Mitsubishi Electric MELFA RV-FR-D Operating and installation instructions

MITSUBISHI ELECTRI
C
INDUSTRIAL AUTOMATION
MITSUBISHI ELECTRI
C
MELFA
Industrial robots
Installation description
RV-FR-D/RH-FRH-D
RV-FR-R/RH-FRH-R
Art. No.: 325252
20 04 2020
Version C Versionsprüfung

Short operating instructions
Industrial robot RV-FR-D/RH-FRH-D/RV-FR-R/RH-FRH-R
Article No.: 325252
Version Changes/Additions/Corrections
A 02/2018 pdp – gb —
B 07/2019 pdp – gb Section 1.4 Procedure for enabling the safety diagnosis function (STO func-
tion) added.
C 04/2020 pdp – gb
Section 4.3.1
Section 4.3.3
Classification of functions using external input/output signals
added.
Former section 1.4 was shifted to Section 4.3.3 “Safety diagno-
sis function (Test pulse diagnosis)”.

About this manual
The texts, figures, diagrams and examples contained in this manual
are exclusively intended to explain the installation, operation and
control of the industrial robots described in this manual.
If questions arise concerning the installation and operation of the
units described in this manual then please do not hesitate to
contact your responsible sales office or sales partner
(see cover page).
Current information as well as answers to frequently asked questions
are located on the internet at: http://www.mitsubishi-automation.com.
MITSUBISHI ELECTRIC EUROPE B.V. reserves the right to make
technical alterations to this manual at any time without notice.
© 04/2020

FR series I
Safety instructions
Target group
This manual is aimed solely at recognised, trained professional electricians acquainted with the safety
standards valid within automation technology. Planning, installation, startup, maintenance and
checking of the robot and its accessories may only be carried out by approved, trained professional
electricians acquainted with the safety standards of automation technology. Any interference/tam-
pering with the hardware and software of our products not described in this manual may only be car-
ried out by our expert personnel.
Use in accordance to the instructions
The industrial robot FR series is only intended to be used within the scope described in this manual.
Make sure that all technical data contained in the manual is observed. The products have been de-
veloped, produced, tested and documented taking into consideration all relevant safety standards. In
normal conditions, there are no dangers or hazards to property or persons when the handling in-
structions and safety instructions for planning, assembly and correct operation are observed. Unqual-
ified tampering in the hardware or software or non-observance of the warning instructions contained
in this manual or attached to the product may result in serious damage/injury to property and per-
sons. Only those auxiliary units and expansion units recommended by MITSUBISHI ELECTRIC may be
used together with the FR robot system.
Any and all other use is determined as not in accordance to the instructions.
The industrial robots may only be switched on after all protective equipment has been installed and
tested for correct function. This includes:
●the electrical connection and attachment of external EMERGENCY-STOP switches,
●the housing of the robot by separating protective equipment,
●the electrical connection and attachment of the door contact pushbutton.
A function test at a reduced speed of (T1) maximum 250 mm/s can be carried out in "Manual" oper-
ating mode with the keyswitch in the "Manual" position. This test can be carried out with the protec-
tive housing opened (open door contact circuit).
PDANGER:
To simplify the drawings, the robots are shown without separating protective equipment in the
following description. Automatic mode is forbidden without separating protective equipment
or suitable safety light barriers. Non-observance of this may result in serious injuries of the
persons located within the working area of the robot.

II
Safety-relevant regulations
During planning, installation, startup, maintenance and testing/checking of the units, the safety and
accident-prevention regulations valid for the case in question must be observed.
Furthermore, the following regulations must be observed (without claim to completeness):
●German VDE regulations
– VDE 0100
Regulations on the installation of high voltage systems with a rated voltage above 1000 V
– VDE 0105
Operation of high voltage systems
– VDE 0113
Electrical plants with electronic equipment
– VDE 0160
Fitting of high voltage systems and electrical equipment
– VDE 0550/0551
Regulations for transformers
– VDE 0700
Safety of electrical devices for domestic and similar uses
– VDE 0860
Safety regulations for mains-operated electronic devices and their accessories for domestic
and similar uses
●Fire-protection regulations
●Accident-prevention regulations
–VBGNo.4
Electrical plants and equipment
ECAUTION:
A safety manual is included with the robot. This manual deals with the safety aspects of instal-
lation/set up, startup and maintenance. You must always work through this manual thoroughly
before installation/set up, startup or any other work with or on the robot. All specifications and
details contained within it must be observed at all times without exception!
If this manual is not included with the delivery then please immediately contact your Mitsubishi
Electric sales partner.

FR series III
Comments on the hazard instructions
There are instructions within this manual that are important for the correct and safe handling of the
robot.
The individual instructions mean the following:
PDANGER:
Means that there is a danger to life and health of the user, e.g. from electrical voltage, e.g. when
the appropriate safety measures have not been taken.
ECAUTION:
Is a warning of possible damages to the robot, its periphery or other valuable property if the
appropriate safety measures are not taken.

IV
General hazard instructions and safety measures
The following hazard instructions should be understood as general regulations for handling the robot
system. These instructions must always be observed in the planning, installation and operation of the
robot system.
General safety instructions during handling
Detailed information on safety and protection is contained in the safety manual.
PDANGER:
●The safety and accident-prevention regulations that apply to the specific use must be ob-
served. Installation, wiring and opening of assemblies, components and devices/units must
be carried out when the system is disconnected (dead).
●Regularly check the live cable and lines to which the devices/units are connected for insula-
tion faults or breaks. If you detect a fault in the wiring/cable then you must immediately
switch off the devices and disconnect power from the cable and then replace the defective
cable.
●Before startup, check whether the permissible mains voltage range accords to the local
mains voltage rating.
●Take appropriate measures to restart any interrupted program after voltage failures and
malfunctions. No hazardous/dangerous operating conditions must arise when doing this,
even temporarily. If necessary, force an "EMERGENCY-STOP".
●EMERGENCY-STOP equipment compliant to EN 60204/IEC 204 VDE 0113 must remain effec-
tive during all applications. Unlocking the EMERGENCY-STOP equipment must never result
in uncontrolled movements of the robot arm.
PDANGER:
●Some of the robot arms are made of plastic. The robot arm does not take attachments of
components or gross force effects in these parts. The covers are oil-resistant.
●The robot axis are fitted with brakes. You should not apply any manual pressure to the robot
joints to avoid damage to the gear reduction.
●Even when the robot arm is within its normal working area, the wrist (articulated arm robot)
or spindle (SCARA robot) may nevertheless collide. Pay special attention to this situation in
jog mode.
●The robot arm is comprised of precision parts that require suitable lubrication. During a cold
start at low temperatures, a servo alarm may be triggered or positional accuracy may be
lost. In such a situation, you should first operate the robot arm in standby.
●The robot arm and the controller require a class 3 grounding to permanently prevent risk of
electrical shock and disturbances.
●All details and specifications in the manuals are only valid if you carry out the maintenance
work stipulated in the technical manual.