Mitsubishi Electric SD Series Bedienungs- und Montageanleitung

MITSUBISHI ELECTRI

INDUSTRIAL AUTOMATION

MITSUBISHI ELECTRI

MELFA

Industrial robots

Installation description

RV-SD/RH-SDH

RV-SQ/RH-SQH

Art. No.: 231407

06 01 2010

Version A

Short operating instructions

Industrial robot RV-SD/RH-SDH, RV-SQ/RH-SQH

Article No.: 231407

Version Changes / Additions / Corrections

11/2009 pdp – gb —

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.

SD-/SQ 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/

tampering with the hardware and software of our products not described in this manual may only be

carried out by our expert personnel.

Use in accordance to the instructions

The industrial robot series SD and SQ are 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 developed, 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 instructions and safety instructions for planning, assembly and correct operation are

observed. Unqualified 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 persons. Only those auxiliary units and expansion units recommended by

MITSUBISHI ELECTRIC may be used together with the SD and SQ robot systems.

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 and

●the electrical connection and attachment of the door contact pushbutton.

A function test at a reduced speed of (T1) maximum 250mm/s can be carried out in "Manual"

operating mode with the keyswitch in the "Manual" position. This test can be carried out with the

protective 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.

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

EATTENTION:

A safety manual is included with the robot. This manual deals with the safety aspects of

installation/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

sales partner.

SD-/SQ 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.

EATTENTION:

Is a warning of possible damages to the robot, its periphery or other valuable property if the

appropriate safety measures are not taken.

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

observed. 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

insulation 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

effective 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 axles 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 control unit 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.

Dieses Handbuch passt für folgende Modelle

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