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RSC Series U/M English

1. kg Note 4 Maximum speed mm sec Note 5 Lead 20 Lead 12 Lead 6 Speed setting 1 3 RS3C Specifications Static loading moment Motor 42 Step motor Resolution Pulse rotation 20480 Repeatability mm 991 0 02 Deceleration mechanism Ball screw 12 55 C10 Maximum motor torque 0 47 Ball screw lead mm 12 Maximum Horizontal speed mm sec Note 2 Vertical Maximum Horizontal 8 Unit Nem payload ka Vertical 2 Max pressing force N 60 Stroke mm 50 to 800 50 pitch i Note 1 Positioning repeatability in one Overall length Horizontal Stroke 286 direction mm Vertical Stroke 306 Note 2 If the stroke exceeds 600mm _ _ resonance may occur in the ball screw Maximum dimensions of cross W55xH56 depending on the operation area section of main unit mm I critical speed If this occurs make the Cable length m Standard 1 Option 3 5 10 adjustment to decrease the operation speed based on the max speed stated in the table shown at the lower portion Pulse Train Driver 1 of the drawing Note 3 Per 1cf 0 1um base when suction Degree of cleanliness 93 CLASS 10 bowers weed Controller C1 Allowable overhang Note Distance from center of slider top to center of gravity of object being carried at a guide service lif
2. 3 MiSUMi MISUMI SINGLE AXIS ROBOT RSC Series User s Manual RSIC RS2C RS3C RSHIC RSH2C RSH3C Clean type Ver 1 00 CONTENTS ere io Using the Robot Safely 1 Safety information 1 2 Essential precautions 3 3 Industrial robot operating and maintenance personnel 9 4 Robot protective functions 10 5 Safety measures for the system 11 6 Trial operation 11 7 Work within the safety enclosure 12 8 Automatic operation 13 9 Warranty 14 Introduction Introduction i Before using RSH1C RSH2C RSHS3C series Be sure to read the following notes ii Chapter 1 Installation and connections 1 Checking the product 1 1 2 Precautions 1 1 2 1 Cautions common to all models 1 1 2 2 The Emergency Stop stopping distance RS1C RS2C RS3C 1 2 3 Moving the robot 1 3 3 1 Moving the robot with hoist or cart 1 3 3 2 Moving the robot by work personnel 1 3 4 Installation environments 1 4 5 Installation base 1 6 6 Installing the robot 1 7 6 1 RS1C RS2C RS3C 1 8 6 2 RSH1C RSH2C RSH3C 1 9 CONTENTS RSC Series User s Manual 7 Connections 71 Connecting the robot to the controller 7 2 Robot cable connections 7 3 Robot system configuration drawing 7 4 Suction hoses connection 8 Setting the operating conditions 8 1 Payload 8 2 Maximum speed setting 8 3 Duty Chapter 2 Periodic inspection 1 Before beginning work 2 Periodic inspecition 2 1 Daily inspection 2 2 Three month inspection 2 3 Six month
3. 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 your distributor Chapter 1 Installation and connections Contents 1 Checking the product 1 2 Precautions 1 1 2 1 Cautions common to all models 2 2 The Emergency Stop stopping distance RS1C RS2C RS3C 1 2 3 Moving the robot 3 1 Moving the robot with hoist or cart 1 3 3 2 Moving the robot by work personnel 1 3 4 Installation environments 1 4 5 Installation base 1 6 1 7 1 8 6 Installing the robot 6 1 RSIC RS2C RS3C 6 2 RSHIC RSH2C RSH3C 1 9 7 1 Connecting the robot to the controller 1 10 7 2 Robot cable connections 1 11 7 3 Robot system configuration drawing 1 12 7 4 Suction hoses connection 1 13 Setting the operating conditions 8 1 Payload 1 14 8 2 Maximum speed setting 1 15 8 3 Duty 1 15 8 4 Push force vs current limit value during stop RS1C RS2C RS3C 1 16 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 transportation
4. Q 3 Q O 5 Q 5 o 63109 BM 00 7 4 Suction hoses connection MISUMI single axis robot clean type RSC series 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 specified flow rate Suction hose Model No Hose diameter Number of hoses Speed mm sec Suction rate N2 min Lead 20 Lead 12 RS1C RS2C RS3C Lead 6 Lead 2 RSH1C RSH2C RSH3C 1 The required suction rate may vary depending on the operating condition or operating environment However it is recommended to set the upper limit from the values described above However when the operation speed to be used is predetermined and it is known that the speed is not changed after starting the robot operation it is possible to set the suction rate while referring to the table above At this time refer to the suction rate at a speed faster than the operating speed to be used 2 For the lead length refer to the effective stroke table stated in 1 Robot specifications of Chapter 5 CAUTION AN e 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 specified suction flow rate Mounting the robot on an installation base with a width larger than the robot width allows obtaining cleanlines
5. 12 1 7 About noise level The maximum sound pressure level is as follows when the RSC series robot moves at its maximum speed Maximum sound pressure level is measured in accordance with EN 292 2 Type RS1C RS2C RS3C Maximum speed 1000 mm s Maximum sound pressure level 70 dB or less DA O zh Q Q o 9 13 4 2 Motor specifications 2 1 2 1 1 Connector specifications Motor Motor termination Motor termination RS1C RS2C RS3C Plug housing 176274 1 CN1 6 poles Receptacle 175155 1 or 175151 1 Receptacle housing SMR 07V B CN2 7 poles Pin contact 001 0 6 or SYM 001T P0 6 CN2 CN3 Receptacle housing SMR 02V B CN3 2 poles Plug housing SMP 02V BC CN4 2 poles Socket contact B Connector wiring Connector BHF 001T 0 8BS or SHF 001T 0 8BS Wire Color Connection CN4 Black Red Yellow White Green Blue Motor wire Blue DA e Q Q o Orange Green Brown Signal wire Gray Red Drain wire Transparent shrinkable tube Black 5 14 7 8 Yellow I Brake wire CN4 CN2 CN3 6 5 63514 BM 00 2 1 2 AC servo motor termination RSH1C RSH2C RSH3C M Connector specifications Servo motor
6. 20 Lead 10 Lead 10 Unit mm 5 11 4 Dimensions Approx 235 Motor cable length _ 245 3 When origin is on motor side __ Effective stroke 144 When origin is on motor side 245 When origin is on non motor side 100 144 3 When origin is on non motor side 145 1 Note 1 80 44 1 olerance between 7 fee 63 4 74 910 Airjoint 27 L 55 S e 5 re 8 c Grounding terminal 4 170 Ax100 B 100 69 C M5x0 8 Depth 10 o co Recommended plate nut _ 6 t1 6 10 7 Plate thickness 8 Plate thickness 8 E Detail of T groove 63510 BM 00 Note 1 Distance from both ends to the mechanical stopper Note 2 Minimum bend radius of motor cable is R50 Effective stroke 400 500 550 600 650 700 750 800 850 900 950 839 889 939 789 989 3 4 4 5 5 10 Weight kg Lead 20 Speed setting Maximum speed Lead 10 mm sec Note 3 Lead 5 DA O zh Q Q o Speed setting Note 3 When the stroke is longer than 600mm resonance of the ball screw may occur depending on the operation conditions critical speed In this case reduce the speed setting on the program by referring to the maximum speeds shown in the table above 5
7. 6 6 Installing the robot A WARNING THE INSTALLATION WORK WITH THE COVER REMOVED NEEDS THE SPECIAL KNOWLEDGE AND SKILL IF UNSKILLED WORK PERSON PERFORMS SUCH WORK THIS MAY INVOLVE RISK THESE TASKS MUST BE PERFORMED ONLY BY PERSONS WHO MEET REQUIREMENTS ESTABLISHED BY LOCAL REGULATIONS AND SAFETY STANDARDS FOR INDUSTRIAL ROBOTS A WARNING e 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 e 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 AN CAUTION e Be sure to ware gloves before starting the work If you touch any steel material portion directly by your bare hand this may cause rust e Do not pull the motor cable Doing so might cause faulty wiring e The robot frame is made of aluminum so be careful not to damage the screw threads when tightening the bolt AN CAUTION To keep the cleanliness clean the robot surface with alcohol to remove the dust or dirt sticking to the surface e Use the suction hoses to suck the air from the inside of
8. AND SKILL IF UNSKILLED WORK PERSON PERFORMS SUCH WORK THIS MAY INVOLVE RISK THESE TASKS MUST BE PERFORMED ONLY BY PERSONS WHO MEET REQUIREMENTS ESTABLISHED BY LOCAL REGULATIONS AND SAFETY STANDARDS FOR INDUSTRIAL ROBOTS THE ADJUSTMENT AND MAINTENANCE WORK WITH THE COVER REMOVED NEEDS THE SPECIAL KNOWLEDGE AND SKILL IF UNSKILLED WORK PERSON PERFORMS SUCH WORK THIS MAY INVOLVE RISK ONLY QUALIFIED ENGINEERS WHO HAVE THE SKILL AND LICENSE INACCORDANCE WITH THE LAWS AND REGULATIONS IN EACH COUNTRY ARE ALLOWED TO CARRY OUT THE ADJUSTMENT AND MAINTENANCE WORK WHILE REFERRING TO THIS MANUAL e WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT OR MAINTENANCE ALWAYS TURN OFF THE CONTROLLER AND THE EXTERNAL SWITCH BOARD e 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 INTERNAL PARTS OF THE CONTROLLER e WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO MECHANICAL MOVEMENT OF THE ROBOT KEEP THE EMERGENCY STOP BUTTON PRESSED BE CAREFUL NOT TO NEGLECT TIGHTENING SCREWS OR BOLTS F ANY COVER IS NOT SECURED FIRMLY THIS MAY CAUSE NOISE COVER DROPPING AND FLYING HAND ENTANGLEMENT IN DRIVE UNIT DURING TEACHING OR BURN DUE TO HAND IN CONTACT WITH HOT SURFACE SO BE SURE TO TIGHTEN ALL THE SCREWS AND BOLTS SECURELY e BE SURE TO USE THE
9. LUBRICANT SPECIFIED BY YOUR DISTRIBUTOR e BE SURE TO USE THE PARTS SPECIFIED BY YOUR DISTRIBUTOR WHEN REPLACING PARTS TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO CONTAMINATE THEM DURING ADJUSTMENT PARTS REPLACEMENT OR REASSEMBLY e DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR THREATEN OPERATOR SAFETY e WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE RETIGHTEN THE BOLTS AND SCREWS SECURELY PLACE A SIGN INDICATING THE ROBOT IS BEING ADJURED OR INSPECTED TO KEEP OTHERS FROM OPERATING THE CONTROLLER POWER SWITCH PROGRAMMING BOX HANDY TERMINAL OR OPERATION PANEL WHEN NECESSARY INSTALL AN APPROPRIATE SWITCH KEY LOCK MECHANISM OR ARRANGE A WATCHER U o o Li A 2 CAUTION N Never attempt to perform inspection adjustment repair or part replacement work of the robot and controller other than those described in this manual Such work requires special knowledge and may involve risk Before starting each adjustment work thoroughly read this Chapter to fully understand its contents If the safeguard enclose is not prepared immediately after the installation work stretch a rope or chain around the robot movable area to use this area as a safeguard enclosure Additionally strictly observe the following cautions 1 Columns should not move easily 2 Rope or chain is legible from surroundings 3 Post a sign stating ENTRY PROHIBITED UND
10. MAY OPERATE SUCH EQUIPMENT THE EQUIPMENT AND TOOLS USED FOR MOVING THE ROBOT SHOULD BE SERVICED DAILY 3 2 Moving the robot by work personnel 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 A 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 e 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 Slider SUOILO UUOD PUD UOHD DISU ANNO AA AAA A N N A A A A A A A A B i NNN NN NNN N NNN NNN NNN NNN A A A A A A A A A A A e NEVER ATTEMPT TO HOLD THE ROBOT IN ANY OF THE FOLLOWING MANNERS NEVER TRY THIS WHEN MOVING e DO NOT CARRY BY HOLDING THE SLIDER DO NOT CARRY BY HOLDING THE CABLE DO NOT CARRY BY GRIPPING THE END COVER e DO NOT CARRY BY HOLDING THE UPPER COVER AN CAUTION When moving or carrying
11. THE GREASE BASE OIL ACCORDING TO THE EXTERNAL ENVIRONMENT AND OPERATING CONDITIONS THIS MAY LOWER THE LUBRICATION PERFORMANCE OR MAY ADVERSELY AFFECT THE SERVICE LIFE OF THE ROBOT gt 1 4 A WARNING e 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 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 AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MAY OTHERWISE OCCUR e DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE MANIPULATOR TO FALL OVER 5 42 Q Q 5 Q O 5 Q 5 o 1 5 lt 5 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 effec
12. absolutely necessary to actually measure and check the pushing load under conditions to be used e Determine an offset amount and thrust so that the pushing moment will be smaller than the allowable static load of each model e The values shown in the above graphs are for horizontal use robots For vertical use robots the push force values vary according to the weight of the tool and workpiece Static loading moment Unit N m 63116 BM 00 1 17 lt a inspection Contents 1 Before beginning work 2 Periodic inspecition 2 2 2 1 Daily inspection 2 2 Three month inspection 2 3 Six month inspection 2 4 Three year inspection 3 Applying the grease 2 5 3 1 RSIC RS2C RS3C 3 2 RSHIC RSH2C RSHSC l Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of robots Before beginning the work thoroughly read the safety precautions described below and Using the Robot Safely to strictly observe the instructions Safety precautions DANGER IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF THE ROBOT STAY OUT OF THE WORKING AREA OF THE ROBOT DURING OPERATION KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT THE OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER OCCURS A WARNING e THE ADJUSTMENT AND MAINTENANCE WORK WITH THE COVER REMOVED NEEDS THE SPECIAL KNOWLEDGE
13. be absolute specifications If the stroke exceeds 650mm resonance may occur in the ball screw depending on the operation area critical speed If this occurs make the adjustment to decrease the operation speed based on the max speed stated in the table shown at the lower portion of the drawing Per 1cf 0 1um base when suction blower is used The necessary intake amount varies depending on the use conditions and environment DA O zh Q o Vertical installation Lead 20 Lead 20 Lead 10 Lead 10 Lead 10 Unit mm 5 9 lt Dimensions Approx 235 Motor cable length 213 3 When origin is on motor side Effective stroke 112 When origin is on motor side 213 When origin is on non motor side 70 11243 When origin is on non motor side 128 1 Note 1 olerance between i 163 1 with brake Note 1 0 Approx 200 Motor cable length 248 3 with brake When origin is on motor side 248 When origin is on non motor side N 4 M6x1 0 Depth 10 2 05H7 Depth 10 L 35 with brake 74 10 Air join 27 L 160 Slider upper surface La Grounding terminal M4 198 with Drake 5 C M5x0 8 Depth 10 1 5 2 2 om 1 Recommended plate nut L 16 ti 6 010H7 Plate thi
14. inspection 2 4 Three year inspection 3 Applying the grease 3 1 RS1C RS2C RS3C Chapter 3 Adjustment 1 Adjusting shutter looseness 11 RS1C RS2C RS3C Chapter 4 Troubleshooting 1 If you suspect trouble 11 Positioning error Chapter 5 Specifications 1 Robot specifications 11 RSIC 1 2 RS2C 1 3 RS3C 1 10 1 10 1 11 1 12 1 13 1 14 1 14 1 15 1 15 1 16 8 4 Push force vs current limit value during stop RS1C RS2C RS3C 2 1 2 2 39 2 3 2 4 2 4 2 5 2 6 2 7 3 2 RSHIC RSH2C RSH3C 3 1 3 1 1 2 RSH1C RSH2C RSH3C 4 1 5 1 5 1 5 3 5 5 CONTENTS RSC Series User s Manual 1 4 RSHIC 1 5 RSH2C 1 6 RSH3C 1 7 About noise level 2 Motor specifications 2 1 Motor termination 21 1 Motor termination RS1C RS2C RS3C 2 1 2 servo motor termination RSH1C RSH2C RSH3C 2 2 Brake cable specifications 2 24 RS1C RS2C RS3C 2 2 2 RSHIC RSH2C RSH3C 3 Robot cables 31 RS1C RS2C RS3C 3 2 RSH1C RSH2C RSH3C 5 7 5 9 5 11 5 13 5 14 5 14 5 14 5 15 5 16 5 16 5 16 5 17 5 17 5 18 Using the Robot Safely 282 Q FP O N Contents Safety information Essential precautions 3 Industrial robot operating and mainfenance personnel 9 Robot protective functions 10 Safety measures for the system 11 Trial operation 11 Work within the safety enclosure 12 Automatic operation 13 Warranty 14 1 Safety information To ensure correct and safe use of MIS
15. linear guide to shorten 2 3 2 3 Six month inspection Take the following precautions when performing 6 month inspection A WARNING WHEN THE BRAKE OF THE VERTICAL AXIS IS RELEASED THE SLIDER AXIS MAY DROP LEADING TO HAZARDOUS SITUATION WHEN APPLYING THE GREASE TO THE VERTICAL AXIS PARTS DO NOT RELEASE THE BRAKE step 1 Turn off the controller step Place a sign indicating the robot is being adjusted Place a sign showing that the robot is being inspected to keep others from operating the controller switch Step Perform the daily inspection Enter the safety enclosure and check the following points Checkpoint Procedure Remarks Major bolts and screws on Check for looseness and tighten if necessary 1 exterior of robot main unit Check for looseness in the ball screw and linear guide Tighten if necessary Ball screw and linear Check for vibration during operation guide Tighten drive section and X and Y axis installation bolts if necessary Check for wear and backlash If any abnormality is found contact your distributor If problem is not solved or wear and backlash are found please contact your distributor ai o 2 Check for loose terminals Controller Check for loose connectors Application of grease to Apply Alvania No 2 Showa Shell or Daphne Eponex ball screw nut and linear No 2 Idemitsu etc to the ball screw nut
16. mounting screws Remove the shutfer clamping plate mounting screws two locations from the non motor side U o o 2 e step Turn over the shutter Turn over the shutter from the side where the mounting screws have been removed N CAUTION When turning over the shutter carefully handle it so that the shutter surface is not scratched step6 Wipe off the contaminated grease Wipe off the contaminated grease with a clean cloth rag gt Step 7 Applying the grease to the linear guide step4 Apply the grease Use the grease gun to apply the grease to Grease nipple the grease nipples two locations on the left and right of the ball guide bearing 63206 BM 00 NU O3 NOTE For this grease application method use the grease gun with a sharp tip 2 8 step Spread the grease Move the slider back and forth to spread fhe grease N CAUTION When the robot is mounted vertically go outside the safety enclosure once Check that no one is inside the safety enclosure and then turn on the controller power After that slowly move the slider two or three times in the manual mode and turn off the controller power Enter the safety enclosure again and continue the work step Y Wipe off the excess grease Finally wipe off the excess grease with a clean cloth rag step 10 Reattach the shutter to its original position x L O3 NOTE For details about how to adjust the shutter se
17. of the robot installation base surface see the external view and dimensions stated in 1 Robot specifications of Chapter 5 Installation bolt Tightening torque Hex socket head bolt M5 Strength 8 8T RSH1C RSH2C RSH3C 60 to 90kgf cm Length Installation base thickness 9mm maximum Installing the RSH1C RSH2C RSH3C V Installation base 5 42 Q Q 5 gt 5 Q 5 o x Hex socket head bolt 5 63105 BM 00 Protective bonding A 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 AN CAUTION e A secure ground connection less than 100 ohm resistance to ground is recommended e Use electrical wire thicker than AWG14 2mm as the ground wire A 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 Grounding 417 IEC 5019 63106 BM 00 1 9 lt 7 Connections 7 1 Connecting the robot to the controller Follow the steps below to connect the robot cables of the robot main body to the mating connectors on the controller Fo
18. pressing force N Stroke mm 50 to 800 50 pitch Overall length mm Horizontal Stroke 230 Vertical Stroke 270 Maximum dimensions of cross W55xH56 Static loading moment Note 1 Note 2 Unit Nem Positioning repeatability in one direction If the stroke exceeds 600mm resonance may occur in the ball screw depending on the operation area section of main unit mm critical speed If this occurs make the adjustment to decrease the operation speed based on the max speed stated in the table shown at the lower portion of the drawing Note 3 Per 1cf 0 1um base when suction blower is used Cable length m Standard 1 Option 3 5 10 Controller C1 Pulse Train Driver P1 Degree of cleanliness 93 CLASS 10 B Allowable overhang Note Distance from center of slider top to center of gravity of object being carried at a guide service life of 10 000km Note Stroke is 600mm when calculating the service life Horizontal installation Wall installation Vertical installation A B C C A A C 2kg 192 123 372 Lead 20 Lead 12 C O Q o Lead 20 Lead 12 Lead 12 5 3 lt DA O zh Q Q o B Dimensions Approx 200 Cable length 17842 When origin is on motor side Effective stroke 52 When origin is o
19. stretching the shutter by fingers tighten the screws To secure The shutter so gt Step 5 Securing the shutter that it does not become loose AN CAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may cause the shutter to warp 63302 BM 00 3 1 lt 1 2 RSHIC RSH2C RSH3C Prepare the tools necessary for the work e Phillips screwdriver AN CAUTION When the robot is installed vertically slowly move the robot at a JOG speed to check the position where the shutter becomes loose mostiy before entering the safety enclosure step 1 Turn off the controller power Stop the air suction from the robot main body and turn off the controller power step Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel Step Enter the safety enclosure step Check the position where the shutter is loosest Move the slider back and forth by hand to check the position where the shutter is loosest step Loosen the screw lightly Loosen the two shutter clamping plate mounting screws from the side where the shutter becomes loose At this time do not remove the screws gt AL 3 Loosening the shutter mounting screws 63303 BM 00 stepO Secure the shutter While pushing the shutter li
20. the robot by hand avoid placing your hand or fingers on the shutter at the top of the robot Pressing down on the shutter even by a little force may cause the shutter to warp or deform resulting in a premature life end of the related parts e Wear safety shoes and gloves before starting the work 1 3 lt 4 Installation environments Be sure to install the robot in the following environments Specifications Items RS1C RS2C RS3C RSH1C RSH2C RSH3C Allowable ambient temperature 0 to 40 C Allowable ambient er 35 to 85 RH non condensation humidity Altitude O 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 The environment must be free of coolant Ambient environments Vibration Do not subject to impacts or vibrations Working space 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 C1 C21 C22 User s Manual SUOILOOUUOD PUD UOIIDIIDISU A WARNING AVOID USING THE ROBOT IN THE FOLLOWING ATMOSPHERE WHERE A LARGE
21. wire 61521 BM 00 0 15sq Blue Orange Green Brown Grey Red Black Yellow White 1 White 2 White 3 White 4 White 5 White 6 5 1 4 E O Q o 3 2 RSHIC RSH2C RSH3C m Signal cable RSH1C RSH2C RSH3C To controller To robot 63523 BM 00 Controller CN1 Resolver P Blue Red Orange White Green Brown White Grey Yellow Red White Drain wire Grey Heat shrinkable tube Brake BK Black Blue Yellow White Pink Purple White Blue Blue Red Brown DA O zh Q Q o The wire colors in show the flexing cable B Power cable RSH1C RSH2C RSH3C To controller To robot 63525 BM 00 Connection Motor wire Motor M 5 18 Revision record Manual version Issue date Description Ver 1 00 Apr 2014 First edition User s Manual Single axis Robot RSC Series Clean type Apr 2014 Ver 1 00 This manual is based on Ver 1 00 of Japanese manual MISUMI Corporation All rights reserved No part of this publication may be reproduced in any form without the permission of MISUMI Corporation Information furnished by MISUMI in this manual is believed to be reliable However no resp
22. AL AXIS AND THE INSTALLATION BASE WHEN PERFORMING TASKS DIRECT TEACHING ETC WITH THE BRAKE RELEASED e THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE Ajayes JOQOY ou suisn Ajayes 10q03 ou suisn 8 Provide safety measures for end effector gripper etc AX WARNING e 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 e 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 AX WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE MOTOR IS RELEASED CAUSING A HAZARDOUS SITUATION e TURN OFF THE ROBOT CONTROLLER AND PROP UP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE REMOVING THE MOTOR e 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 AX WARNING The motor and speed reduction gear casing are extremely hot after automatic operation so burns may occur if fhese are fouched Before handling these parts during inspection or servicing turn off the controller wait for a while and check that the part
23. AMOUNT OF DUST OR DIRT EXISTS OR CUTTING CHIPS ENTER EASILY THE AMBIENT TEMPERATURE EXCEEDS THE ALLOWABLE AMBIENT TEMPERATURE OF EACH MODEL THE AMBIENT HUMIDITY EXCEEDS THE ALLOWABLE AMBIENT RELATIVE HUMIDITY OF EACH MODEL CORROSIVE GAS FLAMMABLE GAS SEAWATER WATER OR STEAM EXISTS OR STICKS STRONG MAGNETIC FIELD OR STRONG ELECTRIC FIELD IS GENERATED VIBRATION OR SHOCK TRANSMITS DIRECTLY A LARGE AMOUNT OF DUST EXISTS OR WATER DROPLETS OR OIL DROPS SPLASH _ THE ROBOT IS EXPOSED TO THE DIRECT SUNLIGHT ULTRAVIOLET RAY N AO WN WARNING Ak e DO NOT USE THE ROBOT IN AN ENVIRONMENT WHERE THE FLUID SUCH AS CUTTING OIL DIRECTLY SPLASHES ONTO IT IF THE ROBOT IS USED IN AN ENVIRONMENT WHERE THE CUTTING OIL COOLANT OR OIL MIST STICKS TO IT THIS MAY CAUSE MALFUNCTION OR SLIDING RESISTANCE TO INCREASE INSTALL A COVER ETC WHEN THE ROBOT IS USED IN A PLACE WHERE FOREIGN OBJECTS SUCH AS DUST DIRT CUTTING CHIP AND SPATTER DIRECTLY SPLASH TO IT OTHERWISE RATTLE MAY OCCUR OR SLIDING RESISTANCE MAY INCREASE BLOCK THE SUNLIGHT IN A PLACE WHERE THE ROBOT IS EXPOSED TO THE DIRECT SUNLIGHT e BLOCK THE HEAT SOURCE WHEN IT EXISTS AROUND THE ROBOT IF THE HEAT SOURCE EXISTS AROUND THE ROBOT THE TEMPERATURE OF THE ROBOT INCREASES BY THE RADIANT HEAT THE OPERATING TEMPERATURE INCREASES AND EXCEEDS THE ALLOWABLE AMBIENT TEMPERATURE SO BLOCK THE HEAT SOURCE WITH AN APPROPRIATE COVER IT MAY BE PROMOTED TO DECREASE
24. AXIS MAY DROP LEADING TO HAZARDOUS SITUATION WHEN APPLYING THE GREASE TO THE VERTICAL AXIS PARTS DO NOT RELEASE THE BRAKE step Turn off the controller step Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being inspected to keep others from operating the controller switch Step Perform the daily inspection Enter the safety enclosure and check the following points Checkpoint Procedure Remarks U a o LI a 2 Manipulator bolts and screws Only for major bolts and screws exposed externally Check for looseness and tighten if necessary 1 Check for dirt or grime If dirt or grime is found clean the part Apply grease after cleaning Apply grease if the items checked are dry or do not have enough grease See Applying the grease in this RS1C 2C 3C Chapter Alvania No 2 Showa Shell Daphne Eponex No 2 Idemitsu RSH1C 2C 3C LG 2 NSK Check for looseness See 1 Adjusting shutter looseness Check for flow up clearance in Chapter 3 Ball screw Linear guide Shutter Check if the bolts are loose Tighten if Coupli me necessary 1 Bolt tightening torque Bolt size Tightening torque kgfcm Tightening torque Nm M3 button head bolt M3 4 5 6 M8 CAUTION If the grease recommended is not used this may cause the service life of the ball screw or
25. AZARDOUS SITUATION TAKE ADEQUATE SAFETY MEASURES IN CONSIDERATION BY TAKING THE WEIGHT AND SHAPE INTO ACCOUNT e BEFORE RELEASING THE BRAKE AFTER PRESSING THE EMERGENCY STOP BUTTON PLACE A SUPPORT UNDER THE VERTICAL AXIS SO THAT IT WILL NOT SLIDE DOWN BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS AND THE INSTALLATION BASE WHEN PERFORMING TASKS DIRECT TEACHING ETC WITH THE BRAKE RELEASED Ajayes 30q03 ou suisn 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 6 Trial operation 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 kee
26. E STOPS AS THE EMERGENCY STOP OF THE EQUIPMENT IS ACTIVATED OR THE SAFETY DEVICE IS ACTIVATED IN CASE OF A SYSTEM FAILURE SUCH AS POWER FAILURE TAKE THE BEHAVIOR WHEN RESTARTING THE EQUIPMENT AFTER EMERGENCY STOP OR ERROR STOP INTO CONSIDERATION DESIGN THE EQUIPMENT SO THAT RESTARTING THE EQUIPMENT WILL NOT CAUSE DAMAGE TO THE HUMAN BODY OR EQUIPMENT 1 1 4 5 2 Q Q 5 5 5 Q 5 o Perform the following inspections before starting the operation a Check the electric power cables and signal cables for damage b Check the power and signal cable connectors for play or looseness c Check the installation portions for play or looseness d Check for operation failure e Check the emergency stop of the equipment When multiple personnel perform the work determine the work procedures communication signs actions to be taken in case of a failure and restoring procedures from failure state before starting the work and assign a person other than work personnel who supervises the work The actual speed may not satisfy the set speed depending on the load and resistance conditions When selecting a robot model check the selection method and specifications Do not apply any load impact or resistance other than the transfer load during return to origin Otherwise the origin position may deviate when the push return toorigin is used Do not remove the nameplate Chec
27. ER WORK to prevent work personal other than those in charge of robot adjustment work from entering the robot movable area e When checking the operation after completion of the adjustment see 6 Trial operation in Using the Robot Safely Be sure to wear safety gloves before starting the installation work If you touch any steel material part by bare hand this may cause rust Be careful not to drop any screw or bolt during cover removal work For details about cautions on controller see the User s Manual for controller 2 1 lt 2 Periodic inspecition 2 1 Daily inspection The following is an inspection list that must be performed every day before and after operating the robot Inspection to be performed with the controller turned off step Y Turn off the controller step Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being inspected to keep others from operating the controller switch Step Perform the daily inspection Enter the safety enclosure and check the following points Checkpoints Procedure Remarks e Make the adjustment so that any stress is not Check for damage dent and excessively applied to the cables tight bends If any damage is found replace the defective cable according to the conditions Cables Check for scratches dents and excessively tight bends See 1 Adjusting shutter looseness in Chapter 3 Shutter Check for flow up clear
28. If there are any missing parts or damage due to transportation please notify your distributor immediately A WARNING WHEN UN PACKING CAREFULLY HOLD THE ROBOT NOT TO DROP IT IF THE ROBOT FALLS SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE DAMAGED AN CAUTION Make sure that the product you have received is that you ordered If an incorrect product is installed this may cause personal injury or damage 2 Precautions 2 1 Cautions common to all models 1 Use the robot within the maximum operable stroke If the robot is used with a stroke exceeding the maximum stroke this may cause the main unit to break For details about maximum strokes see the specifications of each robot SUONDSUUOD PUD UOHD DISU 2 When the robot is reciprocated repeatedly by micro stroke perform the full stroke operation at least once a day or once every 1 000 reciprocations Failure to do so may cause grease run out 3 Do not apply any excessive external force or impact force to the robot during operation Dong so may cause the main unit to break Each part including the motor is manufactured with a precise tolerance So even a slight deformation or positional deviation may cause malfunction A WARNING e BE SURE TO CAREFULLY READ THE MANUALS THIS MANUAL AND CONTROLLER C1 C21 C22 USER S MANUAL NEVER ATTEMPT TO PERFORM HANDLING NOT STATED IN THE MANUAL OR OPERATION BEYOND THE SPECIFICATION RANGE OTHERWISE THIS MAY CAUSE BREAKAGE OR MA
29. LFUNCTION YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR ANY DEFECT ARISING FROM ANY OPERATION NOT STATED IN THE MANUAL OR BEYOND THE SPECIFICATION RANGE e THE ROBOT HAS A POTENTIAL HAZARD THAT IT PERFORMS AN IMPACT OPERATION AT A SPEED EXCEEDING THE SETTING IF THE FORCE CHANGES AS THE MACHINE SLIDING PART IS PRIED SUCH OPERATION MAY CAUSE PERSONAL INJURY SUCH AS YOUR HAND OR FOOT GET CAUGHT IN OR DAMAGE TO THE MACHINE SO MAKE THE ADJUSTMENT SO THAT THE MACHINE PERFORMS THE MOTION SMOOTHLY AND DESIGN THE ROBOT SO THAT ANY PERSONAL INJURY DOES NOT OCCUR INSTALL AN APPROPRIATE PROTECTIVE COVER IN A PORTION WHERE IS HAZARD TO THE HUMAN BODY IF ANY OBJECT TO BE DRIVEN AND ROBOT MOVABLE PART ARE PARTICULARLY HAZARD TO THE HUMAN BODY DESIGN THE STRUCTURE SO THAT NO HUMAN BODY IS IN CONTACT WITH SUCH PARTS e MAKE THE CONNECTIONS FIRMLY SO THAT THE ROBOT SECURED PORTION OR CONNECTION PORTION DOES NOT BECOME LOOSE IN PARTICULAR WHEN THE OPERATION FREQUENCY IS HIGH OR WHEN THE ROBOT IS USED IN A PLACE WHERE MANY VIBRATIONS EXIST USE SECURE CONNECTION METHODS TAKE THE POSSIBILITY OF DRIVE POWER SOURCE FAILURE INTO CONSIDERATION TAKE APPROPRIATE MEASURES SO THAT THE HUMAN BODY OR EQUIPMENT IS NOT DAMAGED EVEN WHEN A FAILURE OCCURS IN THE DRIVE POWER SOURCE TAKE THE BEHAVIOR IN CASE OF AN EQUIPMENT EMERGENCY STOP INTO CONSIDERATION DESIGN THE EQUIPMENT SO THAT THE ROBOT MOTION DOES NOT CAUSE DAMAGE TO THE HUMAN BODY UNIT AND EQUIPMENT EVEN WHEN THE MACHIN
30. M4x0 7 Depth 8 e 94 S Mounting direction RJ Note 2 169 1 with brake Note 1 206 2 with brake When origin is motor side als BS 206 with brake When origin is on non motor side g 176 with brake ree Mounting 131 gt c n air joint direction LJ T 68 1 41 Sn 25 So o D to 15 L 45 with brake 137 5 Ax50 B M5x0 8 Depth 8 207 5 with brake 63505 BM 00 Note 1 Distance from both ends to the mechanical stopper Note 2 Secure the cable with a tie band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3 Minimum bend radius of motor cable is R30 Note 4 Weight of models with no brake The weight of brake attached models is 0 2kg heavier than the models with no brake shown in the table Effective stroke A B 5 2 Note 4 1 2 RSZ2C Specifications Motor 42 Step motor Resolution Pulse rotation 20480 Repeatability mm Note 1 Deceleration mechanism 0 02 Ball screw 12 55 C10 Maximum motor torque 0 27 Ball screw lead mm 12 Maximum speed mm sec Note 2 Maximum payload kg Horizontal Vertical Max
31. Operation time Non operation time 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 1 15 lt 8 4 Push force vs current limit value during stop RS1C RS2C RS3C RSIC push thrust 160 10 15 20 25 30 35 Current limit value 63111 BM 00 5 2 Q Q 5 Q O 5 Q 5 o RS2C push thrust 100 90 80 70 60 50 Lead 12 30 Thrust N 20 10 15 20 25 30 35 Current limit value 63112 BM 00 gt 1 16 RS3C push thrust Current limit value 63113 BM 00 The values in the above graph are not a guarantee of the push force accuracy during stop Use these values for reference e f the push force is too small or the push speed is too low the push operation may become unstable so use caution e Up to 20mm s can be set for the speed during pushing However it is recommended to set the speed during pushing to a level of 10mm s or less by taking the shock during pushing or load stability into consideration 140 120 100 80 2 gt Q 60 Lead 12 40 Lead 20 9 2 Q 0 O 10 15 20 25 30 35 40 45 O o The sliding resistance tool weight or pushing position may affect the pushing load So when an accurate pushing load is required it is
32. Receptacle housing SMR 07V B CN1 7 poles Pin contact SYM 001T P0 6 CN1 CN2 Receptacle housing 176273 1 CNS 4 poles Receptacle 175156 2 CN3 Receptacle housing SMR 02V B CN2 2 poles Plug housing SMP 02V BC CN4 2 poles Socket contact SHF 001T 0 8BS Wire Color Yellow Blue Connection CN4 Red Black White Green Grey Heat shrinkable tube Brown Grey Red White Black Yellow Green 63516 BM 00 9 15 lt C O Q o 2 2 Brake cable specifications 2 2 1 RSIC RS2C RS3C Connector specifications n on _ Receptacle housing SMR 02V B 2 poles BYM 001T PO 6 or Manual tool SYM 001T PO0 6 YC 12 Pin contact Connector wiring Signal Wire Color Connection Yellow Yellow 63518 BM 00 2 2 2 RSHIC RSH2C RSH3C M Connector specifications C zh Q Q o Brake parts Receptacle housing Connector i Wire Color Yellow Yellow 63520 BM 00 5 16 3 Robot cables 3 1 RSIC RS2C RS3C RS1C RS2C RS3C To robot Controller CN1 Connection Resolver Drain
33. S 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 THIS GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT IF THIS 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 TREATMENT A 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 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 A WARNING WHEN THE BRAKE OF THE VERTICAL AXIS IS RELEASED THE SLIDER AXIS MAY DROP LEADING TO HAZARDOUS SITUATION WHEN APPLYING THE GREA
34. SE TO THE VERTICAL AXIS PARTS DO NOT RELEASE THE BRAKE AN CAUTION Be sure to wear safety gloves before starting the work If you touch any steel material part by bare hand this may cause rust 2 5 U 5 o o O 2 3 1 RSIC RS2C RSZC To apply the grease to the ball screws and linear guide in accordance with the periodic inspection follow the steps below Prepare the tools necessary for the work e Phillips screwdriver e Brush for grease application step Turn off the controller power steps Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel Step Enter the safety enclosure step Remove the cover Remove the robot s end cover then pull off the side cover Step Wipe off the contaminated grease First wipe off the contaminated grease with a clean cloth rag wound on the stick AN CAUTION Do not put your finger in the slider movement range to prevent your finger from being caught in if the slider is moved by hand accidentally gt Step6 Applying grease to the ball screw U E 2 E o o step6 Apply the grease Use the brush fo evenly and thinly apply an adequate amount of grease to the ball screw or linear guide so that if does not scatter surroundings 63201 BM 00 63202 BM 00 gt Step 6 Applying grease to t
35. UMI 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 AA PANGER FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT Ad 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 AN 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 Ajayes JOQOY ou suisn NOTE Explains the key point the operation simple and clear manner Reference Gives useful information related to the robot operation Ajayes 10q03 ou suisn Refer to the user s manual by any of the following methods to operate or adjust the robot safely and co
36. ance When the shutter replacement is needed contact e Check the shutter top surface for your distributor contamination 1 U E O o 2 2 Ball screw bearing Check for unusual vibration or noise If any trouble is found contact your distributor Check for unusual vibration and noise and Check with the load factor monitor that the load factor for abnormal temperature rise is 100 or less 2 Motor 1 According to the robot working conditions stripe marks caused by contamination may be produced on the shutter top surface close to the stop point If this occurs clean the shutter top surface with a cloth rag moistened with alcohol cleaning agent If this trouble occurs frequently contact your distributor 2 Some robot controller models cannot monitor the load factor Inspection to be performed with the controller turned on A WARNING THE ROBOT CONTROLLER MUST BE INSTALLED OUTSIDE THE SAFETY ENCLOSURE TO PREVENT A HAZARDOUS SITUATION IN WHICH YOU OR ANYONE ENTER THE SAFETY ENCLOSURE TO INSPECT THE CONTROLLER WHILE IT IS TURNED ON step Turn on the controller Check that no one is inside the safety enclosure and then turn on the controller steps Place a sign indicating the robot is being adjusted Place a sign indicating The robot is being inspected to keep others from operating the controller programming box or operation panel Step Perform the daily inspection Check th
37. and linear guide guide every 6 months See 3 Applying the grease in this Chapter Check for looseness See 1 Adjusting shutter looseness Shutter e Check for flow up clearance in Chapter 3 Coupling Check if the bolts are loose Tighten if necessary 1 Bolt tightening torque Bolt size Tightening torque kgfcm Tightening torque Nm M3 button head bolt M3 M4 M5 M6 M8 MN CAUTION If the grease recommended is not used this may cause the service life of the ball screw or linear guide to shorten 2 4 Three year inspection Inspect the following points once every three years and contact us if any problem is found Set an earlier inspection interval if parts are subject to long term or frequent usage Checkpoint Procedure Remarks Check for wear and looseness in the ball If any abnormality is found contact screw nut and linear guide your distributor Ball screw nut sections and linear guides 3 Applying the grease To apply the grease in accordance with the periodic inspection follow the steps below Before applying the grease thoroughly read the cautions stated in Using the Robot Safely and 1 Before beginning work in this Chapter to strictly observe the instructions When applying grease to the ball screws and linear guide take the following precautions A WARNING PRECAUTIONS WHEN HANDLING GREASE INFLAMMATION MAY OCCUR IF THI
38. are correct please contact us if you find any part of this manual to be unclear confusing or inaccurate UOIINPOHU Before using RSHIC RSH2C RSH3C series Be sure to read the following notes Thanks for your purchasing the single axis robot RSH1C RSH2C RSH3C series Before using this robot read the following notes and set the origin position The RSH1C RSH2C RSH3C 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 W N When robot cable was first connected after delivery from MISUMI When robot cable was disconnected from the controller and then reconnected When no absolute battery is connected When a motor or cable was replaced In such cases described above any of the following errors occurs immediately after the controller power has been 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 1222002 Setting the origin position Set the origin position while referring to the following section in the robot controller user s manual A See 6 2 Origin search return to origin in
39. azardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below 1 Show a display on the operator panel 2 Ensure the safety of workers performing tasks within the robot safety enclosure 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 pro
40. blem 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 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 Ajayes JOQOY ou SUIS Ajayes JOQOY ou suisn 4 1 2 3 4 10 Robot protective functions Overload detection This function detects an overload applied to the motor and shuts off the servo power 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 Soft limits can be set on each axis to limit the worki
41. c Work tools such as welding guns and paint nozzles which are mounted in the robot arm will preferably be cleaned automatically Provide adequate lighting Make sure to provide enough lighting to ensure safety during work 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 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 safety enclosure to perform teaching maintenance or inspection tasks Make sure the workers completely understand these work Instructions 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 h
42. ckness Plate thickness 8 E Detail of T groove 188 with brake 63509 BM 00 Note 1 Distance from both ends to the mechanical stopper Note 2 Minimum bend radius of motor cable is R50 Note 3 Weight of models with no brake The weight of brake attached models is 0 3kg heavier than the models with no brake shown in the table Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 L 475 525 575 625 675 725 775 825 875 925 975 1025 1075 1125 1175 1225 1275 1325 1375 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 A B C D C zh Q Q o Weight kg Lead 20 Speed setting Maximum speed Lead 10 mm sec Note 4 Lead 5 Speed setting Note 4 When the stroke is longer than 650mm resonance of the ball screw may occur depending on the operation conditions critical speed In this case reduce the speed setting on the program by referring to the maximum speeds shown in the table above 5 10 1 6 Specifications Static loading moment AC servo motor output W 100 Repeatability mm 0 01 Position detector Resolvers Resolution Pulse rotation 16384 Deceleration mechanism Ball screw 615 Class C7 Ball screw lead mm 10 Maximum
43. d 3 5 Option 5 10 Controller C21 C22 Degree of cleanliness Note 4 CLASS10 Intake air 2 t 30 to 90 Static loading moment Note 1 Note 2 Note 3 Note 4 Unit Nem Positioning repeatability in one direction Position detectors resolvers are common to incremental and absolute specifications If the controller has a backup function then it will be absolute specifications If the stroke exceeds 550mm resonance may occur in the ball screw depending on the operation area critical speed If this occurs make the adjustment to decrease the operation speed based on the max speed stated in the table shown at the lower portion of the drawing Per 1cf 0 1um base when suction blower is used Note 5 The necessary intake amount varies depending on the use conditions and environment Allowable overhang Note Distance from center of slider top to center of gravity of object being carried at a guide service life of 10 000km DA O zh Q o Note Stroke is 600mm when calculating the service life Horizontal installation Wall installation Vertical installation A Lead 12 Lead 12 Lead 12 Unit mm 5 7 4 Dimensions Approx 235 Motor cable length 20343 When origin is on motor side Effective stroke 117 When origin is on
44. d WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN RESULTING IN ACCIDENTS e DO NOT REMOVE ALTER OR STAIN THE WARNING LABELS ON THE ROBOT e DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED ONTO THE ROBOT BY THE USER e PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE SAFETY ENCLOSURE Do not use the robot in environments containing inflammable gas etc AA WARNING INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT e DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT 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 Use caution when releasing the brake of a vertical use robot WARNING THE VERTICAL AXIS WILL SLIDE DOWNWARD WHEN THE BRAKE IS RELEASED CAUSING A HAZARDOUS SITUATION TAKE ADEQUATE SAFETY MEASURES IN CONSIDERATION BY TAKING THE WEIGHT AND SHAPE INTO ACCOUNT e BEFORE RELEASING THE BRAKE AFTER PRESSING THE EMERGENCY STOP BUTTON PLACE A SUPPORT UNDER THE VERTICAL AXIS SO THAT IT WILL NOT SLIDE DOWN BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTIC
45. e 1 Adjusting shutter looseness in Chapter 3 2 9 lt a o 2 Adjustment Contents l Adjusting shutter looseness 1 1 RSIC RSZ2C RSSC 3 1 1 2 RSHIC RSH2C RSHSC 3 2 l Adjusting shutter looseness The shutter may elongate with continued use In such cases adjust as follows AN CAUTION e Be sure to wear safety gloves before starting the work If you touch any steel material part by bare hand this may cause rust e When the robot is installed vertically slowly move the robot at a JOG speed to check the position where the shutter becomes loose mostly before entering the safety enclosure 1 1 RSIC RS2C RSZC Prepare the tools necessary for the work e Phillips screwdriver step Y Turn off the controller power step Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel gt 42 3 3 Step Enter the safety enclosure Stepb Slightly loosen the screws 2 D Step4 Loosening the shutter mounting screws locations which secure the shutter at the end cover side Do not remove them Remove the four screws on the sides of the top cover 2 each on each side then remove the plates AN CAUTION At this time do not remove the screws End cover 63301 BM 00 step Secure the shutter While
46. e following points from outside the safety enclosure Checkpoint Procedure Remarks Check if the safety enclosure is in place Check if emergency stop is triggered when Safety enclosure the door is opened Check if warning labels are affixed at the entrance and clearly visible Press the emergency stop button to check Emergency stop device a if it works Check for abnormal movement and If any abnormal operation is found excessive vibration and noise contact your distributor Robot movement Check if the brake works to stop the Z axis Z axis brake operation from dropping more than 3mm from the stationary point If any abnormal operation is found contact your distributor Visually check the Z axis movement when you press the emergency stop button from outside the safety enclosure and also when you turn off the controller 2 2 B Adjustment A WARNING e AFTER INSPECTION IF YOU NOTICE ANY ADJUSTMENT IS NEEDED FIRST TURN OFF THE CONTROLLER AND THEN ENTER THE SAFETY ENCLOSURE TO PERFORM THE NECESSARY WORK e AFTER THE ADJUSTMENT WORK HAS BEEN COMPLETED INSPECT THE CHECKPOINTS STATED IN DAILY INSPECTION IN THIS SECTION e IF THE REPAIR OR PART REPLACEMENT OF THE ROBOT OR CONTROLLER IS REQUIRED CONTACT YOUR DISTRIBUTOR 2 2 Three month inspection Take the following precautions when performing 3 month inspection A WARNING WHEN THE BRAKE OF THE VERTICAL AXIS IS RELEASED THE SLIDER
47. e of 10 000km Note Stroke is 600mm when calculating the service life Horizontal installation Wall installation Vertical installation A Lead 12 Unit mm 5 5 lt DA O zh Q Q o Dimensions Approx 200 Cable length 223 5 2 When origin is on motor side Effective stroke 62 5 When origin is on motor side 30 5 223 5 When origin is on non motor side 62 5 2 When origin is on non motor side 13 Cable securing position Note 3 175 5 1 Note 1 2 4 7 Depth 6 4 M5x0 8 Depth 10 14 541 Note 1 o Fr p E LO N Si 195 5 1 with brake Note 1 Y oce i 243 532 with brake When origin is on motor side son 243 5 with brake When origin is non motor side 288 214 with brake E Mounting mw e 2 06 Suction air joint direction LJ Mounting direction RJ Note 2 co 60 Slider top face L 20 with brake 1415 Ax50 B M6x1 Depth 8 166 5 L D TA 186 5 with brake 63507 BM 00 Note 1 Distance from both ends to the mechanical stopper Note 2 Secure the cable with a tie band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3 Minimum bend rad
48. een removed AN CAUTION When turning over the shutter carefully handle it so that the shutter surface is not scratched step6 Wipe off the contaminated grease Wipe off the contaminated grease with a clean cloth rag gt Step 7 Applying the grease to the ball screw AN CAUTION Do not put your finger in the slider movement range to prevent your finger from being caught in if the slider is moved by hand accidentally step4 Apply the grease Use the brush fo evenly and thinly apply the grease to the roots of the ball screw threads 63204 BM 00 2 4 Linear guide There are two kinds of methods to apply the grease to the linear guide as described below 1 Remove the end cover and apply the grease 2 Turn over the shutter and apply the grease 1 Remove the end cover and apply the grease step Remove the end cover mounting screws Remove the two end cover mounting screws from the non motor side step Remove the end cover step 6 Wipe off the contaminated grease Wipe off the contaminated grease with a clean cloth rag step4 Apply the grease gt Step 7 Applying the grease to the linear guide Use the grease gun fo apply the grease fo the grease nipples two locations on the left and right of the ball guide bearing Grease nipple 63205 BM 00 Grease gun Recommended part 2 Turn over the shutter and apply the grease or grease gun with a step Remove the shutter clamping plate
49. eleration mechanism Ball screw 8 Class C10 Maximum motor torque N m 0 27 Ball screw lead mm 6 Maximum speed mm sec Allowable overhang Note Distance from center of slider top to center of gravity of object being carried at a guide service life of 10 000km Note Stroke is 400mm when calculating the service life Maximum Horizontal 4 payload kg Vertical 2 Max pressing force N 90 Stroke mm 50 to 400 50 pitch Overall length Horizontal Stroke 216 mm Vertical Stroke 261 Maximum dimensions of cross W49xH59 gt section of main unit mm Cable length m Standard 1 Option 3 5 10 El Note 1 Positioning repeatability in one Pulse Train Driver 1 direction Note 2 Per 1cf 0 1um base when suction Degree of cleanliness CLASS 10 biowerie need L E o Horizontal installation Wall installation Vertical installation A Lead 12 Lead 12 Lead 12 Unit mm 5 1 4 DA zh Q Q o 2 06 Suctio B Dimensions Approx 200 Cable length 161 2 When origin is on motor side Effective stroke 55 When origin is on motor side 161 When origin is on non motor side 5512 When origin is on non motor side 12411 Note 1 18 1 Note 1 2 03H7 Depth 6 Cable securing position Note 3 4
50. er 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 Ajayes JOQOY ou suisn 13 Ajayes Jogoy ou suisn 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 Components catalog 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 14 Introduction Contents Introduction Before using RSH1C RSH2C RSHIC series Be sure to read the following notes ii Introduction The MISUMI SINGLE AXIS ROBOT RSC series are family of single axis industrial robots that offer improved ease of use resistance to environmental conditions and maintenance workability A wide variety of product lineup allows you to select the desired robot model that best matches your application This manual describes the safety measur
51. es handling adjustment and maintenance of RSC series robots for correct safe and effective use Be sure to read this manual carefully before installing the robot Even after you have read this manual keep it in a safe and convenient place for future reference e This 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 e 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 e For details on specific operation of the robot refer to the separate user s manual for the robot controller being used UOIINPOHU The manual describes the robots listed below Type name Model name RSC Series RS1C RS2C RS3C RSHC Series RSH1C RSH2C RSH3C A WARNING THE ADJUSTMENT AND MAINTENANCE WORK WITH THE COVER REMOVED NEEDS THE SPECIAL KNOWLEDGE AND SKILL IF UNSKILLED WORK PERSON PERFORMS SUCH WORK THIS MAY INVOLVE RISK THESE TASKS MUST BE PERFORMED ONLY BY PERSONS WHO MEET REQUIREMENTS ESTABLISHED BY LOCAL REGULATIONS AND SAFETY STANDARDS FOR INDUSTRIAL ROBOTS e 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
52. fitted Replace the cable Check wiring and 1 Check tool and workpiece for warping connectors 2 Check robot alignment Are the robot tools and Mechanical No cause 92 o gt 9 Does the position return workpiece correctly installed or P after return to origin operation Check installation method Check for looseness of robot mechanical parts Yes Yes 1 Check for looseness of mechanical parts Retighten Electrical cause if necessary 2 Replace mechanical parts Is there a large source of Yes noise nearby Take measures against noise Check or replace the motor cable and controller 63401 BM 00 No 4 1 lt 417151854 Specifications Contents 1 1 RSIC 5 1 1 2 52 1 3 RS3C 1 4 RSHIC 1 5 RSH2C 1 6 RSH3C 1 7 About noise level 5 3 5 5 5 7 5 9 5 11 5 13 5 14 2 Motor specifications 2 1 Motor termination 2 1 1 Motor termination RS1C RS2C RS3C 2 1 2 AC servo motor termination RSH1C RSH2C RSH3C 2 2 Brake cable specifications 2 2 1 RSIC RS2C RS3C 222 Ro IE RSE SEIS 5 14 5 14 5 15 5 16 5 16 5 16 3 Robot cables 5 17 3 1 RSIC RSZC RSSC 3 2 RSHIC RSH2C RSH3C 5 17 5 18 1 Robot specifications LI RSIC Specifications Static loading moment Motor 42 Step motor Resolution Pulse rotation 20480 Repeatability mm 0 02 Dec
53. ghtly by fingers tighten The mounting screws N CAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may cause the shutter to warp NAS MN NOTE o Be sure to tighten the two screws securing the plate uniformly and gradually so that the shutter does not float up step Y Check the shutter status Move the slider back and forth two or three times by hand to check that the shutter does not float up or swing left or right NS MN OF NOTE If any trouble is found repeat Steps 5 and 6 3 2 I Troubleshooting Contents 1 If you suspect trouble 1 1 Positioning error 4 1 1 If you suspect trouble If an error such as a positioning error or feedback 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 your distributor with a detailed description of the trouble 1 1 Positioning error Positioning error Position deviates The position deviates after Robot bumped into something Operation was correct moving the robot or set up or there are traces of bumping but position deviates of workpiece tool into rubbing against something Is cable broken Are cables correctly wired Are connectors correctly
54. he linear guide step4 Spread the grease Move the slider back and forth to spread the grease AN CAUTION When the robot is mounted vertically go outside the safety enclosure once Check that no one is inside the safety enclosure and then turn on the controller power After that slowly move the slider two or three times in the manual mode and turn off the controller power Enter the safety enclosure again and continue the work Step Wipe off the excess grease Finally wipe off the excess grease with a clean cloth rag step Y Reattach the side cover to its original position 2 6 3 2 RSHIC RSH2C RSH3C Prepare the tools necessary for the work e Phillips screwdriver e Grease gun e Brush for grease application AN CAUTION Select a grease gun suitable for the purchased cartridge grease e Tip nozzle 10 inside diameter 7 step 1 Turn off the controller power steps Place a sign indicating the robot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel Step Enter the safety enclosure Apply grease by either of the following methods M Ball screw step Remove the shutter clamping plate Step4 Removing the shutter mounting screws mounting screws two locations from one side U S 2 o o Li 2 63203 BM 00 step Turn over the shutter from the side where the mounting screws have b
55. ication cable Power supply DC24V 011409 Input 16 general purpose pins Output 16 general purpose pins Ajddns RS Manager communication software RS1C RS2C RS3C 5 2 Q Q 5 Q O 5 Q 5 o The controller is supplied with the robot as a standard unit The Handy Terminal H1 is optional QA controller Motor power Power supply DC24V 0 44 Support software RS Manager and dedicated connection cable are optional Jamod At2 041009 ul ying Ajddns RS Manager communication software RS1C RS2C RS3C Yani 63108 BM 00 gt 1 12 Robot system configuration drawing RSH1C RSH2C RSH3C C21 C22 controller Handy Terminal H1 RS 232C communication control Power supply AC100 to 115 RS 232C or communication control communication cable 200 to 230V 10 Resolver signal Motor power O1 U09 Jamod At2 011409 Input 16 general purpose pins 7 custom purpose pins Output 16 general purpose pins 3 custom purpose pins ul ying Ajddns RS Manager communication software RSH1C RSH2C RSH3C The controller is supplied with the robot as a standard unit The Handy Terminal H1 is optional 5 42 Q Q 5
56. ing on the program by referring to the maximum speeds shown in the table above 5 8 1 5 RSH2C Specifications AC servo motor output W 100 Note 1 Repeatability mm 0 01 Position detector Resolvers Resolution Pulse rotation 16384 Deceleration mechanism Ball screw 615 Class C7 Ball screw lead mm Maximum speed mm sec 10 Maximum Horizontal payload kg Vertical Rated thrust N Stroke mm 150 to 1050 50mm pitch Linear guide type 4 rows of circular arc grooves x 1 rail Overall length Horizontal Stroke 325 mm Vertical Stroke 360 Maximum dimensions of cross section of main unit mm Cable length m W80xH75 Standard 3 5 Option 5 10 Controller C21 C22 Degree of cleanliness CLASS10 Intake air NZ min 95 Allowable overhang Note Distance from center of slider top to center of gravity of object being carried at a guide service life of 10 000km Horizontal installation A 30 to 90 Wall installation Static loading moment Note 1 Note 2 Note 3 Note 4 Note 5 Note Stroke is 600mm when calculating the service life Lead 20 Unit Nem Positioning repeatability in one direction Position detectors resolvers are common to incremental and absolute specifications If the controller has a backup function then it will
57. ius of motor cable is R30 Note 4 Weight of models with no brake The weight of brake attached models is 0 2kg heavier than the models with no brake shown in the table Note 5 When the stroke is longer than 600mm resonance of the ball screw may occur depending on the operation conditions critical speed In this case reduce the speed setting on the program by referring to the maximum speeds shown in the table below Effective stroke 100 150 C O zh Q o A B C Weight kg 9694 Lead 20 Lead 12 Horizontal Maximum Lead 12 speed Vertical mm sec Lead 6 Horizontal Lead 6 Vertical Speed setting 83 gt 5 6 1 4 Specifications AC servo motor output W 100 Repeatability mm Note 1 0 02 Position detector Resolvers Note 2 Resolution Pulse rotation 16384 Deceleration mechanism Ball screw 612 Class C10 Ball screw lead mm Maximum speed mm sec Note 3 12 Maximum payload kg Horizontal Vertical Rated thrust N Stroke mm 150 to 800 50mm pitch Linear guide type 4 rows of circular arc grooves x 1 rail Overall length mm Horizontal Stroke 320 Vertical Stroke 355 Maximum dimensions of cross section of main unit mm Cable length m W80xH75 Standar
58. k the robot operation at a low speed After checking that there is no problem operate the robot at a specified speed A WARNING IF ANY NOISE OR VIBRATION IS FOUND IMMEDIATELY STOP THE OPERATION IF ANY NOISE OR VIBRATION OCCURS THE PRODUCT INSTALLATION MAY BE FAULTY IF THE OPERATION CONTINUES THE EQUIPMENT MAY BE BROKEN 2 2 The Emergency Stop stopping distance RS1C RS2C RS3C The maximum stopping distance is 195mm RS3C payload of 6kg operation speed of 1m sec when the emergency stop button is pressed or when power to the controller is shut off 1 2 3 Moving the robot 3 1 Moving the robot with hoist or cart Using a hoist carrying cart dolly or forklift is recommended for moving a single axis robot or controller Use sufficient caution when moving robot models with a long stroke or designed for large payload since they are heavy A WARNING SERIOUS INJURY MAY OCCUR IF THE ROBOT FALLS AND PINS SOMEONE UNDER IT USE A HOIST AND ROPE WITH CARRYING CAPACITY STRONG ENOUGH TO SUPP ORT THE ROBOT WEIGHT MAKE SURE THE ROPE STAYS SECURELY ON THE HOIST HOOK REMOVE ALL LOADS ATTACHED TO THE ROBOT MANIPULATOR END F ANY LOAD IS STILL ATTACHED THE ROBOT BALANCE MIGHT SHIFT WHILE BEING CARRIED AND THE ROBOT TOPPLE OVER CAUSING ACCIDENTS ALWAYS WEAR A SAFETY HELMET SHOES AND GLOVES D URING WORK WHEN MOVING THE ROBOT BY EQUIPMENT SUCH 5 A FORKLIFT THAT REQUIRES A LICENSE ONLY ROPERLY QUALIFIED PERSONNEL
59. motor side 203 When origin is on non motor side 70 11743 When origin is on non motor side 117 1 Note 1 80 64 lerance between ocks 0 02 c c T 152 1 with brake Note 1 Approx 200 Motor cable length 238 3 with brake When origin is on motor side 238 When origin is on non motor side 2 05H7 Depth 10 _ 35 with brake 10 Air joint 27 L 160 Slider upper surface 63 4 60 5 Grounding terminal M4 188 with brake 153 5 C M5x0 8 Depth 10 151 12 o D 5 E 2 om XS a Recommended plate nut L 16 t1 6 E Detail of T groove 178 with brake 63508 BM 00 Note 1 Distance from both ends to the mechanical stopper Note 2 Minimum bend radius of motor cable is R50 Note 3 Weight of models with no brake The weight of brake attached models is 0 3kg heavier than the models with no brake shown in the table Effective stroke L A B D C O zh Q Q o Weight kg 9493 Lead 20 Speed setting Lead 12 Maximum speed mm sec Note 4 Lead 6 Speed setting Note 4 When the stroke is longer than 550mm resonance of the ball screw may occur depending on the operation conditions critical speed In this case reduce the speed sett
60. movable cables So connect the cables so that the motor power cable and signal cable connectors of the robot cables do not move M Connections step Y Connect the robot cables motor and signal wires to the mating connectors coming out from the robot Connecting the power cable and signal cable Robot cable connector signal wire Robot cable connector motor wire 63114 BM 00 step After making the connections fit the connector hoods together securely Connecting the hoods gt 1 1 Q 63115 BM 00 7 2 Robot cable connections Robot cable connections RS1C RS2C RS3C j controller Handy Terminal H1 o Q a RS1C RS2C RS3C w gt I After making connections O Robot cable signal cable fasten the hoods securely Robot cable power cable o Robot cable connections RSH1C RSH2C RSH3C C21 C22 controller Handy Terminal H1 RSH1C RSH2C RSH3C j U ss After making connections ly Robot cable power cable fasten the hoods securely Robot cable signal cable 63107 BM 00 1 11 lt 7 3 Robot system configuration drawing Robot system configuration drawing RS1C RS2C RS3C Resolver signal Motor power C1 controller RS 232C communication control RS 232C or communication control Handy Terminal H1 commun
61. n motor side 178 When origin is on non motor side 52 2 When origin is on non motor side Cable securing position Note 3 140 1 Note 1 2 04H7 Depth 6 4 M4x0 7 Depth 8 14 1 Note 1 ss ar 7 q8 2 121832 with brake When origin is on motor side 218 with brake When origin is on non motor side 5 HOC Mounting 178 with brake 2 46 Suction air joint direction LJ 138 70 DA Mounting direction 8 Ru Note 2 8 8 i 2 L LO 17 L 40 with brake 141 5 with brake _ 101 5 q Ax50 B M6x1 Depth 8 cr co S D s 126 5 D 166 5 with brake 63506 BM 00 Note 1 Distance from both ends to the mechanical stopper Note 2 Secure the cable with a tie band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3 Minimum bend radius of motor cable is R30 Note 4 Weight of models with no brake The weight of brake attached models is 0 2kg heavier than the models with no brake shown in the table Note 5 When the stroke is longer than 600mm resonance of the ball screw may occur depending on the operation conditions critical speed Effective stroke 100 150 In this case reduce the speed setting on the program by referring to the maximum speeds shown in the table below A A B Weight
62. ng envelope in manual operation after return to origin and during automatic operation Note The working envelope is the area limited by soft limits Ad WARNING SOFT LIMIT FUNCTION IS NOT INTENDED TO PROTECT THE HUMAN BODY TO RESTRICT THE ROBOT MOVEMENT RANGE TO PROTECT THE HUMAN BODY USE THE MECHANICAL STOPPERS INSTALLED IN THE ROBOT OR AVAILABLE AS OPTIONS Mechanical stoppers The mechanical stoppers prevent axis motion from exceeding the movement range when the servo power is shut off by an emergency stop or by a protective function during high speed robot movement Note The movement range is the area limited by mechanical stoppers AY WARNING AXIS MOVEMENT DOES NOT STOP IMMEDIATELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER PROTECTIVE FUNCTIONS SO USE CAUTION AN CAUTION If the robot moving at high speed collides with a mechanical stopper installed in the robot or available as option the robot may be damaged 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 AY WARNING THE VERTICAL AXIS WILL SLIDE DOWNWARD WHEN THE BRAKE IS RELEASED CAUSING A H
63. onsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor MISUMI Corporation lidabashi First Bldg 5 1 Koraku 2 chome Bunkyo ku ISU Tokyo 112 8583 Japan
64. p the operator or other personnel from entering the movement range of the manipulator 11 Ajayes 10q03 ou suisn 2 3 Check the following points before turning on the controller 1 16 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 16 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 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 Does each axis move as intended within the soft limits Does the end effector move as intended Are the signal transmissions to the end effector and peripheral equipment correct Does emergency stop work Are the teaching and playback functions normal Are the safety enclosure and interlock working as intended CON Oo A W Does the robot move correctly during automatic operation Work within the safety enclosure 1 Work within the safety enclosure 2 12 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 s
65. r details about connection connectors on the controller side see the C1 C21 C22 User s Manual WARNING Ak e 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 e ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF BEFORE CONNECTING THE ROBOT CABLES TO THE CONTROLLER WARNING e IF ANY CONNECTOR IS CONNECTED INCOMPLETELY AND ANY PIN HAS FAULTY CONTACT THE ROBOT MAY MALFUNCTION LEADING TO HAZARDOUS SITUATION BEFORE TURNING ON THE CONTROLLER POWER MAKE SURE THAT EACH CONNECTOR IS CONNECTED SECURELY e TAKE APPROPRIATE MEASURES SO THAT NO LOAD IS APPLIED TO THE CONNECTOR EVEN WHEN THE ROBOT CABLE IS STRETCHED WARNING e ARRANGE THE ROBOT CABLES SO THAT THEY DO NOT HINDER THE ROBOT OPERATION ADDITIONALLY DO NOT USE AN AREA WHERE ANY ROBOT CABLE INTERFERES WITH THE LOAD ATTACHED TO THE ROBOT TIP AS WORK AREA IF ANY CABLE INTERFERES WITH THE ROBOT MOVABLE PART THIS MAY CAUSE THE ROBOT TO MALFUNCTION LEADING TO HAZARDOUS SITUATION ARRANGE THE ROBOT CABLES SO THAT THE CONNECTED CABLES DO NOT HINDER A WORK PERSON IF A WORK PERSON STUMBLES OVER ANY ROBOT CABLE AND FALLS DOWN THIS MAY CAUSE PERSONAL INJURY SUOILO UUOD PUD UOIIDIIDISU AN CAUTION e After connecting the relay connectors on the robot cables fit the connector hoods together securely e The standard robot cables are not
66. r tip mass and moment of inertia If these are not correct drive unit service life may end prematurely and damage fo robot paris or residual vibration during positioning may result 15 Follow the specified procedures when installing adjusting or inspecting the robot AA 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 AX 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 Ajayes 10q03 ou suisn 17 18 19 20 21 22 23 Location for installing the controller and the Handy Terminal The robot controller and the Handy Terminal must be installed at a location that is outside the robot safety enclosure yet where it is easy to operate and view robot movement 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 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 Clean work tools et
67. rrectly 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 Warning labels attached to the robots are written in English Japanese Chinese and Korean This manual is available in English or Japanese If the robots are to be exported to a country where other languages are spoken the language for warning labels and manual must be changed 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 messages in Japanese or other languages might be added 2 _ Essential precautions Particularly impor
68. rushed by the moving parts when carrying the robot or during teaching Ad WARNING MOVING PARTS CAN PINCH OR CRUSH HANDS KEEP HANDS AWAY FROM THE MOVABLE PARTS OF THE ROBOT Ajayes 10q03 ou suisn 3 Warning label 2 Pinch or crush hazard SRG aa kak TINEFSEND 90 41 001460 Follow the instructions warning labels and 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 AY WARNING IMPROPER INSTALLATION OR OPERATION MAY CAUSE SERIOUS INJURY BEFORE INSTALLING OR OPERATING THE ROBOT READ THE MANUAL AND INSTRUCTIONS ON THE WARNING LABELS AND UNDERSTAND THE CONTENTS Warning label 3 Read and understand manuals before operation PREBI ERAS ZAM SA SA FS CXBBES 52 66 90K41 001290 4 5 6 7 Do not remove alter or stain the warning labels A
69. s more effectively n NOTE When the hose with as large tubing outside diameter as possible is used from the suction source an effective flow rate is obtained 1 13 lt 8 Setting the operating conditions 8 1 Payload Optimal acceleration 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 AN 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 step Y Connect the Handy Terminal to the P Step1 Main menu screen controller and turn on the power to the controller The main menu screen appears as shown Menu Point Operation 64101 BM 00 Parameter Monitor i Run mode step On the main menu screen select Connection Parameter The Parameter menu screen opens showing selectable menu items SUOILOOUUOD PUD UOHD DISU Step Move the cursor to Servo parameter and press M The currently set Servo parameters are displayed Parameter Run parameter 1 0 parameter Option parameter Servo parame
70. s have cooled 11 Take the following safety precautions during inspection of controller AY WARNING e 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 e NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER e REFER TO THE C21 C22 ROBOT CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER 12 Consult us for corrective action when the robot is damaged or malfunctions occur AY 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 Ajayes JOQOY ou suisn Z axis brake trouble 13 Protective bonding AY WARNING Dropping of load 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 coefficients according to the manipulato
71. speed mm sec Maximum Hori l 60 Serien E orizonta Unit Nem Rated thrust N 169 Note 1 Positioning repeatability in one Stroke mm 150 to 1050 50mm pitch direction Linear guide type 4 rows of circular arc grooves x 1 rail Note 2 Position detectors resolvers are common to incremental and absolute everal specifications If the controller has Maximum dimensions of cross backup function then it will be absolute x A W80xH75 ae section of main unit mm specifications Note 3 If the stroke exceeds 600mm Cable length m Standard 3 5 Option 5 10 a resonance may occur in the ball screw Controller C21 C22 depending on the operation area i was critical speed If this occurs make Degree of cleanliness CLASS10 the adjustment to decrease the operation speed based on the max speed stated in the table shown at the lower portion of the drawing Note 4 Per icf 0 1um base when suction blower is used Note 5 The necessary intake amount varies depending on the use conditions and environment Intake air N2 min 30 to 90 a Allowable overhang Note Distance from center of slider top to center of gravity of object being carried at a guide service life of 10 000km C O zh Q Q o Note Stroke is 600mm when calculating the service life Horizontal installation Wall installation A Lead 20 Lead
72. tant 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 e 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 e Install a safety interlock that triggers emergency stop when the door or panel is opened Ajayes JOQOY ou suisn e Install a safety enclosure so that no one can enter inside except from doors or panels equipped with safety interlocks e Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels of the safety enclosure AA SERIOUS INJURY MAY RESULT FROM CONTACT WITH A MOVING ROBOT e KEEP OUTSIDE OF THE ROBOT SAFETY ENCLOSURE DURING OPERATION e PRESS THE EMERGENCY STOP BUTTON BEFORE ENTERING THE SAFETY ENCLOSURE Warning label 1 DANGER f f ASH TER Stay clear of moving machine Can cause serious injury ZEHE HRS HAsO AHO US ART SC BKETHET SUNG q 90K41 001470 2 Use caution to prevent hands or fingers from being pinched or crushed e Warning label 2 is affixed to the robot e Use caution to prevent hands or fingers from being pinched or c
73. ter gt Step3 Servo parameter 64102 BM 00 Servo parameter 01 Payload 1 10 Max accel 1 3 50 m s Payload 2 10 Kg 1a acce 2 3 50 m s gt 1 14 step Move the cursor to Payload 1 and PY Step4 Selection Payload 1 press The selected parameter can now be changed Servo parameter Payload 1 64103 BM 00 Payload 2 step Change the parameter value stepO Press W to enable the change Use the same procedure to change Payload 2 if needed step Y Press CLR This returns to the Parameter menu screen 8 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 5 1 Robot 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 5 42 Q Q 5 Q Q O 5 Q 5 o 8 3 Duty To achieve maximum service life for the MISUMI single axis robots it is recommended to operate the robot within the allowable duty 5096 The duty is calculated as follows Operation time Duty TF x100
74. the robot SUONDSUUOD PUD UOHD DISU 1 lt 6 1 RS1C RS2C RS3C Drill holes into the surface of the installation base as shown in the figure below and secure the robot with the prescribed bolts which are inserted from the installation base s bottom face The bolts and tightening torques are shown below Nol MN m NOTE 9 For details about hole and bolt machining dimensions and positions of the robot installation base surface see the external view and dimensions stated in 1 Robot specifications of Chapter 5 B RSIC Installation bolt Tightening torque Hex socket head bolt M5 Strength 8 8T RS1C 60 to YOkgf cm Length Installation base thickness 8mm maximum Installing the RS1C Installation base 242 Q Q 5 5 5 Q 5 o b Hex socket head bolt M5 63103 BM 00 m RS2C RS3C Installation bolt Tightening torque He ket head bolt M6 Strength 8 8T RS2C RS3C i 100 to 130kgf cm Length Installation base thickness 8mm maximum Installation base 63104 BM 00 1 8 6 2 RSHIC RSH2C RSH3C Drill holes into the surface of the installation base as shown in the figure below and secure the robot with the prescribed bolts which are inserted from the installation base s bottom face The bolts and tightening torques are shown below N m NOTE For details about hole and bolt machining dimensions and positions
75. tor gripper and workpiece A 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 AN CAUTION The robot positioning accuracyand service life might decrease if the installation surface precision is insufficient 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 Example of installation base SUOILOOUUOD PUD UOHD DISU Installation base N Installation base Good example Bad example 63102 BM 00 WARNING Ak WHEN INSTALLING THE ROBOT ALWAYS USE ALL THE MOUNTING HOLES DRILLED IN THE BOTTOM OF THE ROBOT WHEN INSTALLING THE RSD2 RSDG2 OR RSD3 RSDG3 ALWAYS USE THE SPECIFIED NUMBER OF BOLTS 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 N N q NOTE o Positions of robot mounting holes differ according to the stroke length of each robot For details see the external view and dimensions stated in 1 Robot specifications of Chapter 5 1
76. witch or operation panel except for the following cases 1 Soft limit settings 2 Teaching For item 1 follow the precautions and procedure for each section To perform item 2 refer to the description in 2 below 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 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 Nev

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