Page 1 MITSUBISHI ELECTRIC MELFA Industrial robots Installation description RV-SD/RH-SDH RV-SQ/RH-SQH Art. no.: 231407 17 07 2012 INDUSTRIAL AUTOMATION MITSUBISHI ELECTRIC Version check Version C...
Page 3 Short operating instructions Industrial robot RV-SD/RH-SDH, RV-SQ/RH-SQH Article No.: 231407 Version Changes/Additions/Corrections 02/2010 pdp – gb — 07/2011 pdp – gb General: Integrating the RV-2S Robot Reassignment of control units to robots 02/2012 pdp – gb General: Integrating the RH-SDHR/RHSQHR robots Replacement of the old control and drive units with new models...
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. © 02/2012...
Page 7 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.
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. ATTENTION: 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 DANGER: ● 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.
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-...
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 Calibrate the robot system............5-1 5.1.1 Work flow .
Page 16 Contents...
Page 17: Introduction
This manual describes the unpacking, installation, connection and initial startup of the SD and SQ se- ries robots. This manual is a translation of the original German manual from MITSUBISHI ELECTRIC B.V. The operating steps shown in this manual refer to the Teaching Box R32TB.
Page 18: Name Of Model
Name of model Introduction Name of model RV-3SD B J C -Sxx Sxx: special model SM**: specially protected control unit empty: standard model C: clean room model empty: 6-axis model J: 5-axis model L: long arm model empty: J4 and J6 are not equipped with a brake B: all axes with brake Series SD: SD series...
Page 19 Introduction Name of model RH-3SDH R 35 15 -Sxx Sxx: special model Arm lengths of ballscrew e.g.: 15: 150 mm Arm lengths e.g.: 35: 350 mm Installation posture: Hanging Series SDH: SDH-Serie SQH: SQH-Serie Load bearing capacity in kg RH: SCARA robot Fig.
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 Performance Level (PL) compliant with EN ISO 13849-1 Introduction 1 - 6...
Page 23: System Overview
System overview Scope of delivery System overview All devices and system parts belonging to the industrial robots from the MELFA series SD and SQ and that are required for basic operation of the robot are described in this chapter. Options and spare parts are listed in the technical manual.
Page 24: Sq Series
Scope of delivery System overview 2.1.2 SQ series SCARA 6-axis articulated arm 5-axis articulated arm Fixing screws (with washers and snap rings) Cable set Transport locks Technical documentation Drive unit R001431E Fig. 2-2: Scope of delivery of robot systems RV-SQ and RH-SQH 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. 2.2.1 SD series 6-axis articulated arm SCARA 5-axis articulated arm Cable set Control unit Teaching Box R32TB (optional) R001778E Fig. 2-3: Configuration of an SD series robot system NOTE The Teaching Box is an optional extra.
Page 26: Sq Series
System configuration System overview 2.2.2 SQ series 6-axis articulated arm SCARA 5-axis articulated arm Cable set Drive unit Robot CPU Teaching Box R32TB (optional) R001779E Fig. 2-4: Configuration of an SQ series robot system NOTE The Teaching Box is an optional extra. It is required for manual operation of the robot. 2 - 4...
Page 27: Components Of The Robot Arm
System overview System configuration Components of the robot arm 2.2.3 Forearm J4 axis Wrist Elbow block − J5 axis − J6 axis − − Elbow J3 axis Upper arm Shoulder − J2 axis − J1 axis Base R001292E Fig. 2-5: Components of the robot arm on the vertical articulated arm robot The 5-axis robot does not have a J4 axis.
Page 28 System configuration System overview J2 axis J4 axis J1 axis Ball- screw J3 axis Arm 1 Arm 2 Base R001433E Fig. 2-6: Components of the robot arm on the SCARA for floor mounting 2 - 6...
Page 29 System overview System configuration Base J2 axis Arm 1 J1 axis No. 2 arm J3 axis Shaft J4 axis R001780E Fig. 2-7: Components of the robot arm on the SCARA for ceiling mounting SD-/SQ series 2 - 7...
Page 30: Control Units
Control units System overview Control units 2.3.1 Control panel The following figure shows the front view of the control panel of control units CR DA and CR QA. ¸ µ ¹ R001434E Fig. 2-8: Front view of control panel Name Function Start a program and operate the robot [START] key...
Page 31 System overview Control units Name Function Operation can be carried out via the control unit or external devices. Operation via external signals or the Teaching Box is deactivated. The connection between the control unit and exter- AUTOMATIC nal devices must be enabled by the parameter for assigning oper- ating rights.
Page 32: Cr1Da Components
Control units System overview 2.3.2 CR1DA components ¸ ¹ µ R002089E Fig. 2-9: Rear of CR1DA control unit Name Function Connection fro servo power supply Robot power supply cable (CN1) Connection for signal cable (CN2) Robot control cable Output for EMERGENCY-STOP state Output of current EMERGENCY-STOP state (EMGOUT) Slot for installing the interface card for the pneumatically operated...
Page 33: Cr2Da Components
System overview Control units 2.3.3 CR2DA components ¸ µ ¹ R001761E Fig. 2-10: Rear of CR2DA control unit Name Function Connection fro servo power supply Robot power supply cable (CN1) Connection for signal cable Robot control cable (CN2) Input for EMERGENCY-STOP Connection for EMERGENCY-STOP pushbutton pushbutton (EMGIN) Output for EMERGENCY-STOP...
Page 34 Control units System overview Name Function Connection for additional axis Port for connecting an additional axis Connection of a parallel input/out- µ Port to connect an additional parallel input/output port put port (RIO) Port to connect an ethernet cable Ethernet connection (LAN1) ¸...
Page 35: Cr1Qa Components
System overview Control units 2.3.4 CR1QA components The CR1QA control unit is comprised of the robot CPU Q172DRCPU and the DU1A drive unit. For connection to the robot CPU µ ¸ R001788E Fig. 2-11: Rear of DU1A drive unit Name Function Connection fro servo power supply Robot power supply...
Page 36: Cr2Qa Components
Control units System overview 2.3.5 CR2QA components The CR2QA control unit is comprised of the robot CPU Q172DRCPU and the DU2A drive unit. µ R001762E Fig. 2-12: Rear of DU2A drive unit Name Function Connection fro servo power supply Robot power supply cable (CN1) Connection for signal cable (CN2) Robot control cable...
Page 37: Robot Cpu (Sq Series Only)
System overview Robot CPU (SQ series only) Robot CPU (SQ series only) The control units of the SQ series have an external CPU, which can be added to an already existing SQ system. µ Q172DRCPU ¹ STOP CAUTION FRONT ACFAIL ¸...
Page 38: Teaching Box
Teaching Box System overview Teaching Box 2.5.1 R28TB Weight: approx. 0.5 kg R000743E Fig. 2-14: Views of Teaching Box R28TB 2 - 16...
Page 39 System overview Teaching Box 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 The pushbutton switch is unlocked by turning it clockwise.
Page 40: R32Tb
Teaching Box System overview 2.5.2 R32TB Weight: 0.9 kg µ ¸ ¹ R001440E Fig. 2-15: Views of Teaching Box R32TB Name Function EMERGENCY-STOP pushbutton with locking function [EMG.STOP] If you press the pushbutton then the robot arm stops instantaneously. The servo pushbutton switch power supply is switched off The pushbutton switch is unlocked by turning it clockwise.
Page 41 System overview Teaching Box 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...
Page 42: R46Tb And R56Tb
Teaching Box System overview 2.5.3 R46TB and R56TB Weight: 1.25 kg R001513E Fig. 2-16: Views of Teaching Boxes R46TB and 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 43 System overview Teaching Box 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...
Page 44 Teaching Box System overview 2 - 22...
Page 45: 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 ATTENTION: Always unpack the robot only on a stable and even surface. If you do not hen the robot may fall and be damaged.
Page 46 Unpacking the robot system Installation RV-3SD/SDJ, RV-6SD/6SDL, RV-3SQ/3SQJ and RV-6SQ/6SQL 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.
Page 47 Installation Unpacking the robot system RV-12SD/SDL and RV-12SQ/12SQL The robot arm is packaged in a wooden frame. The following figure shows you step-by-step how to unpack the robot arm. Place the wooden frame on an even surface. To open, remove the nails from the wooden frame. Remove the wooden frame and the packaging material.
Page 48: Unpack Scara Robot
Unpacking the robot system Installation 3.1.2 Unpack SCARA robot RH-6SDH/12SDH/20SDH and RH-6SQH/12SQH/20SQH 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 49 Installation Unpacking the robot system RH-3SDHR and RH-3SQHR 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 50 Unpacking the robot system Installation Packing material Upper cover Tape (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 51: Transport Robot Arm
Installation Transport robot arm Transport robot arm 3.2.1 RV-2SD and RV-2SQ ATTENTION: 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 52: Rv-3Sd/3Sdj And Rv-3Sq/3Sqj
Transport robot arm Installation 3.2.2 RV-3SD/3SDJ and RV-3SQ/3SQJ ATTENTION: ● Two persons are always required to transport the robot arm. The transport locks must not be removed before transport. ● Always carry the robot arm at holding points . Never carry the robot arm at the covers because this may result in damages.
Page 53 Installation Transport robot arm Upper arm Transport lock Shoulder Transport lock J1 Base Front view Side view R001298E Fig. 3-8: Transport 6-axis robot arm RV-3SD or RV-3SQ Never carry the robot arm at its side or at the axis without holding points because this could result in damages.
Page 54: Rv-6Sd/6Sdl, Rv-6Sq/6Sql, Rv-12Sd/12Sdl And Rv-12Sq/12Sql
Transport robot arm Installation 3.2.3 RV-6SD/6SDL, RV-6SQ/6SQL, RV-12SD/12SDL and RV-12SQ/12SQL ATTENTION: ● 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 55 Installation Transport robot arm Transport lock Wire rope Eyes Transport bracket Transport lock Allen head screws R001137E Fig. 3-9: Fix the transport bracket SD-/SQ series 3 - 11...
Page 56: Rh-6Sdh/6Sqh
Transport robot arm Installation 3.2.4 RH-6SDH/6SQH ATTENTION: ● 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 57: Rh-12Sdh/20Sdh And Rh-12Sqh/20Sqh
Installation Transport robot arm 3.2.5 RH-12SDH/20SDH and RH-12SQH/20SQH ATTENTION: ● To avoid faults, the wire rope of the crane must be attached as shown in Fig. 3-11. ● 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 58: Rh-3Sdhr And Rh-3Sqhr
Transport robot arm Installation 3.2.6 RH-3SDHR and RH-3SQHR ATTENTION: ● Always use a crane to transport the robot arm. The transport lock must not be removed before transport. ● 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.
Page 59 Installation Transport robot arm RH-3SDHR3515, Axis RH-3SQHR3515 0 ° 0° –569,5 mm (upper end) Not fixed Tab. 3-1: Transportation posture Because if the J3 axis is lowered the shaft juts danger, be sure to specified posture at transport. ATTENTION: Also observe the above-mentioned steps when transporting the robot at a later time – e. g. when changing the installation location.
Page 60: 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 The table below shows how to set up and fix the articulated arm robot. The base area of the robot arm has been leveled by machine. If the bas area is too uneven then this may result in robot arm malfunctions.
Page 61 Installation Set up the robot arm Robot arm Fixture View from below 4- 9 fixing boreholes Front side of the robot arm Fixing RV-6SD/6SDL, screws (4) RV-6SQ/6SQL M8 x 40 Allen screw Installation side Snap ring Washer R001445E R001444E 4- 14 fixing boreholes Front side of the Fixing robot arm...
Page 62: Set Up The Scara Robot
Set up the robot arm Installation 3.3.2 Set up the SCARA robot RH-6SDH/12SDH/20SDH and RH-6SQH/12SDH/20SDH The table below shows how to set up and fix the SCARA robots RH-6SDH/12SDH/20SDH and RH-6SQH/12SQH/20SQH. The base area of the robot arm has been leveled by machine. If the bas area is too uneven then this may result in robot arm malfunctions.
Page 63 Installation Set up the robot arm RH-6SDH, RH-12SDH/20SDH, Load RH-6SQH RH-12SQH/20SQH Moment of tilt M [Nm] 1310 Torsional moment M [Nm] 1440 Translational forces on 1900 horizontal plane F Translational forces on 1280 vertical plane F Tab. 3-5: Reaction forces on the base area of the robot ATTENTION: 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 to replace the backup battery.
Page 64 Set up the robot arm Installation RH-3SDHR and RH-3SQHR The table below shows how to set up and fix the SCARA robots RH-3SDHR and RH-3SQHR. The robot installation surface has been machine finished. If the installation surface is too uneven then this may result in robot arm malfunctions. Use the installation holes (4-Ø9) opened at the four corners of the base, and securely fix the robot with the enclosed installation bolts (hexagon socket bolts).
Page 65 Installation Set up the robot arm RH-3SDHR, Load RH-3SQHR Moment of tilt M [Nm] Torsional moment M [Nm] Translational forces on horizontal plane F Translational forces on vertical plane F Tab. 3-7: Reaction forces on the installation surface of the robot ATTENTION: 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 the side to replace the backup battery.
Page 66: Handling The Control Unit
Handling the control unit Installation Handling the control unit This section describes the handling and set up of the control unit. 3.4.1 Transport control unit CR1DA and drive unit DU1A ATTENTION: Carry the control unit or drive unit as shown in the illustration below. Lift it by holding firmly below the front or rear edges.
Page 67: Installing The Cr1Da Control Unit And The Du1A Drive Unit
Installation Handling the control unit 3.4.3 Installing the CR1DA control unit and the DU1A drive unit The illustration below shows the installed CR1DA control unit and DU1A drive unit. Please observe these important instructions: ● The control unit and drive unit can be installed vertically or horizontally. Only the horizontal installation option is described in this manual.
Page 68: Set Up Control Unit Cr2Da And Drive Unit Du2A
Handling the control unit Installation 3.4.4 Set up control unit CR2DA and drive unit DU2A Set up of control unit CR2A and drive unit DU2A is shown in the following figure. Observe the follow- ing points: ● The control unit and the drive unit can be installed both horizontally and vertically. Only horizon- tal installation is described in this manual.
Page 69: Installation Of Robot Cpu Q172Drcpu
Installation Installation of robot CPU Q172DRCPU Installation of robot CPU Q172DRCPU Notes on installation ● Always install the rack horizontally because only this ensures that there is enough ventilation. R001054E Fig. 3-18: Correct assembly of the rack ● The units must not be assembled lying flat or vertically, because this would prevent sufficient ventilation.
Page 70: Installation And Removal Of Modules
Installation of robot CPU Q172DRCPU Installation 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. ATTENTION: ● The mains voltage must always be switched off before installing a module. ●...
Page 71 Installation Installation of robot CPU Q172DRCPU Removal ATTENTION: ● 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 the catch on the module is not longer inserted into the guide. Otherwise, the mounting devices on the module may be damaged.
Page 72: 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. 3-23. ● Separate grounding is the best solution. – The robot arm is grounded at an M4 threaded hole (see Fig. 3-24) on the base area. –...
Page 73 Installation Grounding the robot system Grounding the robot arm Use a grounding cable with a minimum cross-section of 2.0 mm² (RV-2SD/RV-2SQ/RH-3SDHR/ RH-3SQHR) or 3.5 mm² (all other models). 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 Fig.
Page 74 Grounding the robot system Installation 3 - 30...
Page 75: 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 control unit The following figure shows the connection of the connection cable between the robot arm and the control unit.
Page 76 Connection of the connection cable Connection Make sure that the control unit or the drive unit is switched off. The [POWER] switch must be in the "OFF" position. Connect the power and control cable to the robot arm and the control unit or the drive unit. To do this, push the lock forwards and plug the plug into the jack.
Page 77: Connection Of Robot Cpu To The Drive Unit
Connection Connection of the connection cable 4.1.2 Connection of robot CPU to the drive unit Connection of robot CPU Q172DRCPU to drive unit DU1A ATTENTION: ● Always place the protective cap on the SSCNETIII connection when no cable is connected. Otherwise, soiling may lead to an impairment in the transmission and to malfunctions.
Page 78 Connection of the connection cable Connection Connection of robot CPU Q172DRCPU to drive unit DU2A ATTENTION: ● Always place the protective cap on the SSCNETIII 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. ATTENTION: Only carry out connection work at the control unit or the drive unit when the main switch for the power supply is switched off and protected against being switched back on.
Page 80: Control Unit Cr2Da And Drive Unit Du2A
Mains connection and grounding Connection 4.2.2 Control unit CR2DA and drive unit DU2A Make sure that the mains voltage and the power switch of the control unit or the drive unit are switched off. Release the four screws on the cover and remove the cover.
Page 81: Emergency-Stop Connection
Connection EMERGENCY-STOP connection EMERGENCY-STOP connection Connection for EMERGENCY-STOP pushbutton is using the plug on the rear of the unit. The EMERGENCY-STOP inputs are normally blank (see Fig. 4-8). The EMERGENCY-STOP pushbutton, the door closing contact and the enable switch (enabling) unit must be connected by the user. Control unit CR1DA or drive unit DU1A 30 cm EMGIN...
Page 82 EMERGENCY-STOP connection Connection ATTENTION: Do not carry out a surge voltage test. User Control unit or drive unit User EMG. stop EMG. stop EMGOUT1 EMGIN1 +24 V Output for robot Wire bridge error message Output for Relay EMERGENCY-STOP switch operating mode Output for control of Wire bridge auxiliary axis (AXMC1)
Page 83 Connection EMERGENCY-STOP connection Connection to the terminals Remove approx. 7 mm of the line shielding Twist the end of the line in before the connection. Press down the retaining spring with a Philips screwdriver (cut: 1.4 mm to 2.4 mm). Connect the EMERGENCY-STOP switch to terminals 3A-4A, 3B-4B, the door closing contact to terminals 8A-9A, 8B-9B and the enable switch to terminals 10A-11A, 10B-11B an.
Page 84: Safety Circuits
Safety circuits Connection Safety circuits Example 1 The following figure provides an example of the configuration of a safety circuit when using two con- trol units, one external power supply, one door closing contact and one enable switch. Control unit 1 Peripheral units EMERGENCY-STOP Output for system...
Page 85 Connection Safety circuits EMERGENCY-STOP input connected ✔ External EMERGENCY-STOP switch ✔ Door contact ✔ Enable switch input Error output — Auxiliary axis output — Operating mode output — ✔ External relay connection — Tab. 4-1: Inputs and outputs Example 2 The following figure presents an example of the configuration of a safety circuit using the output to output the operating mode.
Page 86 Safety circuits Connection EMERGENCY-STOP input connected ✔ External EMERGENCY-STOP switch ✔ Door contact ✔ Enable switch input Error output — Auxiliary axis output — ✔ Operating mode output External relay connection — — Tab. 4-2: Inputs and outputs Output for system EMERGENCY-STOP Operating mode Teach...
Page 87: 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 88 Teaching Box connection Connection 4 - 14...
Page 89: Startup
Startup Calibrate the robot system Startup Calibrate 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. It then describes how to adjust and save the home position. ATTENTION: To ensure perfect function of the robot the home position must first be set and must always be carried out after unpacking or reconfiguring (robot arm or control unit).
Page 90 Calibrate the robot system Startup Switch the [POWER] switch on the front side of the control unit to the "ON" position. The control LEDs on the control unit flash briefly. "o.100" appears on the STATUS NUMBER display. Control unit CR1DA or drive unit DU1A [POWER] switch Control unit CR2D A...
Page 91 Startup Calibrate the robot system Step 2: Switch on the Teaching Box Set the [MODE] switch of the control unit or the drive unit to "MANUAL". MODE MANUAL AUTOMATIC R001468E Fig. 5-2: Set [MODE] switch to "MANUAL" Set the [ENABLE/DISABLE] switch of the Teaching Box to "ENABLE". The main menu appears on the display.
Page 92 Calibrate the robot system Startup Step 3: Enter the serial number Error message C0150 is issued the first time you switch on the control unit or the drive unit. In this case, enter the serial number of the robot arm in the RBSERIAL parameter. The serial number is located on the type plate on the rear of the robot arm.
Page 93 Startup Calibrate the robot system Press the key [F4] for the "CLOSE" box. The main menu appears on the display. <MENU> <PARAMETER> NAME(RBSERIAL ELE( ) 1. FILE/EDIT 2.RUN DATA 3.PARAM. 4.ORIGIN/BRK (XXXXXXXX 5.SET/INIT. Prev Next CLOSE CLOSE DATA R001474E SD-/SQ series 5 - 5...
Page 94: Set The Home Position (Zero Point)
Calibrate the robot system Startup 5.1.3 Set the home position (zero point) The home position is set after delivery of the robot by means of data entry. The data from the man- ufacturer for the stipulated home position is on the product insert in the robot arm box. The data is also contained on a sticker on the robot: ●...
Page 95 Startup Calibrate the robot system First make the settings as described in the instructions in section 5.1.2. Then select the "Setting by data entry" menu. To do so, proceed as follows: Step 1: Select the setting (adjustment) method Press key [4] to call up the "ORIGIN/BRK" menu. <MENU>...
Page 96 Calibrate the robot system Startup Step 2: Enter the home position The menu for entering the home position is displayed after the power supply to the servo drive is switched off. The entry fields shown correspond to the fields on the product insert. <ORIGIN>...
Page 97 Startup Calibrate the robot system Enter "!". To do this, keep the [CHARACTER] key pressed and then press the [, %] key 5 times. A "!" appears <ORIGIN> DATA D:(V! ) J2( ) J3( ) J5( ) J6( ) J8( CLOSE R001481E Enter the remaining characters in the same way.
Page 98 Calibrate the robot system Startup 5 - 10...
Page 99: 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 <MENU> MELFA CRnD-7xx Ver. P2T Menu item 6 “Enhanced”...
Page 100 Menu tree Operation of Teaching Box R32TB Program selection <PROGRAM SELECTION> SELECT THE PROGRAM INTO TASK SLOT 1. OK? ⇒ 2. RUN menu Jog mode <RUN> <CHECK> SLOT 1 [ CHECK ] 1. CHECK 2. TEST RUN 1 Mov P1 2 Mov P2 3 Mov P3 4 Mov P4...
Page 101 Operation of Teaching Box R32TB Menu tree 4. ABS method <ORIGIN> ABS [ABS] J1: ( ) J2: ( J3: ( J4: ( ) J5: ( J6: ( J7: ( ) J8: ( CLOSE 5. USER menu <ORIGIN> USER J1: ( ) J2: ( J3: ( [USER]...
Page 102 Menu tree Operation of Teaching Box R32TB 6. Enhanced Menu 1. SQ Direct (only SQ series) <ENHANCED> <SQ DIRECT> JNT 100% POS.123 X:+128.56 A:+180.00 1. SQ DIRECT 2. WORK COORD DIRECT Y: +0.00 B: +90.00 Z:+845.23 C:–180.00 FL1: FL2: ⇒ MOVE TEACH Prev...
Page 103: 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 104 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. Example 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"...
Page 105: 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 106 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.
Page 107: 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 robot.
Page 108 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.
Page 109: Troubleshooting And Maintenance Instructions
Troubleshooting and maintenance instructions Faults in automatic mode Troubleshooting and maintenance instructions Faults in automatic mode DANGER: ● Operation must be stopped immediately if you observe slight deviations when operating the robot or the auxiliary equipment. If immediate shutdown would result in concomitant dan- gers and hazards, then you must select a suitable time.
Page 110: 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 111: 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 112: Fuse Of Power Supply Of Pneumatic Gripper Hand
Replace the fuses Troubleshooting and maintenance instructions 7.4.3 Fuse of power supply of pneumatic gripper hand Control unit CR1DA/drive unit DU1A If you see error message "H0083" replace fuse F3 (rated current: 1.6 A) on card TZ801A. Fuse F3 card TZ801A TZ801A Control unit CR1DA/drive unit DU1A R001773E...
Page 113: 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 department of MITSUBISHI ELECTRIC. ● When carrying out maintenance work at the controller unit, also check the function of the cooling fan, e.g.
Page 114 Instructions on maintenance Troubleshooting and maintenance instructions 7 - 6...
Page 115: A Annex
Annex Dimensions Annex Dimensions A.1.1 Working areas of the robot The following figure shows the range of motion of the 5-axis robot arms RV-2SDB and RV-2SQB Weight: 19 kg All dimensions in mm R001775E Fig. A-1: Range of motion of robot arms RV-2SDB and RV-2SQB NOTE The working area stipulated refers to the P point of the robot arm without gripper hand.
Page 116 Dimensions Annex The following figure shows the range of motion of the 5-axis robot arms RV-3SDJB and RV-3SQJB. Weight: 33 kg All dimensions in mm R001498E Fig. A-2: Range of motion of robot arms RV-3SDJB and RV-3SQJB NOTE The working area stipulated refers to the P point of the robot arm without gripper hand. A - 2...
Page 117 Annex Dimensions The following figure shows the range of motion of the 6-axis robot arms RV-3SDB and RV-3SQB. Weight: 37 kg All dimensions in mm R001499E Fig. A-3: Range of motion of robot arms RV-3SDB and RV-3SQB NOTE The working area stipulated refers to the P point of the robot arm without gripper hand. SD-/SQ series A - 3...
Page 118 Dimensions Annex The following figure shows the range of motion of robot arms RV-6SD and RV-6SQ. Weight: approx. 58 kg All dimensions in mm R001500E and RV-6SQ Fig. A-4: Range of motion of robot arms RV-6SD NOTE The working area stipulated refers to the P point of the robot arm without gripper hand. A - 4...
Page 119 Annex Dimensions The following figure shows the range of motion of robot arms RV-6SDL and RV-6SQL. Weight: approx. 60 kg All dimensions in mm R001501E Fig. A-5: Range of motion of robot arms RV-6SDL and RV-6SQL NOTE The working area stipulated refers to the P point of the robot arm without gripper hand. SD-/SQ series A - 5...
Page 120 Dimensions Annex The following figure shows the range of motion of robot arms RV-12SD and RV-12SQ. Weight: approx. 93 kg All dimensions in mm R001150E Fig. A-6: Range of motion of robot arms RV-12SD and RV-12SQ NOTE The working area stipulated refers to the P point of the robot arm without gripper hand. A - 6...
Page 121 Annex Dimensions The following figure shows the range of motion of robot arms RV-12SDL and RV-12SQL. Weight: approx. 98 kg All dimensions in mm R001160E Fig. A-7: Range of motion of robot arms RV-12SDL and RV-12SQL NOTE The working area stipulated refers to the P point of the robot arm without gripper hand. SD-/SQ series A - 7...
Page 122 Dimensions Annex The following figure shows the external dimensions and the range of motion of robot arms RH-6SDH3520 and RH-6SQH3520. Weight: 20 kg Installation surface View A All dimensions in mm R001409E Fig. A-8: External dimensions and range of motion of robot arms RH-6SDH3520 RH-6SQH3520 A - 8...
Page 123 Annex Dimensions The following figure shows the external dimensions and the range of motion of robot arms RH-6SDH4520 and RH-6SQH4520. Weight: 21 kg Installation surface View A All dimensions in mm R001410E Fig. A-9: External dimensions and range of motion of robot arms RH-6SDH4520 RH-6SQH4520 SD-/SQ series A - 9...
Page 124 Dimensions Annex The following figure shows the external dimensions and the range of motion of robot arms RH-6SDH5520 and RH-6SQH5520. Weight: 21 kg Installation surface View A All dimensions in mm R001391E Fig. A-10: External dimensions and range of motion of robot arms RH-6SDH5520 RH-6SQH5520 A - 10...
Page 125 Annex Dimensions The following figure shows the external dimensions and the range of motion of robot arms RH-12SDH5535 and RH-12SQH5535. Weight: 41 kg Installation surface View A All dimensions in mm R001414E Fig. A-11: External dimensions and range of motion of robot arms RH-12SDH5535 and RH-12SQH5535 SD-/SQ series A - 11...
Page 126 Dimensions Annex The following figure shows the external dimensions and the range of motion of robot arms RH-12SDH7035 and RH-12SQH7035. Weight: 43 kg Installation surface View A All dimensions in mm R001415E Fig. A-12: External dimensions and range of motion of robot arms RH-12SDH7035 RH-12SQH7035 A - 12...
Page 127 Annex Dimensions The following figure shows the external dimensions and the range of motion of robot arms RH-12SDH8535 and RH-12SQH8535. Weight: 45 kg Installation surface View A All dimensions in mm R001392E Fig. A-13: External dimensions and range of motion of robot arms RH-12SDH8535 RH-12SQH8535 SD-/SQ series A - 13...
Page 128 Dimensions Annex The following figure shows the external dimensions and the range of motion of robot arms RH-20SDH8535, RH-20SDH8545, RH-20SQH8535 and RH-20SQH8545. Weight: RH-20SDH8535/20SQH8535: 47 kg RH-20SDH8545/20SQH8545: 48 kg Installation surface View A Robots RH-20SDH8535/ –10 RH-20SQH8535 RH-20SDH8545/ 1067 –110 RH-20SQH8545 All dimensions in mm R001776E...
Page 129 Annex Dimensions The following figure shows the external dimensions and the range of motion of robot arms RH-20SDH10035, RH-20SDH10045, RH-20SQH10035 and RH-20SQH10045. Weight: RH-20SDH10035/20SQH10035: 50 kg RH-20SDH10045/20SQH10045: 51 kg Installation surface View A Robots RH-20SDH10035/ –10 RH-20SQH10035 RH-20SDH10045/ 1067 –110 RH-20SQH10045 All dimensions in mm R001777E...
Page 130 Dimensions Annex The following figure shows the external dimensions and the range of motion of robot arms RH-3SDHR3515 and RH-3SQHR3515. Weight: 24 kg Operating range diagram No.1 arm circle radius Installations- The locus oberfläche of J2 axis center The locus of J4 axis center Installation reference...
Page 131: Dimensions Of The Control Units, The Drive Units And The Cpu
Annex Dimensions A.1.2 Dimensions of the control units, the drive units and the CPU Control unit CR1DA and drive unit DU1A Weight: ca. 9 kg All dimensions in mm R002090E Fig. A-17: Dimensions of control unit CR1DA and drive unit DU1A SD-/SQ series A - 17...
Page 132 Dimensions Annex Control unit CR2DA and drive unit DU2A Weight: CR2DA: approx. 21 kg DU2A: approx. 20 kg All dimensions in mm R001982E Fig. A-18: Dimensions of control unit CR2DA and drive unit DU2A A - 18...
Page 133 Annex Dimensions Robot CPU Q172DRCPU Weight: 0.33 kg All dimensions in mm R001508E Fig. A-19: Dimensions of robot CPU Q172DRCPU SD-/SQ series A - 19...
Page 134 Dimensions Annex A - 20...
Page 135 Annex Index Index Articulated arm robot ......2-5 Mains connection ....... . 4-5 Maintenance instructions .
Page 136 Index Annex A - 22...
Page 186 Phone: +1 847 478 21 00 Fax: +1 847 478 22 53 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com...

Mitsubishi Electric MELFA RV-SD Series Installation Description

1 Introduction

2 System Overview

3 Installation

4 Connection

5 Startup

6 Operation of Teaching Box R32TB

7 Troubleshooting and Maintenance Instructions

A Annex

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