Mitsubishi Electric MELFA RH-3FHR3515 Instruction Manual page 7

CAUTION
Collision detection function is valid condition for both of automatic and jog operation at shipping in
RH-3FHR series. However, damage to the ball screw shaft cannot be prevented completely.
Refer to the separate instruction manual "Detailed explanations of functions and operations" for
collision detection function.
Take care also of the following items.
(1)The robot's locus of movement may change with specified speed. 
Especially as for the corner section, short cut distance may change. Therefore, when begin-
ning automatic operation, moves at low speed at first, and you should gather speed slowly with
being careful of interference with peripheral equipment.
Arch movement (example)
(2)It can be confirmed whether the specified position exist in the defined area by using the instruc-
tion command "Zone". It can utilize as one of the methods for collision evasion. Refer to the
"detailed description of the instructions manual/function, and operation" of the separate volume
for the details of the instruction command.
Be careful of interference with peripheral equipment.
Especially don't give a shock to the shaft (J3 axis). When you install the
hand, be careful not to knock at the shaft end by the hammer etc. The shaft
may be damaged.
Short cut