MISUMI RS1 User manual

User’s Manual ENGLISH E
RS1/RS2/RS3
RSD1/RSD2/RSD3
RSDG1/RSDG2/RSDG3
MISUMI SINGLE-AXIS ROBOT
4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan
URL http://www.misumi.co.jp/english/company/office/
MISUMI Corporation
ME1-Ver. 2.00

i
General Contents
General Contents
Introduction
Chapter 1 Using the Robot Safely
1-1 Safety information 1-1
1-2 Essential precautions 1-3
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
1-6 Trial operation 1-11
1-7 Work within the safety enclosure 1-12
1-8 Automatic operation 1-13
1-9 Warranty 1-14
Chapter 2 Installation and Connections (RS1/2/3 series)
2-1 Checking the product 2-1
2-2 Robot part names 2-2
2-3 Robot installation conditions 2-3
2-4 Installation base 2-4
2-5 Installing the robot 2-5
2-6 The "Emergency Stop" stopping distance 2-6
2-7 Connections 2-6
2-7-1 Connecting the robot to the controller 2-6
2-7-2 Robot cable connections 2-8
2-7-3 Robot system configuration drawing 2-9
2-8 Setting the operating conditions 2-10
2-8-1 Payload 2-10
2-8-2 Duty 2-10
2-8-3 Push force vs. current limit value during stop 2-11

General Contents
ii
Chapter 3 Installation and Connections (RSD1/2/3 series)
3-1 Checking the product 3-1
3-2 Robot part names 3-2
3-3 Operating precautions 3-3
3-4 Robot installation conditions 3-5
3-5 Installation base 3-6
3-6 Installing the robot (RSD1/RSD2/RSD3) 3-7
3-6-1 Installing the bottom of the robot main unit 3-7
3-6-2 Installing the robot using the main unit installation taps
(End face installation) 3-10
3-6-3 Installing the robot using the feet (option) 3-11
3-6-4 Installing the robot using the flange (option) 3-12
3-7 Installing the robot (RSDG1/RSDG2/RSDG3) 3-14
3-7-1 Installing the bottom of the robot main unit 3-14
3-7-2 Installing the robot using the main unit installation taps
(End face installation) 3-17
3-7-3 Installing the robot using the feet (option) 3-18
3-8 Installing the end effector 3-20
3-9 Connections 3-21
3-9-1 Connecting the robot to the controller 3-21
3-9-2 Robot cable connections 3-23
3-9-3 Robot system configuration drawing 3-24
3-10 Setting the operating conditions 3-25
3-10-1 Payload 3-25
3-10-2 Duty 3-25
3-10-3 Push force vs. current limit value during stop 3-26
Chapter 4 Periodic Inspection and Maintenance (RS1/2/3 series)
4-1 Before beginning work 4-1
4-2 Periodic inspection 4-3
4-2-1 Daily inspection 4-3
4-2-2 Three-month inspection 4-3
4-2-3 Six-month inspection 4-4
4-2-4 Three-year inspection 4-4

iii
General Contents
4-3 Applying grease 4-5
4-4 Replacing the shutter 4-6
4-4-1 RS1 4-6
4-4-2 RS2/RS3 4-8
4-5 Adjusting shutter looseness 4-9
4-6 Replacing the motor 4-10
4-6-1 RS1 4-10
4-6-2 RS2/RS3 4-13
4-6-3 Verifying the machine reference 4-16
4-7 Replacing the coupling 4-18
4-7-1 RS1 4-18
4-7-2 RS2/RS3 4-20
Chapter 5 Periodic Inspection and Maintenance (RSD1/2/3 series)
5-1 Before beginning work 5-1
5-2 Periodic inspection 5-3
5-2-1 Daily inspection 5-3
5-2-2 Three-month inspection 5-3
5-2-3 Six-month inspection 5-4
5-2-4 Three-year inspection 5-4
5-3 Applying grease 5-5
5-4 Replacing the motor 5-6
5-4-1 Replacing the motor 5-6
5-4-2 Verifying the machine reference 5-9
5-4-3 Adjusting the machine reference 5-10
Chapter 6 Specifications
6-1 Main unit specifications 6-1
6-1-1 RS1 6-1
6-1-2 RS2 6-4
6-1-3 RS3 6-7
6-1-4 RSD1/RSDG1 6-10
6-1-5 RSD2/RSDG2 6-14
6-1-6 RSD3/RSDG3 6-19
6-1-7 About noise level 6-23

General Contents
iv
6-2 Motor specifications 6-23
6-2-1 Motor termination 6-23
6-2-2 Brake cable termination 6-25
6-3 Robot cables 6-26
Chapter 7 Troubleshooting
7-1 Positioning error 7-1

Introduction
Introduction
Thank you for purchasing the MISUMI single-axis robot RS series.
This manual describes the safety measures, handling, adjustment, inspection, and
maintenance of RS1/2/3 or RSD1/2/3 series robots for correct, safe and effective use. Be
sure to read this manual carefully before installing the RS1/2/3 or RSD1/2/3 series robot.
Even after you have read this manual, keep it in a safe and convenient place for future
reference when needed.
• 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 Safety information 1-1
1-2 Essential precautions 1-3
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
1-6 Trial operation 1-11
1-7 Work within the safety enclosure 1-12
1-8 Automatic operation 1-13
1-9 Warranty 1-14