Related Manuals for Mitsubishi Electric MELFA RV-FR-D
Summary of Contents for Mitsubishi Electric MELFA RV-FR-D
- Page 1 MITSUBISHI ELECTRIC MELFA Industrial robots Installation description RV-FR-D/RH-FRH-D RV-FR-R/RH-FRH-R Art. No.: 325252 20 04 2020 INDUSTRIAL AUTOMATION MITSUBISHI ELECTRIC Version C Versionsprüfung...
- Page 3 Short operating instructions Industrial robot RV-FR-D/RH-FRH-D/RV-FR-R/RH-FRH-R Article No.: 325252 Version Changes/Additions/Corrections 02/2018 pdp – gb — 07/2019 pdp – gb Section 1.4 Procedure for enabling the safety diagnosis function (STO func- tion) added. Section 4.3.1 Classification of functions using external input/output signals 04/2020 pdp –...
- Page 5 (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...
- Page 7 Only those auxiliary units and expansion units recommended by MITSUBISHI ELECTRIC may be used together with the FR robot system.
- Page 8 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. CAUTION: A safety manual is included with the robot. This manual deals with the safety aspects of instal- lation/set up, startup and maintenance.
- Page 9 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: DANGER: 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.
- Page 10 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. DANGER: ● The safety and accident-prevention regulations that apply to the specific use must be ob- served.
- Page 11 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.
- Page 12 Symbols used in the manual The use of instructions Instructions concerning important information is are marked separately and are displayed as follows: NOTE Text of instruction 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-...
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Page 13: Table Of Contents
Contents Contents Introduction Name of model..............1-2 Basic safety instructions . - Page 14 Contents Installation Unpacking the robot system ............3-1 3.1.1 Unpack the articulated arm robot .
- Page 15 Contents Startup Switch on the robot system ............5-1 5.1.1 Work flow .
- Page 16 Contents...
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Page 17: Introduction
Introduction 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. -
Page 18: Name Of Model
Name of model Introduction Name of model 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... - Page 19 Introduction Name of model 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.
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Page 20: Basic Safety Instructions
Basic safety instructions Introduction 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. -
Page 21: Environmental Conditions For Operation
Introduction Environmental conditions for operation Environmental conditions for operation Because the environmental conditions have a significant effect on the operational life of the equip- ment, you should not install the robot system in the following conditions: ● Power supply Do not use when –... - Page 22 Environmental conditions for operation Introduction 1 - 6...
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Page 23: System Overview
System overview Scope of delivery System overview All devices and system parts belonging to the industrial robots from the MELFA FR series that are re- quired for basic operation of the robot are described in this chapter. Options and spare parts are listed in the technical manual. -
Page 24: Fr-R Series
Scope of delivery System overview 2.1.2 FR-R series Vertical articulated robot arm SCARA Fixing screws Cable Transport locks (with washers and snap rings) RV-FR-R RH-FRH-R Drive unit Robot CPU Technical documentation R002681 Fig. 2-2: Scope of delivery of robot systems RV-FR-R and RH-FRH-R 2 - 2... -
Page 25: System Configuration
System overview System configuration System configuration This section describes the components required for the basic configuration of a robot system. Following controllers are available for the different systems: ● CR800-D controller ● CR800-R controller: CR800 drive unit and Robot CPU R16RTCPU 2.2.1 FR-D series Vertical articulated robot arm... -
Page 26: R Series
System configuration System overview 2.2.2 FR-R series Vertical articulated robot arm SCARA Cable Drive unit Teaching Box (optional) Robot CPU R002683E Fig. 2-4: Configuration of an FR-R series robot system NOTE The Teaching Box is an optional extra. It is required for basic operation of the robot. 2 - 4... -
Page 27: Components Of The Robot Arm
System overview System configuration 2.2.3 Components of the robot arm RV-2FR/4FR/7FR/13FR/20FR J4 axis Forearm (Arm 2) Wrist Elbow block J5 axis Mechanical interface J3 axis Elbow J6 axis Upper arm (Arm 1) Shoulder J2 axis J1 axis Base R002684E Fig. 2-5: Components of the robot arm on the vertical articulated arm robot RV-2FR/4FR/7FR/13FR/20FR Name of axis Meaning... - Page 28 System configuration System overview RH-1FRHR5515 J1 axis J2 axis Arm 2 Base Arm 1 J3 axis Brake release switch Shaft J4 axis R002752E Fig. 2-6: Components of the robot arm in the SCARA RH-1FRHR5515 2 - 6...
- Page 29 System overview System configuration RH-3FRHR3515/12 Base J2 axis Arm 1 Rear J1 axis Brake release switch Arm 2 J3 axis Shaft J4 axis R002249E Fig. 2-7: Components of the robot arm RH-3FRHR3515/12 FR series 2 - 7...
- Page 30 System configuration System overview RH-3FRH/6FRH/12FRH/20FRH J2 axis Arm 2 Arm 1 J1 axis J3 axis Brake release switch Base Shaft J4 axis R002685E Fig. 2-8: Components of the robot arm RH-3FRH/6FRH/12FRH/20FRH 2 - 8...
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Page 31: Controller Cr800
System overview Controller CR800 Controller CR800 2.3.1 Front side The following figure shows the front view of the controller CR800. Air intake for fan µ ¸ ¹ R002786E Fig. 2-9: Front view of the controller CR800 Name Function T/B connection Port to connect the Teaching Box R32TB or R56TB Four LEDs indicating the controller status Details... - Page 32 Controller CR800 System overview Name Function ¸ Connector for Ethernet communication ¹ SD CARD SD memory card slot Filter cover Dustproof dust filter cover. An air filter is provided inside the filter cover. Option SLOT 1 Option card slots (must be covered when not used) Option SLOT 2 FG terminal Option card cable terminals for grounding...
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Page 33: Rear
System overview Controller CR800 2.3.2 Rear Air exhaust Air exhaust no use R002687E Fig. 2-10: Rear of the controller CR800 Name Function AC power source input Number of ACIN cable phase Single phase ACIN connector Terminal: M5, cable length: 3 m Three phase Terminal: M5, cable length: 3 m PE terminal (M4 ×... -
Page 34: Robot Cpu (Fr-R Series Only)
Robot CPU (FR-R series only) System overview Robot CPU (FR-R series only) The controllers of the FR-R series have an external CPU, which can be added to an already existing iQ-R system. µ R002688E Fig. 2-11: Robot CPU R16RTCPU Name Function Status and alarm display CPU status... -
Page 35: Teaching Box
System overview Teaching Box Teaching Box 2.5.1 R32TB Weight: 0.9 kg µ ¸ ¹ R001440E Fig. 2-12: Views of Teaching Box R32TB Name Function EMERGENCY-STOP pushbutton with locking function [EMG.STOP] pushbutton If you press the pushbutton then the robot arm stops instantaneously. The servo switch power supply is switched off. - Page 36 Teaching Box System overview Name Function Press the [SERVO] key with the three-step switch, pressed halfway down to switch ¸ [SERVO] key on the servo power supply. ¹ [MONITOR] key Switches to monitor mode and pops up the monitor menu [JOG] key Switches to jog mode and pops up the jog menu [HAND] key...
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Page 37: R56Tb
System overview Teaching Box 2.5.2 R56TB Weight: 1.25 kg R001513E Fig. 2-13: Views of Teaching Box R56TB Name Function The operator device is switched on by this pushbutton switch. A white LED lights up when the TEACH pushbutton switch is locked on. Enable control via the operator device Press the pushbutton until it locks on ("ENABLE"... - Page 38 Teaching Box System overview Name Function µ [RESET] key If an error occurs, this is reset by pressing the RESET key. A limit switch can be ignored in JOG mode by pressing this key. Additionally, this ¸ [CAUTION] key key can also be used to trigger the brake. ¹...
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Page 39: Installation
Installation Unpacking the robot system Installation This chapter describes all preparations required for a successful use of the robot system, from un- packing right up to installation. Unpacking the robot system CAUTION: Always unpack the robot only on a stable and even surface. If you do not hen the robot may fall and be damaged. - Page 40 Unpacking the robot system Installation RV-4FR, RV-7FR, RV-13FR and RV-20FR The robot arm is packaged in a box. The following figure shows you step-by-step how to unpack the robot arm. Use a knife or similar object to open the packaging tape, as shown in Using both hands, remove the upper part of the packaging as shown in Remove the four screws with which the base is screwed onto the lower section.
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Page 41: Unpack Scara Robot
Installation Unpacking the robot system 3.1.2 Unpack SCARA robot RH-1FRHR5515 The robot arm is fixed to a wooden frame and packaged in a box. The following figure shows you step- by-step how to unpack the robot arm. Place the box on an even surface. Use a knife or similar object to open the packaging tape, as shown in Remove Part A of the packaging as shown in Remove the four fixing screws with which the base is screwed onto the wooden frame (see... - Page 42 Unpacking the robot system Installation RH-3FRHR The robot arm is packaged in a box. The following figure shows you step-by-step how to unpack the robot arm. Place the box on an even surface. Use a knife or similar object to open the packaging tape, as shown in Raise and remove upper cover Remove packing material (cardboard) in the inside.
- Page 43 Installation Unpacking the robot system Packing material Tape Upper cover (Cardboard) Packing box Tape Remove the packing material. Remove the upper cover. Cut the tape Robot-arm base section Packing material Hanging tools Open the vinyl. Hang the hook of the crane. Hoist with crane and remove the packing material.
- Page 44 Unpacking the robot system Installation RH-3/6/12/20FRH The robot arm us fixed to a wooden frame and packaged in a box. The following figure shows you step-by-step how to unpack the robot arm. Place the box on an even surface. Use a knife or similar object to open the packaging tape, as shown in Remove Part A of the packaging as shown in Remove the four fixing screws with which the base is screwed onto the wooden frame (see Transport the robot arm to the place of installation, as described in Section 3.2.
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Page 45: Transport Robot Arm
Installation Transport robot arm Transport robot arm 3.2.1 RV-2FR CAUTION: When carrying the robot arm always hold it by the designated holding points . Never try to lift the robot arm by its covers as this can cause damage. NOTE Keep the transport locks and their fastening screws in a safe place for later transport. -
Page 46: Rv-4Fr, Rv-7Fr, Rv-13Fr And Rv-20Fr
Transport robot arm Installation 3.2.2 RV-4FR, RV-7FR, RV-13FR and RV-20FR CAUTION: ● Always use a crane to transport the robot arm. The transport lock must not be removed before transport. ● The fixing screws of the transport lock and the transport bracket must be removed after transport. - Page 47 Installation Transport robot arm Wire rope Transport lock Transport bracket R002272E Fig. 3-7: Fix the transport bracket (RV-4FR and RV-7FR) Wire rope Transport lock Transport bracket R002435E Fig. 3-8: Fix the transport bracket (RV-13FR and RV-20FR) FR series 3 - 9...
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Page 48: Rh-1Frhr
Transport robot arm Installation 3.2.3 RH-1FRHR Transporting with a crane CAUTION: ● To avoid faults, the wire rope of the crane must be attached as shown in Fig. 3-9. ● Always use four supporting ropes to transport the robot with a crane. ●... - Page 49 Installation Transport robot arm Transporting with a manual pallet jack CAUTION: The robot should keep vertical (not be horizontal). It becomes the cause of the grease leakage or the trouble. NOTE Keep the transport tools as well as the transport lock and their fixing screws in a safe place for any later transport.
- Page 50 Transport robot arm Installation CAUTION: Also observe the above-mentioned steps when transporting the robot at a later time – e. g. when changing the installation location. If the robot is transported without the attached transport tools and the transport lock, or if it is transported in operating position, then dangerous situations might arise due to a shifting of the centre of gravity during transport.
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Page 51: Rh-3Frhr
Installation Transport robot arm 3.2.4 RH-3FRHR CAUTION: ● Transport by using the crane with fixing plate still being installed is necessary. ● Transport carefully so that the robot may not tilt by using two wires. Take care sufficiently not to give the interference and the shock with the installation stage etc. NOTE Keep the transporting jigs, the transport lock and their fixing screws in a safe place for any later transport. -
Page 52: Rh-3Frh/6Frh
Transport robot arm Installation 3.2.5 RH-3FRH/6FRH CAUTION: ● The transport locks must not be removed before transport. ● Two persons are always required to carry the robot arm. ● Always carry the robot arm at holding points . Never carry the robot arm at the covers because this may result in damages. -
Page 53: Rh-12Frh/20Frh
Installation Transport robot arm 3.2.6 RH-12FRH/20FRH CAUTION: ● To avoid faults, the wire rope of the crane must be attached as shown in Fig. 3-13. ● Always use four supporting ropes to transport the robot with a crane. NOTE Keep the transport and support brackets as well as the transport locks and their fixing screws in a safe place for any later transport. -
Page 54: Set Up The Robot Arm
Set up the robot arm Installation Set up the robot arm 3.3.1 Set up the articulated arm robot RV-2FR/4FR/7FR/7FRLLM/13FR/20FR The table below shows how to set up and fix the articulated arm robots RV-2FR/4FR/7FR/7FRLLM/ 13FR/20FR. The base area of the robot arm has been levelled by machine. If the base area is too uneven then this may result in robot arm malfunctions. - Page 55 Installation Set up the robot arm Robot arm Fixture View from below 4-∅9 fixing boreholes Fixing screws (4) M8 x 35 Allen screw Installation side Snap ring RV-7FR Washer Front side of the robot arm R002690E R002693E 4-∅14 fixing boreholes Fixing screws (4) M8 x 40 Allen screw...
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Page 56: Set Up The Scara Robot
Set up the robot arm Installation 3.3.2 Set up the SCARA robot RH-1FRHR5515 The table below shows how to set up and fix the SCARA robot RH-1FRHR5515. The base area of the robot arm has been levelled by machine. If the base area is too uneven then this may result in robot arm malfunctions. Fix the robot arm above the assembly boreholes on the four outer edges of the base area using the supplied Allen head screws. - Page 57 Installation Set up the robot arm RH-3FRHR The table below shows how to set up and fix the robot arm. Proper installation of the robot arm is an important requirement for failure-free operation. The base area of the robot arm has been levelled by machine. If the base area is too uneven then this may result in robot arm malfunctions.
- Page 58 Set up the robot arm Installation Maintenance space 4-∅9 fixing boreholes Installation side (standard) Installation stage (example) 2-M12 hole for hanging tool Maintenance space 4-M8 hole to jack-up R002700E Fig. 3-14: Set up the robot arm General environment type: 180 mm Clean/waterproof specification: 200 mm The interference of installation bolt and No.1 arm may occur depending on the size of installation stage.
- Page 59 Installation Set up the robot arm CAUTION: ● When installing the robot, make sure that there is enough space remaining at the rear of the robot arm to connect the cable used and at side to replace the backup battery. ●...
- Page 60 Set up the robot arm Installation RH-3/6/12/20FRH The table below shows how to set up and fix the SCARA robots RH-3/6/12/20FRH. The base area of the robot arm has been levelled by machine. If the base area is too uneven then this may result in robot arm malfunctions. Fix the robot arm above the assembly boreholes on the four outer edges of the base area using the supplied Allen head screws.
- Page 61 Installation Set up the robot arm Load RH-3FRH RH-6FRH RH-12/20FRH Moment of tilt M [Nm] 1640 3190 Torsional moment M [Nm] 1840 Translational forces on 1653 2240 horizontal plane F Translational forces on 2318 2500 vertical plane F Tab. 3-7: Reaction forces on the base area of the robot CAUTION: ●...
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Page 62: Handling The Robot Controller
Handling the robot controller Installation Handling the robot controller This section describes the handling and set up of the controller. 3.4.1 Transport the controller CAUTION: Carry the controller as shown in the illustration below. Lift it by holding firmly below the front or rear edges. -
Page 63: Installing The Cr800 Controller
Installation Handling the robot controller 3.4.2 Installing the CR800 controller The illustration below shows the installed CR800 controller. Please observe these important instruc- tions: ● The controller and drive unit can be installed vertically or horizontally. ● The lateral clearances must not be less than shown in Fig. 3-16. ●... -
Page 64: Installation Of Robot Cpu R16Rtcpu
Installation of robot CPU R16RTCPU Installation Installation of robot CPU R16RTCPU Notes on installation ● Always install the rack horizontally because only this ensures that there is enough ventilation. R002702E Fig. 3-17: Correct assembly of the rack ● The units must not be assembled lying flat or vertically, because this would prevent sufficient ventilation. -
Page 65: Installation And Removal Of Modules
Installation Installation of robot CPU R16RTCPU 3.5.1 Installation and removal of modules This section shows you how to assemble modules onto the rack such as, e.g. power supply unit, a PLC or a robot CPU. CAUTION: ● The mains voltage must always be switched off before installing a module. ●... - Page 66 Installation of robot CPU R16RTCPU Installation Removal CAUTION: ● The mains voltage must always be switched off before removing a module. ● When removing a module, make sure that any fixing screw is release and that fixing hook on the module is not longer snapped in. Otherwise, the mounting devices on the module may be damaged.
- Page 67 Installation Installation of robot CPU R16RTCPU CAUTION: When removing the robot CPU, please note that the unit surface may be very hot. There is a possible risk of burns. Metal parts become hot. FR series 3 - 29...
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Page 68: Grounding The Robot System
Grounding the robot system Installation Grounding the robot system General instructions on grounding the robot system Three ways of grounding are shown in Fig. 3-24. ● Separate grounding is the best solution. – The robot arm is grounded at an M4 threaded hole (see Tab. 3-8) on the base area. –... - Page 69 Installation Grounding the robot system Grounding the robot arm Use a grounding cable with a minimum cross-section of 4,2 mm². Check the area around the grounding screw (A) for deposits and remove any using a file. Fix the grounding cable with the grounding screw (M4 x 10) to the grounding connection of the robot arm (see here Tab.
- Page 70 Grounding the robot system Installation 3 - 32...
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Page 71: Connection
Connection Connection of the connection cable Connection This chapter explains how to connect the connection cable, the mains connection, the connection of the EMERGENCY-STOP switch and the connection of the Teaching Box. Connection of the connection cable 4.1.1 Connect the robot arm to the CR800 controller The following figure shows the connection of the connection cable between the robot arm and the CR800 controller. - Page 72 Connection of the connection cable Connection ● Connection on the robot arm side Make sure that the CR800 controller is switched off. Connect the machine cable to CN1 connector on the robot arm. Robot arm CN1 connector Machine cable robot arm side connector Line Screws...
- Page 73 Connection Connection of the connection cable RH-1FRHR5515 The following figure shows the connection of the connection cable between the robot arm and the CR800 controller. Robot arm RH-1FRHR5515 Rear of the CR800 controller R002717E Fig. 4-3: Connection of the connection cable (CR800) FR series 4 - 3...
- Page 74 Connection of the connection cable Connection ● Connection on the robot arm side Make sure that the CR800 controller is switched off. Connect the machine cable to CN1 connector on the robot arm. Robot arm CN1 connector Machine cable robot arm side connector Screws R002716E...
- Page 75 Connection Connection of the connection cable RH-3FRHR and RH-3FRH/6FRH/12FRH/20FRH The following figure shows the connection of the connection cable between the robot arm and the CR800 controller. Robot arm Robot arm RH-3FRH/6FRH/ RH-3FRHR 12FRH/20FRH Rear of the CR800 controller R002715E Fig.
- Page 76 Connection of the connection cable Connection ● Connection on the robot arm side Make sure that the power of the CR800 controller is switched off. Connect the machine cable to CN1 connector on the robot arm. Robot arm CN1 connector Machine cable robot arm side connector Screws...
- Page 77 Connection Connection of the connection cable ● Connection on the controller side Make sure that the power of the CR800 controller is switched off. Connect the controller side connector of the machine cable to CN1 connector on the rear side of the controller To fix the inserted connector, close the latches of the CN1 connector.
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Page 78: Connection Of Robot Cpu To The Drive Unit
Connection of the connection cable Connection 4.1.2 Connection of robot CPU to the drive unit CR800 drive unit CAUTION: ● Always place the protective cap on the SSCNETIII/H connection when no cable is connected. Otherwise, soiling may lead to an impairment in the transmission and to malfunctions. ●... -
Page 79: Mains Connection And Grounding
Connection Mains connection and grounding Mains connection and grounding Refer to Section 3.6 on how to ground the robot arm. CAUTION: ● Only carry out connection work at the controller when the main switch for the power supply is switched off and protected against being switched back on. ●... -
Page 80: Emergency-Stop Connection
EMERGENCY-STOP connection Connection EMERGENCY-STOP connection Connection for EMERGENCY-STOP pushbutton is using the plug on the rear of the unit for the CR800 controller. The EMERGENCY-STOP inputs are normally blank (see Fig. 4-11). The EMERGENCY-STOP pushbutton, the door closing contact and the enable switch (enabling) unit must be connected by the user. CNUSR11 connector R002721E Fig. -
Page 81: Cr800 Controller
Connection EMERGENCY-STOP connection 4.3.2 CR800 controller CAUTION: Do not carry out a surge voltage test. Customer Controller Customer EMERGENCY-STOP Teaching Box +24 V +24 V +3,3 V +3,3 V EMERGENCY-STOP switch +3,3 V +3,3 V Control circuit 1 +3,3 V +24 V Door closing contact Output for... - Page 82 EMERGENCY-STOP connection Connection Connection to the connectors CNUSR11/12 In this plug connection the cable is srew-fastened to the connector. Please use an 0.2 to 1.5 mm² con- nector cable. Prepare the user wiring connector (attachment). Remove approx. 7 mm of the line shielding. Insert the cable all the way in the insertion hole while pressing down the latch on the user wiring connector with a flatblade screwdriver.
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Page 83: Safety Diagnosis Function (Test Pulse Diagnosis)
Connection EMERGENCY-STOP connection 4.3.3 Safety diagnosis function (Test pulse diagnosis) This function enables diagnosis of external wiring by pulse signals output from the EMERGENCY-STOP ports (EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off-pulses regularly. The width of output pulses is always approximately 20 ms. Checking reg- ularly the test pulses inside the robot controller enables confirming the correct operation of the EMERGENCY-STOP lines. -
Page 84: Safety Circuits
Safety circuits Connection Safety circuits 4.4.1 CR800 controller Example 1 Connect the EMERGENCY-STOP switch of peripheral equipment to the controller. The power supply for EMERGENCY-STOP input uses the power supply in the controller. Operation of the EMERGENCY-STOP: If the EMERGENCY-STOP switch of peripheral equipment is pushed, the robot will also be in the EMER- GENCY-STOP state. - Page 85 Connection Safety circuits Example 2 Connect the EMERGENCY-STOP switch, door switch, and enabling device of peripheral equipment to the controller. The power supply for EMERGENCY-STOP input uses the internal power supply of the controller. Monitor the EMERGENCY-STOP state by the peripheral equipment side. Operation of the EMERGENCY-STOP: If the EMERGENCY-STOP switch of peripheral equipment is pushed, the robot will also be in the EMER- GENCY-STOP state.
- Page 86 Safety circuits Connection Example 3 Connect the EMERGENCY-STOP switch of peripheral equipment, and the door switch to two control- lers, and it interlocks. Connect the enabling switch to the robot controllers.The power supply for EMERGENCY-STOP input uses the internal power supply of the controller. Monitor the EMERGENCY- STOP state by the peripheral equipment side.
- Page 87 Connection Safety circuits The CNUSR11 is a two-level terminal block, indicating that there are two circuits (channels). Two terminals (cable insertion holes) need to be used for one circuit. The EMERGENCY-STOP button of the Teaching Box is connected with the controller. FR series 4 - 17...
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Page 88: Mode Changeover Switch Connection
Mode changeover switch connection Connection Mode changeover switch connection Connect the key switch of customer prepared and change the right of robot’s operation by switch op- eration. The key switch can be installed in the operation panel of customer preparation. Right of operation (mode): AUTOMATIC. -
Page 89: Teaching Box Connection
Connection Teaching Box connection Teaching Box connection This section describes how to connect the Teaching Box with the supply voltage turned off. If the con- nection is established or terminated with the supply voltage turned on then an error message is is- sued. - Page 90 Teaching Box connection Connection 4 - 20...
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Page 91: Startup
Startup Switch on the robot system Startup Switch on the robot system 5.1.1 Work flow This section provides you step-by-step instructions on how to switch on the control voltage and the Teaching Box. 5.1.2 Prepare the system for maintenance mode The preparations to be made for calling-up the maintenance menu are described in the following sec- tion. - Page 92 Switch on the robot system Startup Step 2: Switch on the Teaching Box Set the [MODE] switch of the controller to "MANUAL". Set the [ENABLE/DISABLE] switch of the Teaching Box to "ENABLE". The main menu appears on the display. 上： DISABLE Top: disabled 下：...
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Page 93: Changing Controller Type
Startup Switch on the robot system 5.1.3 Changing controller type This section shows how to change a controller's type. Changing from CR800-D to CR800-R Start up as CR800-D. (Connection with robot is necessary.) RV-7FRL-D R002760E Fig. 5-3: Connect the robot to the controller CR800-D Change the setting value of parameter (IQRMODE) from 0 to 1. - Page 94 Switch on the robot system Startup Set R16RTCPU SW is 0. Power turn off and turn on. SW = 0 RV-7FRL-R R16RTCPU R002762E Fig. 5-6: Set SW to 0 The model information and the origin information are automatically set. (Programs and parame- ters are initialized.) Changing from CR800-R to CR800-D Start up as CR800-R.
- Page 95 Startup Switch on the robot system Remove R16RTCPU. RV-7FRL-D R002760E Fig. 5-9: Remove R16RTCPU. The model information and the origin information are automatically set. (Programs and parame- ters are initialized.) FR series 5 - 5...
- Page 96 Switch on the robot system Startup 5 - 6...
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Page 97: Operation Of Teaching Box (R32Tb)
Operation of Teaching Box (R32TB) Menu tree Operation of Teaching Box (R32TB) This section describes the operation of the Teaching Box and the functions of the individual menus. Menu tree Main menu Start screen MELFA CR800-D MELFA CR800-D Refer to "separate instruction man- [EXE] ual: CR800-R/iQ Platform Support- ing Extended Function Instruction... - Page 98 Menu tree Operation of Teaching Box (R32TB) Program selection 2. RUN menu Jog mode CHECK Test mode TEST 3. Set parameter Operation 4. Set home position/release articulated joint brake Set home position ORIGIN 1. Data DATA 2. Mechanical end stops MECH 3.
- Page 99 Operation of Teaching Box (R32TB) Menu tree 4. ABS method [ABS] 5. USER menu [USER] 2. Release brake [BRAKE] 5. Set/Initialize 1. Initialize [INITIALIZE] 2. Battery and switch-on time [POWER] 3. Set date/time [ClOCK] 4. Version display [VERSION] R002302E Fig. 6-1: Menu tree (3) FR series 6 - 3...
- Page 100 Menu tree Operation of Teaching Box (R32TB) 6. Enhanced Menu 1. SQ Direct (only FR-R series) DIRECT This function enable direct control of the robot by PLC. Refer to separate manual: "CR800-R, iQ Platform Supporting Extended Function Instruction Manual (BFP-A3528)". 2.
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Page 101: Enter A Character
Operation of Teaching Box (R32TB) Enter a character Enter a character Every time you press the [CHARACTER] key, the write mode switches between entry of numbers and letters. The current mode is displayed at the bottom in the middle of the display. Enter numbers Numbers are entered in number mode using the keys on which the appropriate number as well as the minus sign and the full stop are shown at the bottom left. - Page 102 Enter a character Operation of Teaching Box (R32TB) Clear a character Clear an incorrectly entered character by placing the cursor on the character and pressing the [CLEAR] key. Exampleå Letter "B" of string "ABY" is to be changed to an "M", resulting in the new string "AMY". Move the cursor with the [←] key to the "B"...
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Page 103: Select A Menu Item
Operation of Teaching Box (R32TB) Select a menu item Select a menu item There are two ways to call up a menu: ● Select a menu by entering a number ● Select the menu with the cursor an press the [EXE] key Running Both possibilities are displayed in the following example by selecting menu item "1. - Page 104 Select a menu item Operation of Teaching Box (R32TB) ● Select a menu by entering a number Select the "FILE/EDIT" menu by entering "1". The "FILE/EDIT" menu is displayed. <MENU> <FILE/EDIT> 1/20 136320 08-04-24 17:20:32 22490 1. FILE/EDIT 2. RUN 08-04-24 14:56:08 3.
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Page 105: Move Robot In Jog Mode
Operation of Teaching Box (R32TB) Move robot in JOG mode Move robot in JOG mode The robot can be moved in steps by the JOG mode. This section describes the JOG mode based on a 6-axis vertical articulated arm robot. Axis configuration depends on the robot type used. A detailed description on the individual types of robot is contained in the technical manual of the respective ro- bot. - Page 106 Move robot in JOG mode Operation of Teaching Box (R32TB) Operating mode Mode Description 3-axis XYZ JOG mode Execute the three points listed above. The position of the tipped tool can be moved along the axes in the XYZ coordinate system in Press the function key twice to switch to the 3-axis XYZ JOG mode.
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Page 107: Troubleshooting And Maintenance Instructions
● If the robot itself is affected and it is not possible for the user to remedy the cause of the error/ fault then you must immediately contact your MITSUBISHI ELECTRIC sales agent. FR series 7 - 1... -
Page 108: Error Diagnosis
Error diagnosis Troubleshooting and maintenance instructions Error diagnosis When an error occurs, a 5-digit error code is shown on the display "STATUS.NUMBER" (e. g. C0010). The LED on the RESET pushbutton lights up. A 4-digit error number appears on the display of the Teaching Box. The first character of the error number is not shown. -
Page 109: Replace The Fuses
Troubleshooting and maintenance instructions Replace the fuses Replace the fuses An error message is issued if a fuse on the interface card for the pneumatically operated gripper hand, or on the control board, is defective. The error message contains information on which fuse has to be replaced. -
Page 110: Instructions On Maintenance
If there is any special maintenance work that can not be easily carried out by the user then you must contact the service providers of MITSUBISHI ELECTRIC. ● When carrying out maintenance work at the controller unit, also check the function of the cooling fan, e.g. -
Page 111: A Appendix
Appendix Dimensions Appendix Dimensions A.1.1 Working areas of the robot The following figure shows the external dimensions and the range of motion of the robot arm RV-2FR(B). Weight: 19 kg Solenoid valve (option) Installation space 504.6 504.6 (80) (80) Solenoid valve (option) Installation space ≥... - Page 112 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arm RV-2FRL(B). Weight: 21 kg Solenoid valve (option) Installation space (80) (80) Solenoid valve (option) Installation space ≥ 300 All dimensions in mm R002740E Fig.
- Page 113 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arm RV-4FRM. Weight: 39 kg For internal hand wiring and piping specifications (-SH**) 514.5 514.5 (241) Control point R of -SH** specification 115 126 Approx.
- Page 114 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arm RV-4FRLM. Weight: 41 kg For internal hand wiring and piping specifications (-SH**) 648.7 648.7 (241) 115 126 Control point R of -SH** specification Approx.
- Page 115 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arm RV-7FRM. Weight: 65 kg For internal hand wiring and piping specifications (-SH**) 713.4 713.4 Control point R of (278) -SH** specification 135 143 Approx.
- Page 116 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arm RV-7FRLM. Weight: 67 kg For internal hand wiring and piping specifications (-SH**) 907.7 907.7 (278) Control point R of -SH** specification Approx. 100 ≥...
- Page 117 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arm RV-7FRLLM. Weight: 130 kg For internal hand wiring and piping specifications (-SH**) Control point R of -SH** specification ≥ 324 242.5 Space for the cable connection 973.7 1242.6...
- Page 118 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arm RV-13FRM. Weight: 120 kg For internal hand wiring and piping specifications (-SH**) Control point R of -SH** specification Space for the 242.5 ≥...
- Page 119 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arm RV-13FRLM. Weight: 130 kg For internal hand wiring and piping specifications (-SH**) Control point R of -SH** specification 242.5 ≥ 430 Space for the 930.5 327.6 1128.1...
- Page 120 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arm RV-20FRM. Weight: 120 kg For internal hand wiring and piping specifications (-SH**) Control point R of -SH** specification Space for the 242.5 ≥...
- Page 121 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arm RH-1FRHR5515. Weight: 49 kg All dimensions in mm R002746E Fig. A-11: External dimensions and range of motion of robot arm RH-1FRHR FR series A - 11...
- Page 122 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arm RH-3FRHR3515/3512. Weight: 24 kg No.1 arm rotation radius 4-Ø9 installation hole Installation reference Rz25 2-M12 suspension hole 4-M8 jack-up hole Robot origin (180) (90) Installation...
- Page 123 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arms RH-3FRH35/45/55. Only Clean spec Robot Weight RH-3FRH3515 R350 R142 R253 R174 29 kg RH-3FRH3512C R350 R142 R253 R196 29 kg RH-3FRH4515 R450 R135 R253 R174...
- Page 124 Dimensions Appendix The following figure shows the external dimensions and the range of motion of the robot arms RH-6FRH35/45/55. Only Clean spec Robot Weight RH-6FRH3520 R350 R142 R253 R174 36 kg RH-6FRH3520M/C R350 R142 R253 R196 36 kg RH-6FRH3534 R350 R142 R253 R174 –7...
- Page 125 Appendix Dimensions The following figure shows the external dimensions and the range of motion of the robot arms RH-12FRH55/70/85 und RH-20FRH85/100. Only Clean spec Robot Weight RH-12FRH55xx R550 R191 145° 1080/1180 350/450 R295 65 kg RH-12FRH55xxM/C R550 R191 145° 1080/1180 350/450 R382 65 kg...
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Page 126: Dimensions Of The Controller And The Cpu
Dimensions Appendix A.1.2 Dimensions of the controller and the CPU CR800 controller Weight: approx. 12.5 kg (30) All dimensions in mm R002748E Fig. A-16: Dimensions of the CR800 controller A - 16... - Page 127 Appendix Dimensions Robot CPU R16RTCPU Weight: 0.33 kg All dimensions in mm R002749E Fig. A-17: Dimensions of robot CPU R16RTCPU FR series A - 17...
- Page 128 Dimensions Appendix A - 18...
- Page 129 Appendix Index Index Articulated arm robot ......2-5 Mains connection ....... . 4-9 Maintenance instructions .
- Page 130 Index Appendix A - 20...
- Page 166 Vernon Hills, IL 60061 Phone: +1 (847) 478-2100 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Mitsubishi-Electric-Platz 1 / D-40882 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...