Mitsubishi Melfa rh-6sh series User manual

Mitsubishi Industrial Robot

RH-6SH/12SH/18SH Series

Standard Specifications Manual

(CR1B-571/CR2B-574/CR3- 535M Controller)

BFP-A8416-E

Thank you for your purchasing of our Mitsubishi Electric industrial robots.

This document describes additional precautions relating to the specification in the

RH-6SH/12SH/18SH Series Standard Specification manual (BFP-A8416).

Please be sure to read this document before using the robot for thorough understanding of the

contents.

1. Overview

The RH-6SH/12SH/18SH series robots (below as “RH-SH”) has improved the resolution of the

encoder that is attached to the motor, compared to the conventional RH-5AH/10AH/15AH series

robots (below as “RH-A”).

Therefore, if the RH-A’s robot programs you are currently using are applied to the RH-SH series

without any modification, the positioning time may prolong.

・If the FINE instruction is used in RH-A’s robot program, and FINE setting values are used in

RH-SH’s program without any modification.

* Since the setting values of the FINE instruction varies depending on the application and robot

program you are using, please adjust them according to the actual machine in use.

2. Description

(1) Improvement of Encoder’s Resolution

To achieve higher accuracy and higher response control, the encoder resolution of the RH-SH

series has been changed from 8,192 pulses to 131,072 pulses, compared with the RH-A robots.

(2) Characteristics of the FINE Instruction

The FINE instruction specifies the completion of the positioning of an operation instruction by the

number of the feedback pulses. Therefore, if the pulse specification value of the FINE instruction is

reduced, positioning accuracy will improve but, on the contrary, there is a tendency that the time

it takes for positioning will prolong. (See Figure 1.)

(3) Will Using RH-A’s Programs in RH-SH Without Any Modification Delay the Processing Speed?

If the robot programs used in the RH-A robots (especially ones that use the FINE instruction) are

applied to the RH-SH robots without any modification, there is a case where the time it takes to

complete positioning prolong excessively.

This delay is caused by the improvement of the encoder resolution and the characteristics of the

FINE instruction described above.

For example, assuming that if the FINE is used with setting value 1in the RH-A robot, its physical

angle have a difference of 16 times, compared to the RH-SH robots. (*1)

(*1): The RH-A's accuracy is 16 times rougher.

Suppose if the response performance is the same, RH-SH robots will take longer until the

completion of positioning. However, because RH-SH robots have improved tracking

characteristic, it does not always mean delay.

It is necessary to make adjustments based on the FINE setting value (required positioning

accuracy) and positioning time (required tact) you are using.

Therefore, to utilize any robot program used in the RH-A series, adjust the FINE setting value by

checkin

the

ositionin

accurac

and

ositionin

time.

Precautions for Using the FINE Instruction

(4) Guideline for FINE Conversion (Reference)

It will be equal with RH-A and RH-SH, in FINE setting conversion equation 1.

B = (1 + A) x 16 – 1 . . . (Equation 1)

A= "FINE setting value of RH-A series"

B= "FINE setting value of RH-SH series"

asbs

RH-A

positioningtime

RH-SH positioning time

RH-Apositioning

accuracy

RH-SHpositioning

accuracy

FINE setting valueSmall

Rough

Positioning accuracy

Fine

SlowFast

Positioning time

Large

Figure 1: Outline of Relationships Among the FINE Setting Value,

Positioning Time and Positioning Accuracy

[

Example o

Comparison Between the RH-A Series and the RH-SH Series]

・If FINE setting value a, the RH-SH series has higher positioning accuracy (a1< as).

The RH-A series has superior positioning time (aj< a2).

・Regarding the FINE setting value that provides the same positioning accuracy, mutual accuracy of

as= bscan be established if the RH-A series uses value a, and the RH-SH series uses value b.

The positioning time in this condition is bj< aj, thus the RH-SH series tends to have faster

positioning time.

In this way, by adjusting the FINE setting value according to the target application, the positioning

accuracy and speed (time) can be controlled. As these values vary according to the application and

robot program you are using, please check them on the actual machine in use.

All teaching work must be carried out by an operator who has received special

training. (This also applies to maintenance work with the power source turned ON.)

Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures of

operating the robot, and to the measures to be taken when an error occurs or when

restarting. Carry out work following this plan. (This also applies to maintenance

work with the power source turned ON.)

Preparation of work plan

Prepare a device that allows operation to be stopped immediately during teaching

work. (This also applies to maintenance work with the power source turned ON.)

Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress on

the start switch, etc. (This also applies to maintenance work with the power source

turned ON.)

Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the operator

and robot.

Installation of safety fence

Establish a set signaling method to the related operators for starting work, and fol-

low this method.

Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign indicat-

ing that maintenance work is in progress on the start switch, etc.

Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other related

devices, etc., and confirm that there are no errors.

Inspection before starting work

CAUTION

WARNING

CAUTION

WARNING

CAUTION

Always read the following precautions and the separate

"Safety Manual" before starting use of the robot to learn the

required measures to be taken.

Safety Precautions

The points of the precautions given in the separate "Safety Manual" are given below.

Refer to the actual "Safety Manual" for details.

Use the robot within the environment given in the specifications. Failure to do so

could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,

noise environment, etc.)

Transport the robot with the designated transportation posture. Transporting the

robot in a non-designated posture could lead to personal injuries or faults from

dropping.

Always use the robot installed on a secure table. Use in an instable posture could

lead to positional deviation and vibration.

Wire the cable as far away from noise sources as possible. If placed near a noise

source, positional deviation or malfunction could occur.

Do not apply excessive force on the connector or excessively bend the cable. Fail-

ure to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the

rated load or tolerable torque. Exceeding these values could lead to alarms or

faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to

observe this could lead to personal injuries or damage if the object comes off or

flies off during operation.

Securely ground the robot and controller. Failure to observe this could lead to mal-

functioning by noise or to electric shock accidents.

Indicate the operation state during robot operation. Failure to indicate the state

could lead to operators approaching the robot or to incorrect operation.

When carrying out teaching work in the robot's movement range, always secure the

priority right for the robot control. Failure to observe this could lead to personal inju-

ries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do

so could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation before

starting automatic operation. Failure to do so could lead to interference with periph-

eral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic opera-

tion, the door is locked or that the robot will automatically stop. Failure to do so

could lead to personal injuries.

Never carry out modifications based on personal judgments, or use non-designated

maintenance parts.

Failure to observe this could lead to faults or failures.

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 fin-

gers catching depending on the posture.

CAUTION

WARNING

CAUTION

WARNING

CAUTION

WARNING

Do not stop the robot or apply emergency stop by turning the robot control-

ler's main power OFF. If the robot controller main power is turned OFF dur-

ing automatic operation, the robot accuracy could be adversely

affected.Moreover, it may interfere with the peripheral device by drop or

move by inertia of the arm.

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 parame-

ters.

If the main power to the robot controller is turned off while in automatic

operation or rewriting the program or parameters, the internal information of

the robot controller may be damaged.

Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the

controller.)

Provide an earth leakage breaker that packed together on the primary

power supply of the controller as protection against electric leakage. Con-

firm the setting connector of the input power supply voltage of the controller,

if the type which more than one power supply voltage can be used. Then

connect the power supply.

Failure to do so could lead to electric shock accidents.

For using RH-5AH/10AH/15AH series or RH-6SH/12SH/18SH series.

While pressing the brake releasing switch on the robot arm, beware of the

arm which may drop with its own weight.

Dropping of the hand could lead to a collision with the peripheral equipment

or catch the hands or fingers.

CAUTION

Cover

Terminal cover

Rear side of controller

Earth leakage

breaker

(NV)

Protective earth

terminal

(PE)

Cover

Terminal

Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.

*Except the above: Single phase 180-253VAC.

WARNING

■Revision history

Date of print Specifications No. Details of revisions

2004-07-07 BFP-A8416 First print.

2006-07-12 BFP-A8416-A Error in writing correction.

2007-07-10 BFP-A8416-B Error in writing correction.

2009-06-23 BFP-A8416-C The EC Declaration of Conformity was changed.

(Correspond to the EMC directive; 2004/108/EC)

2009-07-29 BFP-A8416-D The EC-Statement of Compliance was added.

2009-09-29 BFP-A8416-E The EC Declaration of Conformity was changed.

(Correspond to the EMC directive; 2006/42/EC)

The tracking function was added.

■ Introduction

The RH-6SH/12SH/18SH series offers small-size industrial robots developed using Mitsubishi's latest technol-

ogy. They are especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the

customer's need to achieve a compact manufacturing facility capable of highly flexible production, as necessitated

by the diffusion of high-density product groups and the shorter product life cycles that have become common-

place in recent years.

However, to comply with the target application, a work system having a well-balanced robot arm, peripheral

devices or robot and hand section must be structured.

When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics

and specifications can be easily understood by users considering the implementation of robots. However, if there

are any unclear points, please contact your nearest Mitsubishi branch or dealer.

Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described "2 Robot arm" on

page 13 , the specifications related to the controller "3 Controller" on page 81 , and software functions and a

command list "4 Software" on page 158 separately.

・ No part of this manual may be reproduced by any means or in any form, without prior consent

from Mitsubishi.

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

・ The specifications values are based on Mitsubishi standard testing methods.

・ The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed." or "alarm

may occur."

Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

・ This specifications Manual is original.

・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries.

Contents

Page

1 General configuration ................................................................................................................................................................................... 1-1

1.1 Structural equipment ............................................................................................................................................................................ 1-1

1.1.1 Standard structural equipment ................................................................................................................................................. 1-1

1.1.2 Shipping special specifications ................................................................................................................................................. 1-1

1.1.3 Options ............................................................................................................................................................................................... 1-1

1.1.4 Maintenance parts ......................................................................................................................................................................... 1-1

1.2 Model type combination of robot .................................................................................................................................................... 1-2

1.2.1 How to identify the robot model .............................................................................................................................................. 1-2

1.2.2 Combinations of robot arms and controllers ...................................................................................................................... 1-4

1.3 CE marking specifications .................................................................................................................................................................. 1-4

1.4 Indirect export ......................................................................................................................................................................................... 1-4

1.5 Instruction manuals ............................................................................................................................................................................... 1-4

1.6 Contents of the structural equipment .......................................................................................................................................... 1-5

1.6.1 Robot arm .......................................................................................................................................................................................... 1-5

1.6.2 Controller ........................................................................................................................................................................................... 1-7

1.6.3 CR1B-500 series controller ..................................................................................................................................................... 1-7

1.6.4 CR2B-500/CR3-500 series controller ................................................................................................................................ 1-8

1.6.5 ............................................................................................................................................................................................................... 1-8

1.7 Contents of the Option equipment and special specification ............................................................................................. 1-9

2 Robot arm ...................................................................................................................................................................................................... 2-13

2.1 Standard specifications .................................................................................................................................................................... 2-13

2.1.1 RH-6SH series ............................................................................................................................................................................. 2-13

2.1.2 RH-12SH sereis ........................................................................................................................................................................... 2-16

2.1.3 RH-18SH series ........................................................................................................................................................................... 2-19

2.2 Definition of specifications ............................................................................................................................................................. 2-20

2.2.1 Pose repeatability ....................................................................................................................................................................... 2-20

2.2.2 Mass capacity and the allowable moment ........................................................................................................................ 2-21

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ................................... 2-23

(1) Setting Load Capacity and Size (Hand Conditions) ................................................................................................. 2-23

(2) Relationship Between Mass Capacity and Speed ..................................................................................................... 2-24

(3) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........................ 2-24

(4) Time to reach the position repeatability (only for RH-12SH/18SH series) .................................................. 2-25

2.2.4 Protection specifications and working environment ..................................................................................................... 2-26

(1) Types of protection specifications .................................................................................................................................. 2-26

(2) About the use with the bad environment .................................................................................................................... 2-27

2.2.5 Clean specifications .................................................................................................................................................................. 2-28

(1) Types of clean specifications ............................................................................................................................................ 2-28

2.3 Names of each part of the robot .................................................................................................................................................. 2-29

2.4 Outside dimensions ・ Operating range diagram ..................................................................................................................... 2-30

2.4.1 Outside dimensions ・ Operating range diagram (RH-6SH series) .......................................................................... 2-30

(1) Srandard Specification ......................................................................................................................................................... 2-30

(2) Clean Specification ................................................................................................................................................................ 2-33

(3) Oil mist Specification ............................................................................................................................................................ 2-36

2.4.2 Outside dimensions ・ Operating range diagram of RH-12SH series ..................................................................... 2-39

(1) Srandard Specification ......................................................................................................................................................... 2-39

(2) Clean Specification ................................................................................................................................................................ 2-42

(3) Oil mist Specification ............................................................................................................................................................ 2-45

2.4.3 Outside dimensions ・ Operating range diagram of RH-18SH series ..................................................................... 2-48

(1) Srandard Specification ......................................................................................................................................................... 2-48

(2) Clean Specification ................................................................................................................................................................ 2-49

(3) Oil mist Specification ............................................................................................................................................................ 2-50

2.4.4 Mechanical interface and Installation surface ................................................................................................................. 2-51

(1) Mechanical interface and Installation surface of RH-6SH sereis ...................................................................... 2-51

(2) Mechanical interface and Installation surface of RH-12SH/18SH series ...................................................... 2-52

2.4.5 Change the operating range .................................................................................................................................................... 2-53

(1) Operating range changeable angle ................................................................................................................................... 2-53

(2) Changing the operating range ............................................................................................................................................ 2-54