Mitsubishi MELFA RV-2SDB-S15 User Manual

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
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Mitsubishi MELFA RV-2SDB-S15 Specifications

General

Model	RV-2SDB-S15
Manufacturer	Mitsubishi Electric
Category	Robotics
Number of Axes	6
Degrees of Freedom	6
Payload Capacity	2 kg
Reach	504 mm
Repeatability	±0.02 mm
Installation	Floor, Ceiling, Wall
Type	Robot Arm
Power Supply	200-240V AC

Summary

Safety Precautions

Enforcement of safety training

All teaching work must be carried out by an operator who has received special training.

Preparation of work plan

Prepare a work plan related to the methods and procedures of operating the robot.

Setting of emergency stop switch

Prepare a device that allows operation to be stopped immediately during teaching work.

Indication of teaching work in progress

Place a sign indicating that teaching work is in progress on the start switch, etc.

Installation of safety fence

Provide a fence or enclosure during operation to prevent contact of the operator and robot.

Signaling of operation start

Establish a set signaling method to the related operators for starting work.

Indication of maintenance work in progress

Turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress.

Inspection before starting work

Inspect the robot, emergency stop switch and other related devices, etc., before starting work.

General Configuration

1.1 Structural equipment

Details on the components included in the structural equipment.

1.2 Model type name of robot

Explanation of the model type name format for identifying the robot series and specifications.

1.6 Contents of the structural equipment

List of structural equipment for the robot arm and controller.

1.7 Contents of the Option equipment and special specification

List of all Optional equipments and special specifications.

Robot Arm

2.1 Standard specifications

Table detailing the standard specifications of the robot arm.

2.2 Definition of specifications

Definitions of specifications like repeatability, load capacity, and protection.

2.2.2 Rated load (mass capacity)

Robot's mass capacity, considering tooling and eccentric loads.

2.2.3 Protection specifications

Robot arm protection specifications that comply with IEC Standards.

2.4 Outside dimensions ・ Operating range diagram

Diagrams showing the outside dimensions and operating range of the robot.

2.5 Tooling

Details on wiring and piping configurations for the robot arm's tooling.

2.6 Options

Description of various options available for the robot arm.

Controller

3.1 Standard specifications

Table detailing the standard specifications of the CR1DA-700 series controller.

3.1.1 Standard specifications

Detailed specifications of the CR1DA-700 series controller.

3.1.2 Protection specifications and operating supply

Controller protection method and operating supply specifications.

3.2 Names of each part

Diagrams and descriptions of the controller's parts and connectors.

3.3 Outside dimensions/Installation dimensions

Dimensions and installation requirements for the controller.

3.4 External input/output

Overview of external input and output signals for the controller.

3.5 Dedicated input/output

List and functions of dedicated input/output signals.

3.6 Emergency stop input and output etc.

Wiring and functions for emergency stop, special stop, door switch, and enabling device.

3.6.1 Connection of the external emergency stop

Procedure for connecting external emergency stop switches.

3.6.2 Special stop input(SKIP)

Electric specifications and connection for the special stop input (SKIP).

3.6.3 Door switch function

Functionality of the door switch for safety fence interlocks.

3.6.4 Enabling device function

Functionality and use of the enabling device for safety.

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

3.7 Additional Axis Function

3.8 Magnet contactor control connector output (AXMC) for addition axes

3.9 Options

Software

4.1 List of commands

4.2 List of parameters

Instruction Manual

Safety

6.1 Safety

General safety measures and self-diagnosis stop functions for robot operation.

6.1.1 Self-diagnosis stop functions

6.1.2 External input/output signals that can be used for safety protection measures

6.1.3 Precautions for using robot

6.1.4 Safety measures for automatic operation

6.1.5 Safety measures for teaching

6.1.6 Safety measures for maintenance and inspections, etc.

6.1.7 Examples of safety measures

6.2 Working environment

6.3 Precautions for handling