

40kg

60kg

80kg

0 0 0

89 104 974

0 0 0

6-8

(Tolerance between knocks±0.02)

(0.4)

60.5

(63.4)

Slider upper surface

3.5

6.4

Plate thickness 8

10H7

6-1 Main unit specifications

6-9

6-2 AC servo motor specifications

6-2 AC servo motor specifications

6-2-1 AC servo motor termination

■ Connector specifications

No.

Parts Type No.

Servo motor

Receptacle housing SMR-07V-B

Pin contact

Plug housing

BYM-001T-P0.6

176273-1

Receptacle 175156-2

Receptacle housing SMR-02V-B

Plug housing

Socket contact

Round terminal

SMR-02V-BC

BHF-001T-0.8BS

1.25-M4

Maker

JST

AMP

JST

■ Connector wiring

Connector Pin No.

CN1

CN2

CN3

Signal

Shield

Wire Color

Yellow

Blue

Red

Black

White

Green

Black *1

Brown

Gray

Red

White

Black

Yellow/Green

*1: Heat shrinkable tube

Connection

Qty

Notes

CN1 (7 polarities)

CN1, CN2

CN3 (4 polarities)

CN3

CN2 (2 polarities)

CN4 (2 polarities)

CN4

Motor

CN1

CN2

CN4

CN3

6-10

6-2 AC servo motor specifications

6-2-2 Brake cable specifications

■ Connector specifications

No.

Parts

Brake parts

Type No.

Receptacle housing SMR-02V-B

Pin contact BYM-001T-P0.6

■ Connector wiring

Connector Pin No.

CN1

Signal

Maker

Wire Color

Yellow (black)

JST

Qty

CN1

Note

BK CN1

6-11

6-3 Robot cables

■ Signal cable

To controller

To robot

ORG

Parts Signal PIN Connection PIN Parts

Controller CN1 S2

Wire

1 Resolver 0.3sq

Blue SPMCU-14(K)

2 Orange

Green

Brown

Grey

Red

Drain wire

BK+ 13

BK14

ORG 12

24V 11

GND24 10

Brake

ORG

Black

Yellow

Pink

White

Blue/Red

■ Power cable

To controller To robot

6-12

Parts

Motor wire

Signal PIN Connection PIN Parts

Wire

0.75sq

Yellow/Green

0.75sq

Red

0.75sq

White

Black

Appendix

Contents

About machine reference

Moment of inertia calculation ii

i

About machine reference

The position detector built into the motor issues a "0" pulse each time the motor rotates 1/4th of one turn. When return-to-origin is performed, a difference in distance occurs between the position where the origin signal is detected and the point at which the next "0" pulse is received. This is called the machine reference and is usually expressed as a percent, with 100% being equal to 1/4th of one turn of the motor. (See the figure below.)

The machine reference value must be within the allowable range (25 to 75%) to maintain axis movement repeatability.

The optional Handy Terminal is needed to check the machine reference value. The machine reference value is displayed on the LCD screen of the Handy Terminal when an origin search (return-to-origin) is complete. (See the figure below.) n

NOTE

The RSH1C/RSH2C/RSH3C robots use an absolute type position detector.

There is no need to perform an origin search each time the robot controller is turned on and readjust the machine reference value. If for some reason the machine reference adjustment becomes necessary, please contact us.

Machine reference

Origin signa

Origin detection signal

Machine reference

(Stroke end detection)

Zero signal

Machine reference

(Origin dog detection)

Pulse

Machine reference value display example

1/4th of one turn of motor

Origin search

Method: TORQUE

Coordinates:

NRM [01]

Ref. = 50 %

RUN:Origin search start

Current pos.

128.00 mm i

Moment of inertia calculation

CAUTION

The robot must be operated with correct tolerable moment of inertia and acceleration coeffi cients according to the manipulator tip mass and moment of inertia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual vibration during positioning may result.

Usually the R axis load is not a simple form, and the calculation of the moment of inertia is not easy.

As a method, the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated. The total of the moment of inertia for these factors is then obtained.

The objects and equations often used for the calculation of the moment of inertia are shown below.

1. Moment of inertia for cylinder

The moment of inertia (J) for a cylinder having a rotation center such as shown below is given by ii

J =

RP D 4 h

32g

WD 2

8g mD

(kgf.cm.sec

)

(kgm

) h

R : Density (kg/cm 3 ) g : Gravitational acceleration (cm/sec 2 )

W : Weight of cylinder (kgf) m : Mass of cylinder (kg)

2. Moment of inertia for rectangular parallelepiped

The moment of inertia (J) for a rectangular parallelopiped having a rotation center as shown below is given by

J =

R abc (a 2 + b 2 )

12g

W (a 2 + b 2 )

12g

= m (a 2 + b 2 )

(kgf.cm.sec

)

(kgm

)

R : Density (kg/cm 3 ) c

W : Weight of prism (kgf) m : Mass of prism (kg)

2 ) b a

1/2a

3. When the object’s center line is offset from the rotation center.

The moment of inertia (J) when the center of the cylinder is offset by a distance "x" from the rotation center as shown below is given by

J =

RP D 4 h

32g

WD 2

8g mD 2

Wx g

RP D

hx 2

(kgf.cm.sec

+ mx

(kgm

)

) h center line rotation center

W : Weight of cylinder (kgf) m : Mass of cylinder (kg) e : Density (kg/cm

) g : Gravitational acceleration (cm/sec

)

D x

In the same manner, the moment of inertia (J) of a prism as shown below is given by

J =

R abc (a 2 + b 2 )

12g

W (a 2 + b 2 )

12g

+ g

R abcx 2

Wx 2 g

(kgf.cm.sec

= m (a 2 + b 2 )

+ mx

(kgm

)

) c

W : Weight of prism (kgf) m : Mass of prism (kg) b center line a x iii

Revision record

Manual version Issue date

Ver. 1.00

Ver. 1.01

Ver. 1.02

Ver. 1.03

Apr. 2009

Jul. 2009

Dec. 2009

Jun. 2010

Description

English manual Ver. 1.00 is based on Japanese manual Ver. 1.00.

English manual Ver. 1.01 is based on Japanese manual Ver. 1.01.

English manual Ver. 1.02 is based on Japanese manual Ver. 1.02.

English manual Ver. 1.03 is based on Japanese manual Ver. 1.03.

User's Manual

Single-axis Robot

RSH1C/RSH2C/RSH3C

Jun. 2010

Ver. 1.03

This manual is based on Ver. 1.03 of Japanese manual.

Information furnished by MISUMI in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact MISUMI or MISUMI sales representatives.