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.

FR series V
PDANGER:
●Before using the robot together with a linear unit or a lifting table, you must replace the lines
with a highly-flexible alternative (trailing cable) to ensure that no cable break results in the
standard connection cables.
●If mounting an articulated robot on to the wall, then you must limit the range of movement
of the J1 axis.
●Make sure that the workpiece does not collide with any units in its immediate vicinity during
robot movements because such collision may shift the position of the workpiece.
●If the axis are moved with a very high level of accuracy then the position of the workpiece
may be shifted. Make sure that there are no collisions between the workpiece or units in its
immediate vicinity.
●Do not fix any adhesive tape or labels to the robot arm or to the controller. The adhesive tape
may damage the coated surface. The IEC IP protection indicated by the appropriate symbol
can then no longer be guaranteed.
●If heavy loads are moved by the robot and the robot is moved at high speeds, the surface of
the robot may become hot. Touching the robot arm in these circumstances will not result in
burns but minor injuries may occur.
●Do not switch off the power supply to stop the robot. If the voltage is regularly interrupted
when the robot is moving a heavy load or is moving at high speeds then the reduction
gearing may be damaged or the gear tolerance may be negatively affected (backlash).
●If the J1, J2 and J3 axes collide with the mechanical end stops when an articulated robot is
in automatic mode then the plastic buffers of the end stops must be replaced. Otherwise, the
reduction gearing may be severely damaged on the next collision. Please contact your
Mitsubishi Electric partner to replace the buffers.
●When the power supply is interrupted then the brakes grip the robot arm. If this happens,
the robot arm may deviate from its predefined travel path. Depending on where automatic
operation has been interrupted, this may result in difficulties with the mechanical end stops.
Take suitable measures to ensure that any collision of the robot arm with the peripheral
devices is prevented.
●Do not carry out any surge voltage test. If any test is run accidentally then this may result in
a malfunction. The surge voltage test is not covered by the warranty. If it is nevertheless run,
then set the leakage current to 100 mA. If the leakage current has been set to just 10 mA, then
a smaller measured value is displayed, owing to the leakage current of the installed AC filter.
●If no cable is connected then always place the protection cap onto the SSCNETIII/H connec-
tion of FR-R series devices. Otherwise, impurities may impair transmission behaviour and
result in malfunction.
●Do not remove the SSCNETIII/H cable from FR-R series devices as long as the power supply
of the CPU system or of the drive unit is still switched on.
Never look directly into the light emitted from the robot CPU or the SSCNETIII/H connections
of the drive unit, or into the open end of the SSCNETIII/H cable. The light emitted from these
complies with the IEC60825-1 standard of laser class 1 and may result in an irritation to the
eyes if viewed directly.

VI
Symbols used in the manual
The use of instructions
Instructions concerning important information is are marked separately and are displayed as follows:
Use of numbering in the figures
Numbering within the figures is displayed by white numbers within black circles and is explained in
a table following it using the same number, e.g.:
   
Use of handling instructions
Handling instructions are steps that must be carried out in their exact sequence during startup, op-
eration, maintenance and similar operations.
They are numbered consecutively (black numbers in white circles):
Text
Text
Text
Use of footnotes in tables
Instructions in tables are explained in footnotes underneath the tables (in superscript). There is a foot-
note character at the appropriate position in the table (in superscript).
If there are several footnotes for one table then these are numbered consecutively underneath the ta-
ble (black numbers in white circles, in superscript):
Text
Text
Text
NOTE Text of instruction

Contents
FR series VII
Contents
1Introduction
1.1 Name of model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Basic safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3 Environmental conditions for operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
2Systemoverview
2.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 FR-D series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.2 FR-R series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2.1 FR-D series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2.2 FR-R series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.3 Components of the robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.3 Controller CR800 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.3.1 Front side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2.3.2 Rear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.4 Robot CPU (FR-R series only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.5 Teaching Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2.5.1 R32TB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2.5.2 R56TB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Contents
VIII
3 Installation
3.1 Unpacking the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Unpack the articulated arm robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 Unpack SCARA robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2 Transport robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2.1 RV-2FR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2.2 RV-4FR, RV-7FR, RV-13FR and RV-20FR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.3 RH-1FRHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.2.4 RH-3FRHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.2.5 RH-3FRH/6FRH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.2.6 RH-12FRH/20FRH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.3 Set up the robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.3.1 Set up the articulated arm robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.3.2 Set up the SCARA robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.4 Handling the robot controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.4.1 Transport the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.4.2 Installing the CR800 controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.5 Installation of robot CPU R16RTCPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.5.1 Installation and removal of modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3.6 Grounding the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
4Connection
4.1 Connection of the connection cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Connect the robot arm to the CR800 controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.2 Connection of robot CPU to the drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2 Mains connection and grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2.1 CR800 controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.3 EMERGENCY-STOP connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.1 Classification of functions using external input/output signals . . . . . . . . . . . 4-10
4.3.2 CR800 controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.3.3 Safety diagnosis function (Test pulse diagnosis) . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.4 Safety circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.4.1 CR800 controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.5 Mode changeover switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.6 Teaching Box connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

Contents
FR series IX
5Startup
5.1 Switch on the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Work flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.2 Prepare the system for maintenance mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.3 Changing controller type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
6 Operation of Teaching Box (R32TB)
6.1 Menu tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Enter a character . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.3 Select a menu item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.4 Move robot in JOG mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.4.1 JOG modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
7 Troubleshooting and maintenance instructions
7.1 Faults in automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.3 Error diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.4 Replace the fuses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.4.1 Fuse and error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.4.2 Fuse of power supply of pneumatic gripper hand. . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.5 Instructions on maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
AAppendix
A.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1.1 Working areas of the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1.2 Dimensions of the controller and the CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16
Index, Certificates

Contents
X

Introduction
FR series 1 - 1
1Introduction
Mitsubishi Electric Corporation
2-7-3 Marunouchi, Chiyoda-ku, Tokyo, Japan
Mitsubishi Electric Europe B.V.
Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
All rights reserved • We accept no liability for the correctness
of the information that describes the product features or the technical data.
This manual describes the unpacking, installation, connection and initial startup of the FR-D and FR-R
series robots.
The operating steps shown in this manual refer to the Teaching Box R32TB.
This manual applies to the following robots and controllers:
Series Model Construction Handling
weight [kg] Controller
FR-D
RV-2FR(B)-D
Vertical
articulated arm
2
CR800-D
RV-2FRL(B)-D 2
RV-4FRM-D 4
RV-4FRLM-D 4
RV-7FRM-D 7
RV-7FRLM-D 7
RV-7FRLLM-D 7
RV-13FRM-D 13
RV-13FRLM-D 13
RV-20FRM-D 20
RH-1FRHR-D
SCARA
1
RH-3FRHR-D 3
RH-3FRH-D 3
RH-6FRH-D 6
RH-12FRH-D 12
RH-20FRH-D 20
FR-R
RV-2FR(B)-R
Vertical
articulated arm
2
CR800-R
RV-2FRL(B)-R 2
RV-4FRM-R 4
RV-4FRLM-R 4
RV-7FRM-R 7
RV-7FRLM-R 7
RV-7FRLLM-R 7
RV-13FRM-R 13
RV-13FRLM-R 13
RV-20FRM-R 20
RH-1FRHR-R
SCARA
1
RH-3FRHR-R 3
RH-3FRH-R 3
RH-6FRH-R 6
RH-12FRH-R 12
RH-20FRH-R 20
Tab. 1-1: Overview of robot models and controllers

Name of model Introduction
1 - 2
1.1 Name of model
Fig. 1-1: Model name of vertical articulated arm robot
RV-ãFRB L C-D-Sxx
SHxx: internal wiring and piping specification
Sxx: special model
Controller type:
D: CR800-D
R: CR800-R
empty: standard model (IP 40)
M: oil mist specifications (IP 67)
C: clean room model (ISO class 3)
empty: standard type
L or LL: long arm type
RV-2FR and RV-2FRL only
empty: J2, J3, J5 axis has brake
B: all axes with brake
Series
FR: FR series
Load bearing capacity in kg
RV: vertical articulated arm robot

Introduction Name of model
FR series 1 - 3
Fig. 1-2: Name of model of the horizontal articulated arm robot (SCARA)
RH-ãFRHR 35 15 C-D-Sxx
Sxx: special model
Controller type:
D: CR800-D
R: CR800-R
empty: standard model
C: clean room model
M: oil mist specifications
Arm lengths of ballscrew
e.g.: 12: 120 mm, 15: 150 mm, 20: 200 mm,
34: 340 mm, 35: 350 mm, 45: 450 mm
Arm lengths
e.g.: 35: 350 mm, 45: 450 mm, 55: 550 mm
70: 700 mm, 85: 850 mm, 100: 1000 mm
Installation type:
empty: floor
R: ceiling
Series
FRH: FRH series
Load bearing capacity in kg
RH: Horizontal articulated arm robot

Basic safety instructions Introduction
1 - 4
1.2 Basic safety instructions
The MELFA robot has been constructed according to the state-of-the-art and has been configured for
operational safety. Nonetheless, dangers/hazards may arise from the robot if is is not operated by
trained personnel or at least by instructed personnel, or if it is used in an improper manner or not com-
pliant to its intended use.
In particular, this means:
●Danger to the life and limb of the user or of third-parties
●Impairments to the robot, other machines and other property of the user
ECAUTION:
Every person authorised within the company of the operator to install, startup, operate, main-
tain and repair the robot must have read and understood the technical documentation for the
robot and must pay special attention to the supplied SAFETY MANUAL.
ECAUTION:
Strictly observe the safety regulations. The following, additional instructions are provided
within the scope of these introductory safety instructions:
The robot may only be operated by trained and authorised operating personnel.
Responsibilities for the various activities when operating the robot must be clearly defined and
observed to ensure that there are no unclarities or unclear duties regarding the safety aspects.
For all work relating to the installation, startup, equipping/fitting, operation, changes to oper-
ating conditions and modes of operation, maintenance, inspection and repairs, the switch-off
procedures stipulated in the manual must be observed.
The position of the EMERGENCY-STOP pushbutton must be known and the EMERGENCY-STOP
pushbutton must be accessible at all times.
No operating methods may be employed that impair the safety of the machine.
The operator must ensure that no unauthorized persons work at the robot (e.g. including
enabling of equipment against unauthorized use).
The company used must ensure that the robot is always operated in perfect condition.
The company using the robot must provide special training to the appropriate operating per-
sonnel and obligate them to carry out all maintenance and inspection work only when the robot
and all of its peripheral equipment is switched off.
PDANGER:
The controller must only (i.e. exclusively) be connected by a circuit breaker to the mains supply.
There is a risk of electrical shock if this is not observed.
A detailed description of the mains connection is contained in section 4.2.