Mitsubishi Electric MELFA RH-FRH-D, Installation Description, Page: 11 / 166

FR series V
P
DANGER:
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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.
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If mounting an articulated robot on to the wall, then you must limit the range of movement
of the J1 axis.
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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.
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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.
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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.
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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.
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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).
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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.
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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.
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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.
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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.
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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.