RH-6FH-Q, 1RH-2FH-Q, RH-20FH-Q Series Special Specifications Manual (CR750

RH-6FH-Q, 1RH-2FH-Q, RH-20FH-Q Series Special Specifications Manual (CR750
Mitsubishi Industrial Robot
RH-6FH-Q/12FH-Q/20FH-Q Series
Special Specifications Manual
(CR750-Q Controller)
BFP-A8882-N
Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during
teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the
operator and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
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 nondesignated 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.
CAUTION
CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.
CAUTION
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.
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 beginning automatic operation, moves at low speed at first, and you should gather speed slowly with
being careful of interference with peripheral equipment.
Short cut
Arch movement (example)
(2)It can be confirmed whether the specified position exist in the defined area by using the instruction 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.
■Revision history
Date of print
Specifications No.
Details of revisions
2012-06-05
BFP-A8882
・ First print.
2012-06-11
BFP-A8882-A
・ The specification (the suction flow rate, the vacuum generator quantity) of inside suction for
clean type of RH-12FH/20FH was changed.
・ The note about the load center-of-gravity position of RH-20FH was added, and the related
graph of the offset length and the maximum-speed was corrected.
2012-06-14
BFP-A8882-B
・ The specification and dimension of duct was added.
・ The upper limit of load center-of-gravity position was added.
・The quantity of the coupling for the internal suction of RH-12FH / 20FH clean specification
was changed.
2012-06-21
BFP-A8882-C
・The graph of "Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration
Speed" was corrected. (error in writing)
・ EC-Statement of Compliance was replaced. (RH-3FH-Q and RH-6FH-Q were added)
2012-07-19
BFP-A8882-D
・ The input voltage range (1-phase: AC207 to 253V) was added to RH-12FH/20FH series.
・The error in writing of the connector name and the example of the connection in "3.8.1 Wiring
of the Additional Axis Interface" was corrected. ("ExtOPT" was mistake)
2012-07-31
BFP-A8882-E
・ The connector name of hand input signal/output signal of "Fig.2-48: Wiring and piping for
hand" was corrected.
・ The outside dimension (moving position of the 340mm stroke type) of RH-6FH series clean/
oil mist specification were corrected.
2012-09-03
BFP-A8882-F
・ The power supply capacity of RH-6FH/12FH/20FH was corrected.
・ The attachments of optional Internal Wiring/Piping set for hand were corrected.
2012-10-09
BFP-A8882-G
・ The notes were added to "Fig 3-17: Example of EMC noise filter installation".
・ The lithium battery (ER6) was added to The United Nations’Recommendations on the
Transport of Dangerous Goods.
・ The notes about installation of the controller and the robot arm were added. (neither direct
rays nor the heat of lighting)
2012-10-18
BFP-A8882-H
・ The user's guide of KC mark was added.
2012-11-20
BFP-A8882-J
・ The statement about trademark registration was added.
・ The center distance of Pilot hole of Installation surface was added. (RH-6FH)
・ The die center distance of Pilot hole of Installation surface was added and changed. (RH12FH/20FH)
・ The notes about the input-output connected to the controller were added. (do not ground
the + side of 24V power supply prepared by customer)
・ ”Declaration of Incorporation” was updated.
・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed to
attachment of the robot arm in standard.
2012-12-05
BFP-A8882-K
・The terminal name to connect when using the three phase specification by the single phase
power supply was added.
・ EC-Statement of Compliance was updated.
2013-01-11
BFP-A8882-M
・ Note of the external emergency stop were added (opens the connector terminal at factory
shipping).
・ The specification description of CR750-MB was added.
2013-03-19
BFP-A8882-N
・ The metal plate which fixes CR750 controller vertically was changed. (upward compatibility)
・ ”Table 3-2: Robot CPU unit standard specification” was added.
・ The mass of the controller was shown which was divided by each robot type.
■ Introduction
This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are
especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the customer's need to achieve a compact manufacturing facility capable of highly flexible production, as necessitated by the diffusion of high-density product groups and the shorter product life cycles that have
become common-place in recent years.
However, to comply with the target application, a work system having a well-balanced robot arm, peripheral devices or robot and hand section must be structured.
When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics and specifications can be easily understood by users considering the implementation of robots.
However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard specifications and use our robots.
Note that in this specification document the specifications related to the robot arm is described Page 10,
"2 Robot arm", the specifications related to the controllerPage 99, "3 Controller", and software functions
and a command list Page 140, "4 Software" separately.
This document has indicated the specification of the following types robot.
*RH-6FH (CR750-Q controller) series
*RH-12FH (CR750-Q controller) series
*RH-20FH (CR750-Q controller) series
・ About CE Marking in the automization system
The Guidelines of the measures against EMC in the automization system manufactured by the customer is shown in Page 159, "6.4 EMC installation guideline".
Please refer to it and carry out the measures against EMC of the automization system of the customer.
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ The specifications values are based on Mitsubishi standard testing methods.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・ This specifications is original.
・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
・ The ETHERNET is a registered trademark of the Xerox Corp.
・All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
Copyright(C) 2012-2013 MITSUBISHI ELECTRIC CORPORATION
Contents
Page
1 General configuration ....................................................................................................................................................................
1.1 Structural equipment .............................................................................................................................................................
1.1.1 Standard structural equipment ..................................................................................................................................
1.1.2 Special specifications ....................................................................................................................................................
1.1.3 Options .................................................................................................................................................................................
1.1.4 Maintenance parts ...........................................................................................................................................................
1.2 Model type name of robot ....................................................................................................................................................
1.2.1 How to identify the robot model ................................................................................................................................
1.2.2 Combination of the robot arm and the controller ..............................................................................................
1.3 CE marking specifications ....................................................................................................................................................
1.4 Indirect export ..........................................................................................................................................................................
1.5 Instruction manuals ................................................................................................................................................................
1.6 Contents of the structural equipment ............................................................................................................................
1.6.1 Robot arm ...........................................................................................................................................................................
1.6.2 Controller ............................................................................................................................................................................
1.7 Contents of the Option equipment and special specification ..............................................................................
2 Robot arm .........................................................................................................................................................................................
2.1 Standard specifications ......................................................................................................................................................
2.1.1 Basic specifications ......................................................................................................................................................
(1) RH-6FH series ............................................................................................................................................................
(2) RH-12FH series .........................................................................................................................................................
(3) RH-20FH series .........................................................................................................................................................
2.1.2 The counter-force applied to the installation surface ...................................................................................
2.2 Definition of specifications ................................................................................................................................................
2.2.1 Pose repeatability ..........................................................................................................................................................
2.2.2 Rated load (mass capacity) .......................................................................................................................................
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ......................
(1) Setting Load Capacity and Size (Hand Conditions) ....................................................................................
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot .....................................
2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................
(1) Relationship Between Mass Capacity and Speed .......................................................................................
(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ...........
(3) Relation between offset length and the maximum speed .........................................................................
(4) Time to reach the position repeatability .........................................................................................................
2.2.6 Collision detection .........................................................................................................................................................
2.2.7 Protection specifications ............................................................................................................................................
(1) Types of protection specifications ....................................................................................................................
(2) About the use with the bad environment ........................................................................................................
2.2.8 Clean specifications ......................................................................................................................................................
(1) Types of clean specifications ...............................................................................................................................
2.3 Names of each part of the robot ....................................................................................................................................
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................
2.4.1 Outside dimensions ・ Operating range diagram (RH-6FH series) .............................................................
(1) Standard Specification ............................................................................................................................................
(2) Clean Specification and oil mist specification ..............................................................................................
2.4.2 Outside dimensions ・ Operating range diagram (RH-12FH series) ..........................................................
(1) Standard Specification ............................................................................................................................................
(2) Clean Specification and oil mist specification ..............................................................................................
2.4.3 Outside dimensions ・ Operating range diagram (RH-20FH series) ..........................................................
(1) Standard Specification ............................................................................................................................................
(2) Clean Specification and oil mist specification ..............................................................................................
2.4.4 Mechanical interface and Installation surface ...................................................................................................
(1) Mechanical interface and Installation surface of RH-6FH series .........................................................
(2) Mechanical interface and Installation surface of RH-12FH series ......................................................
(3) Mechanical interface and Installation surface of RH-20FH series ......................................................
1-1
1-1
1-1
1-1
1-1
1-1
1-2
1-2
1-3
1-4
1-4
1-4
1-5
1-5
1-7
1-8
2-10
2-10
2-10
2-10
2-12
2-14
2-15
2-16
2-16
2-17
2-19
2-19
2-19
2-20
2-20
2-21
2-23
2-24
2-24
2-25
2-25
2-26
2-27
2-27
2-29
2-30
2-30
2-30
2-36
2-42
2-42
2-48
2-54
2-54
2-58
2-62
2-62
2-63
2-64
i
Contents
Page
2.4.5 Change the operating range ......................................................................................................................................
(1) Operating range changeable angle .....................................................................................................................
(2) The change method of the operating range ...................................................................................................
2.5 Tooling ........................................................................................................................................................................................
2.5.1 Wiring and piping for hand ..........................................................................................................................................
2.5.2 Internal air piping ............................................................................................................................................................
(1) Standard type/Oil mist specifications ..............................................................................................................
(2) Clean type ....................................................................................................................................................................
2.5.3 Internal wiring for the hand output cable ............................................................................................................
2.5.4 Internal wiring for the hand input cable ................................................................................................................
2.5.5 Ethernet cable .................................................................................................................................................................
2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) .......................
(1) RH-6FH series ............................................................................................................................................................
(2) RH-12FH/20FH series ............................................................................................................................................
(3) Example of wiring and piping <1> ........................................................................................................................
(4) Wiring and piping example <2> .............................................................................................................................
(5) Precautions for the clean specification ...........................................................................................................
2.5.7 Wiring and piping system diagram for hand .........................................................................................................
2.5.8 Electrical specifications of hand input/output ..................................................................................................
2.5.9 Air supply circuit example for the hand ...............................................................................................................
2.6 Shipping special specifications, options, and maintenance parts ......................................................................
2.6.1 Shipping special specifications .................................................................................................................................
(1) Machine cable .............................................................................................................................................................
2.7 Options .......................................................................................................................................................................................
(1) Machine cable extension ........................................................................................................................................
(2) Changes J1 axis operating range .......................................................................................................................
(3) Solenoid valve set .....................................................................................................................................................
(4) Hand input cable ........................................................................................................................................................
(5) Hand output cable .....................................................................................................................................................
(6) Hand curl tube ............................................................................................................................................................
(7) Internal Wiring/Piping set for hand ....................................................................................................................
(8) External Wiring/Piping box ....................................................................................................................................
2.8 About Overhaul ......................................................................................................................................................................
2.9 Maintenance parts .................................................................................................................................................................
2-65
2-65
2-66
2-67
2-67
2-68
2-68
2-68
2-68
2-68
2-68
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2-79
2-80
2-83
2-84
2-88
2-90
2-91
2-92
2-94
2-97
2-98
3 Controller .......................................................................................................................................................................................... 3-99
3.1 Standard specifications ...................................................................................................................................................... 3-99
3.2 Protection specifications and operating supply .................................................................................................... 3-100
3.3 Names of each part ........................................................................................................................................................... 3-101
3.3.1 Names of each part of the robot CPU .............................................................................................................. 3-103
3.4 Outside dimensions/Installation dimensions ........................................................................................................... 3-104
3.4.1 Outside dimensions .................................................................................................................................................... 3-104
(1) Outside dimensions of robot CPU unit ......................................................................................................... 3-105
(2) Battery unit outside dimension ........................................................................................................................ 3-106
3.4.2 Installation dimensions .............................................................................................................................................. 3-107
(1) Robot CPU Unit installation dimensions ....................................................................................................... 3-109
3.5 External input/output ....................................................................................................................................................... 3-110
3.5.1 Types ............................................................................................................................................................................... 3-110
3.6 Dedicated input/output ................................................................................................................................................... 3-111
3.7 Emergency stop input and output etc. ...................................................................................................................... 3-114
3.7.1 Connection of the external emergency stop ................................................................................................... 3-114
3.7.2 Special stop input (SKIP) ........................................................................................................................................ 3-119
3.7.3 Door switch function ................................................................................................................................................. 3-120
3.7.4 Enabling device function .......................................................................................................................................... 3-120
(1) When door is opening ............................................................................................................................................ 3-120
(2) When door is closing ............................................................................................................................................. 3-120
ii
Contents
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(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings ...........
3.8 Additional Axis Function ..................................................................................................................................................
3.8.1 Wiring of the Additional Axis Interface ..............................................................................................................
3.9 Magnet contactor control connector output (AXMC) for addition axes .....................................................
3.10 Options .................................................................................................................................................................................
(1) Teaching pendant (T/B) ......................................................................................................................................
(2) Controller protection box ....................................................................................................................................
(3) RT ToolBox2/RT ToolBox2 mini ......................................................................................................................
(4) Instruction Manual(bookbinding) .......................................................................................................................
3.11 Maintenance parts ...........................................................................................................................................................
3-121
3-122
3-122
3-125
3-127
3-128
3-131
3-136
3-138
3-139
4 Software ......................................................................................................................................................................................... 4-140
4.1 List of commands ............................................................................................................................................................... 4-140
4.2 List of parameters .............................................................................................................................................................. 4-143
5 Instruction Manual ..................................................................................................................................................................... 5-145
5.1 The details of each instruction manuals ................................................................................................................... 5-145
6 Safety .............................................................................................................................................................................................. 6-146
6.1 Safety ...................................................................................................................................................................................... 6-146
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-146
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-147
6.1.3 Precautions for using robot .................................................................................................................................... 6-147
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-148
6.1.5 Safety measures for teaching ............................................................................................................................... 6-148
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-148
6.1.7 Examples of safety measures ................................................................................................................................ 6-149
(1) CR750 drive unit ..................................................................................................................................................... 6-149
(2) External emergency stop connection [supplementary explanation] ................................................. 6-154
6.2 Working environment ......................................................................................................................................................... 6-157
6.3 Precautions for handling .................................................................................................................................................. 6-157
6.4 EMC installation guideline ............................................................................................................................................... 6-159
6.4.1 Outlines ........................................................................................................................................................................... 6-159
6.4.2 EMC directive ............................................................................................................................................................... 6-159
6.4.3 EMC measures ............................................................................................................................................................. 6-160
6.4.4 Component parts for EMC measures ................................................................................................................. 6-160
(1) Ferrite core ............................................................................................................................................................... 6-160
(2) Line noise filter ....................................................................................................................................................... 6-160
7Appendix ........................................................................................................................................................................... Appendix-161
Appendix 1 : Specifications discussion material (RH-6FH series) ..................................................... Appendix-161
Appendix 2 : Specifications discussion material (RH-12FH series) ................................................... Appendix-162
Appendix 3 : Specifications discussion material (RH-20FH series) ................................................... Appendix-163
iii
1General configuration
1 General configuration
1.1 Structural equipment
Structural equipment consists of the following types.
1.1.1 Standard structural equipment
The following items are enclosed as a standard.
(1) Robot arm
(2) Controller (CPU unit + Drive unit)
(3) The connecting cable for the CPU unit and the drive unit
(4) Machine cable
(5) Robot arm installation bolts
(6) Safety manual, CD-ROM (Instruction manual)
(7) Guarantee card
1.1.2 Special specifications
For the special specifications, some standard configuration equipment and specifications have to be changed
before factory shipping. Confirm the delivery date and specify the special specifications at the order.
1.1.3 Options
User can install options after their delivery.
1.1.4 Maintenance parts
Materials and parts for the maintenance use.
1-1 Structural equipment
1General configuration
1.2 Model type name of robot
This robot has arranged the type name corresponding to load mass, arm length, and environment specification.
Details are shown below, please select the robot suitable for the customer's use.
1.2.1 How to identify the robot model
RH - ◇◇ FH □□ △△ ○ - ● Q ▲ - SMxx
(a)
(b)
(c)
(d)
(e)
(f)
(g) (h) ( i )
(j)
(a). RH ..............................................Indicates the horizontal multiple-joint robot.
Ex.)
RV: Vertical multiple-joint type.
RH: Horizontal multiple-joint type.
(b). ◇◇ .........................................Indicates the maximum load.
Ex.)
6: 6kg
12: 12kg
20: 20kg
(c). FH ..............................................Indicates the FH series.
(d). □□ ..........................................Indicates the arm length.
Ex.)
35: 350mm
45: 450mm
55: 550mm
70: 700mm
85: 850mm
100: 1000mm
(e). △△ ..........................................Indicates the vertical stroke length.
Ex.)
20:
34:
35:
45:
200mm
340mm
350mm
450mm
stroke
stroke
stroke
stroke
(f). ○ ................................................Indicates environment specification.
Ex.)
Omitted: General specifications
C: Clean specifications
M: Oil mist specifications
(g). ●................................................Indicates the controller series.
Ex.)
Omitted: CR750 controller
(h). Q.................................................Indicates the controller type.
Q: iQ Platform
(i). ▲.................................................Technical standard of Conformity.
Ex.)
Omitted: No conformity of technical standard.
1: Conforms to the CE Marking
(j). - S
M xx........................... Indicates a special model. In order, limit special specification.
[1] [2]
[1] S: Indicates a special model.
[2] M: Indicates a specification with protection specification controller. (The controller protection box is attached.)
Model type name of robot 1-2
1General configuration
1.2.2 Combination of the robot arm and the controller
Table 1-1 : Combination of the robot arm and the controller
Protection specification
RH-6FH series
General-purpose environment
Clean specifications
Oil mist specifications
RH-12FH series
General-purpose environment
Clean specifications
Oil mist specifications
RH-20FH series
General-purpose environment
Clean specifications
Oil mist specifications
Robot arm
Arm
length
(mm)
RH-6FH3520-Q
RH-6FH4520-Q
RH-6FH5520-Q
RH-6FH3534-Q
RH-6FH4534-Q
RH-6FH5534-Q
RH-6FH3520C-Q
RH-6FH4520C-Q
RH-6FH5520C-Q
RH-6FH3534C-Q
RH-6FH4534C-Q
RH-6FH5534C-Q
RH-6FH3520M-Q
RH-6FH4520M-Q
RH-6FH5520M-Q
RH-6FH3534M-Q
RH-6FH4534M-Q
RH-6FH5534M-Q
350
450
550
350
450
550
350
450
550
350
450
550
350
450
550
350
450
550
RH-12FH5535-Q
RH-12FH7035-Q
RH-12FH8535-Q
RH-12FH5545-Q
RH-12FH7045-Q
RH-12FH8545-Q
RH-12FH5535C-Q
RH-12FH7035C-Q
RH-12FH8535C-Q
RH-12FH5545C-Q
RH-12FH7045C-Q
RH-12FH8545C-Q
RH-12FH5535M-Q
RH-12FH7035M-Q
RH-12FH8535M-Q
RH-12FH5545M-Q
RH-12FH7045M-Q
RH-12FH8545M-Q
550
700
850
550
700
850
550
700
850
550
700
850
550
700
850
550
700
850
RH-20FH8535-Q
RH-20FH10035-Q
RH-20FH8545-Q
RH-20FH10045-Q
RH-20FH8535C-Q
RH-20FH10035C-Q
RH-20FH8545C-Q
RH-20FH10045C-Q
RH-20FH8535M-Q
RH-20FH10035M-Q
RH-20FH8545M-Q
RH-20FH10045M-Q
850
1000
850
1000
850
1000
850
1000
850
1000
850
1000
J3-axis stroke
(mm)
Controller Note1)
200
340
200
CR750-06HQ-1
340
200
340
350
450
350
CR750-12HQ-1
450
350
450
350
450
350
CR750-20HQ-1
450
350
450
Note1) When you use by adverse environment, please use the controller protection box (CR750-MB).
1-3 Model type name of robot
1General configuration
1.3 CE marking specifications
The robot shown in the Table 1-2 is the CE Marking specification.
Table 1-2 : Robot models with CE marking specifications
Robot type
Note1)
RH-6FHxxyy-Q1-S15
Controller
External signal logic
Language setting
Source type
English (ENG)
Note2)
RH-6FHxxyyC-Q1-S15
Note4)
CR750-06HQ1-1-S15
Note3)
Note1) The "xx" indicate the arm length, "yy"indicate J3-axis stroke.
Note2) This robot's protection specification is IP54. Although bellows are not installed at the shaft, please give the dealer an
order if needed. As long as there is no special description, refers to the details of RH-6FHxxyyM (oil-mist
specification).
Note3) The specification and the handling method of the controller are the same as standard type controller CR750-06HD-1.
Note4) This robot is the clean specification. As long as there is no special description, refers to the contents of RH-6FHxxyyC
(clean specification).
1.4 Indirect export
The display in English is available by setting parameter LNG as "ENG."
1.5 Instruction manuals
The instruction manuals supplied in CD-ROM, except for the Safety Manual. This CD-ROM (electronic manual)
includes instruction manuals in both Japanese and English versions.
CE marking specifications 1-4
1.6 Contents of the structural equipment
1.6.1 Robot arm
The list of structural equipment is shown in below.
RH-6FH series
Horizontal four-axis multiple-jointed type
(RH-6FH series)
Machine cable
(Standard product:
5m attachment)
Machine cable
(Fix type : 2m)
・ 1S-02UCBL-01
Machine cable extension
・ Fix type: 1S- □□ CBL-01 (extension type)
・ Flex type: 1S- □□ LCBL-01 (extension type)
1S- □□ LUCBL-01 (direct type)
Note1) □□ refer the length. Refer to Table 1-3 for details.
* Refer to Page 10, "2.1 Standard specifications" for details on the specifications.
Changes J1 axis operating range
・ 1F-DH-01
Solenoid valve set
・ 1F-VD0*-01 (Sink type)
・ 1F-VD0*E-01 (Source type)
(*: 1 to 4 = 1 set to 4 set)
Internal Wiring/Piping set for hand
・ 1F-HS408S-01 (200mm stroke)
・ 1F-HS408S-02 (340mm stroke)
Pneumatic hand
customer-manufactured parts
*With hand output cable.
This option
Hand output cable
・ 1F-GR60S-01 (4sets)
External Wiring/Piping box
・ 1F-UT-BOX
Pull out Wiring/Piping
This option
Hand input cable
・ 1F-HC35C-01
Hand curl tube
・ 1E-ST0408C-300
[Caution]
Fig.1-1 : Structural equipment (RH-6FH series)
1-5 Contents of the structural equipment
Standard configuration
equipment
Option
Special specifications
Prepared by customer
RH-12FH/20FH series
Horizontal four-axis multiple-jointed type
(RH-12FH/20FH series)
Machine cable
(Standard product:
5m attachment)
Machine cable
(Fix type : 2m)
・ 1S-02UCBL-01
* Refer to Page 10, "2.1 Standard specifications" for details on the specifications.
Machine cable extension
Fix type:1S- □□ CBL-01
Flex type:1S- □□ LCBL-01
Note1) □□ refer the length. Refer to Table 1-3 for details.
Note2) Connect the extension cables to the arm side of the
standard cable to extend.
Changes J1 axis operating range
・ 1F-DH-02
Solenoid valve set
・ 1S-VD0*-01 (Sink type)
・ 1S-VD0*E-01 (Source type)
(*: 1 to 4 = 1 set to 4 set)
Internal Wiring/Piping set for hand
・ 1F-HS604S-01(350mm stroke)
・ 1F-HS604S-02(450mm stroke)
Pneumatic hand
customer-manufactured parts
* With hand output cable.
This option
Hand output cable
・ 1F-GR60S-01 (4sets)
External Wiring/Piping box
・ 1F-UT-BOX-01
Pull out Wiring/Piping
This option
Hand input cable
・ 1F-HC35C-02
Hand curl tube
・ 1N-ST0608C-01
[Caution]
Standard configuration
equipment
Option
Special specifications
Prepared by customer
Fig.1-2 : Structural equipment (RH-12FH/20FH series)
Contents of the structural equipment 1-6
1
General configuration
1.6.2 Controller
The devices shown below can be installed on the controller.
The controllers that can be connected differ depending on the specification of the robot. (Refer to Page 2, "1.2
Model type name of robot".)
Drive unit
Robot CPU unit
・ Q172DRCPU
・ RH-6FH: DU750-06HQ-1
・ RH-12FH: DU750-12HQ-1
・ RH-20FH: DU750-20HQ-1
Battery unit
・ Q170DBATC
*1)
*1)The base board, the power supply unit, and sequencer CPU
are required for installation of the robot CPU unit. Prepared by
customer
Robot CPU unit connecting cable set
Robot CPU unit connecting cable set
・ TU cable for robot................................ 2Q-TUCBL □□ M
・ DISP cable for robot ........................... 2Q-DISPCBL □□ M
・ EMI cable for robot .............................. 2Q-EMICBL □□ M
・ SSCNET III cable for robot............... MR-J3BUS05M-A : 5m
MR-J3BUS20M-A : 20m
MR-J3BUS30M-B : 30m
・ TU cable for robot ............................ 2Q-TUCBL10M
・ DISP cable for robot............................2Q-DISPCBL10M
・ EMI cable for robot...............................2Q-EMICBL10M
・ SSCNET III cable for robot ...............MR-J3BUS10M-A
This 10m cable is used for connecting the robot CPU unit.
Note) The numbers in the boxes □□ refer the length.
□□ = 05 (5m), 20 (20m), 30 (30m).
Controller protection box
・ CR750-MB
Teaching pendant (T/B)
R32TB
Personal computer
Prepared by customer
R56TB
RT ToolBox2/RT ToolBox2 mini
RT ToolBox2
・ 3D-11C-WINJ(CD-ROM)
(MS-Windows2000/XP/Vista/7)
RT ToolBox2 mini
・ 3D-12C-WINJ(CD-ROM)
(MS-Windows2000/XP/Vista/7)
Instruction Manual(bookbinding)
・ 5F-RB01-PE01
[Caution]
Standard configuration
equipment
Special specifications
Fig.1-3 : Structural equipment
1-7
Options
Prepared by
customer
1
General configuration
1.7 Contents of the Option equipment and special specification
A list of all Optional equipment and special specifications are shown below.
Table 1-3 : The list of Option equipment and special specification
Item
Stopper for changing the
operating range (J1 axis)
Type
1F-DH-01
1F-DH-02
Specifications
The stopper parts for J1 axis
The stopper parts for J1 axis
Classification
○
○
Machine cable
1S-02UCBL-01
(Replaced to shorter cable)
For fixing
(Set of power and signal)
Extended machine cable
1S- □□ CBL-01
For fixing (Set of power and signal)
Extension type
○
1S- □□ LCBL-01
For flexing (Set of power and signal)
Extension type
○
1S- □□ LUCBL-01
For flexing (Set of power and signal)
Direct type
○
Solenoid valve set
Hand input cable
○・□
1F-VD01-01/VD01E-01 1 set (Sink type)/(Source type)
○
1F-VD02-01/VD02E-01 2 set (Sink type)/(Source type)
○
1F-VD03-01/VD03E-01 3 set (Sink type)/(Source type)
○
1F-VD04-01/VD04E-01 4 set (Sink type)/(Source type)
○
1S-VD01-01/VD01E-01 1 set (Sink type)/(Source type)
○
1S-VD02-01/VD02E-01 2 set (Sink type)/(Source type)
○
1S-VD03-01/VD03E-01 3 set (Sink type)/(Source type)
○
1S-VD04-01/VD04E-01 4 set (Sink type)/(Source type)
○
1F-HC35C-01
1F-HC35C-02
Robot side: connector.
Hand side: wire.
Robot side: connector.
Hand side: wire.
Hand output cable
1F-GR60S-01
Robot side: connector.
Hand side: wire
Hand curl tube
1E-ST0408C-300
For solenoid valve 4set.:Φ4x8
1N-ST0608C-01
For solenoid valve 4set.:Φ6x4
External Wiring/Piping box 1F-UT-BOX
Description
Note1)
This must be installed by the customer.
For RH-6FH series
This must be installed by the customer.
For RH-12FH/20FH series
2m
(A 2m cable is supplied instead of the
5m cable that is supplied as standard)
5、 10、 15m
The solenoid-valve set for the hand of
the customer setup.
For RH-6FH series.
1F-VD0*-01: Sink type
1F-VD0*E-01: Source type
The solenoid-valve set for the hand of
the customer setup.
For RH-12FH/20FH series.
1S-VD0*-01: Sink type
1S-VD0*E-01: Source type
○
The cable is connected to the sensor by
the customer.
Attaches the cable clamp (drip proof
type) For RH-6FH series
○
The cable is connected to the sensor by
the customer.
Attaches the cable clamp (drip proof
type) For RH-12FH/20FH series
○
This cable can be used for the solenoid
valve prepared by the customer.
○
○
For solenoid valve 4set.:Φ4x8
Curl type air tube
For RH-6FH series
Curl type air tube
For RH-12FH/20FH series
○
Box which pulls out the Wire/Piping
(Hand I/O cable, Hand curl tube)
○
Box which pulls out the Wire/Piping
(Hand I/O cable, Hand curl tube)
For RH-6FH series
1F-UT-BOX-01
For solenoid valve 4set.:Φ4x8
For RH-12FH/20FH series
Internal Wiring/Piping set
for hand
Simple teaching pendant
1F-HS408S-01
Hand input (eight points) + φ4
eight hoses
1F-HS408S-02
Hand input (eight points) + φ4
eight hoses
○
1F-HS604S-01
Hand input (eight points) + φ6 four
hoses
○
1F-HS604S-02
Hand input (eight points) + φ6 four
hoses
○
R32TB
Cable length 7m
○
R32TB-15
Cable length 15m
○
○
Highly efficient teaching
pendant
R56TB
Cable length 7m
○
R56TB-15
Cable length 15m
○
Controller protection box
CR750-MB
IP54
○
Wiring/Piping to pass in the shaft
For RH-6FH series (200mm stroke)
Wiring/Piping to pass in the shaft
For RH-6FH series (340mm stroke)
Wiring/Piping to pass in the shaft
For RH-12FH/20FH series (350mm stroke)
Wiring/Piping to pass in the shaft
For RH-12FH/20FH series (450mm stroke)
With 3-position enable switch
IP65
The controller protection box is used to
protect the controller from an oil mist or
other operating environment.
Contents of the Option equipment and special specification 1-8
1
General configuration
Item
Type
Specifications
RT ToolBox2
(Personal computer Sup-
3D-11C-WINE
CD-ROM
RT ToolBox2 mini
(Personal computer Sup-
3D-12C-WINE
CD-ROM
port software)
port software mini)
Classification
Note1)
○
○
Description
MS-Windows2000/XP/Vista/7
(With the simulation function)
MS-Windows2000/XP/Vista/7
Robot CPU unit connection 2Q-RC-CBL □□ M
cable set
Cable length 05, 20, 30m
□
This option include TU, DISP, EMI and
SSCNET cables.
TU cable for robot
2Q-TUCBL □ M
Cable length 05, 20, 30m
□
For communication between robot CPU
and DU.
DISP cable for robot
2Q-DISPCBL □ M
Cable length 05, 20, 30m
□
For communication between robot CPU
and DU.
EMI cable for robot
2Q-EMICBL □ M
Cable length 05, 20, 30m
□
For a robot CPU emergency stop input.
Cable length 05, 20m
□
MR-J3BUS30M-B
Cable length 30m
□
For the servo communication between
robot CPU and DU .
5F-RB01-PE01
RH-6FH/12FH/20FH-Q series
○
SSCNET Ⅲ cable for robot MR-J3BUS □ M-A
Instruction Manual
Note1) ○ : option, □ : special specifications.
1-9 Contents of the Option equipment and special specification
2Robot arm
2 Robot arm
2.1 Standard specifications
2.1.1 Basic specifications
(1) RH-6FH series
Table 2-1 : Standard specifications of robot arm
Item
Specifications
Unit
RH-6FH3520/3534
RH-6FH3520C/3534C
RH-6FH3520M/3534M
TypeNote1)
Environment
RH-6FH4520/4534
RH-6FH4520C/4534C
RH-6FH4520M/4534M
Blank: Standard specification
C: Clean specification
M: Oil mist specification Note2)
Installation posture
On floor
Degree of freedom
4
Structure
Horizontal, multiple-joint type
Drive system
AC servo motor
Position detection method
Motor capacity
Absolute encoder
J1
W
750
J2
W
400
J3 (Z)
W
200
J4 (θaxis)
W
100
Brake
J1, J2, J4: no brake, J3: with brake
Arm length
№ 1 arm
mm
№ 2 arm
mm
Max.reach radius( № 1+ № 2)
mm
Operating range
J1
deg
J2
deg
125
350
450
±145
deg
±360
deg/s
400
J2
deg/s
670
J3 (Z)
mm/s
2,400
J4 (θaxis)
deg/s
2,500
Maximum horizontal composite speed
mm/s
Note4)
Note5)
Load
Z axis pressing force
6,900
7,600
sec
0.29
kg
(N)
3
Maximum
Maximum
N
165
Rating
550
RH-6FH**20/**20C/**20M: 200 (+133 to +333)
RH-6FH**34: 340 (-7 to +333)
RH-6FH**34C/**34M: 340 (-43 to +297)
J1
Speed of motion Note3)
325
±170
mm
J4 (θaxis)
225
225
J3 (Z)
Cycle time
RH-6FH5520/5534
RH-6FH5520C/5534C
RH-6FH5520M/5534M
8,300
6
Note6)
Allowable inertia
Rating
Maximum
Pose repeatability Note7) X-Y
direction
mm
±0.010
±0.010
mm
±0.010
J4 (θaxis)
deg
±0.004
℃
Mass
k
Tool wiring
±0.012
0 to 40
36
37
・ Input 8 points/Output 8 points, (total 20 cores)
・ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)
・ Ethernet cable one cable (100BASE-TX, eight cores) Note8)
Tool pneumatic pipes
Primary: φ6 x two hoses, Secondary: φ4 x eight hoses
Supply pressure
Painting color
0.12
J3 (Z)
Ambient temperature
Protection specification
0.01
kg ・ m2
MPa
Note10)
Note9)
0.5±10%
Standard specification: IP20
Clean specification: ISO class 3 Note11)
Oil mist specification: IP65 Note12) Note13)
CE Marking specification: IP54 Note13) Note14)
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Standard specifications 2-10
2Robot arm
Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a
letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist
specification. The type in which operating range of J3 axis (Z) is 200mm and 340mm are shown together.
Note2) The oil-mist specification of CE specification is the standards.
Note3) The maximum speed is the value which applied MvTune2 (high-speed movement mode).
Note4) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2,
and J4. The control point is the position offset by the rated inertia from the flange.
Note5) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of
2kg.
・ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the
moving position.
25
300
Note6) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the
J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of
time, an excess load error may occur. Please operate in a manner that does not cause errors.
Note7) The pose repeatability details are given in Page 16, "2.2.1 Pose repeatability".
Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.
Note9) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown on Page 84, "(3) Solenoid valve set".
Note10) The protection specification details are given in Page 25, "2.2.7 Protection specifications".
Note11) The details of the clean specifications are described in Page 27, "2.2.8 Clean specifications". Protection of the
cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction is
30-50 L/min. A φ8 joint is prepared at the base rear part for suction.
The protection specification details are given in Page 25, "2.2.7 Protection specifications".
Note12) Direct jet flow to the bellows section is not included.
Note13) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the operation environment. A robot equipped with the controller protection box as standard is available.
Note14) Please contact dealer since the environmental resistance may not be secured depending on the characteristics of
oil you use. (IP54 of the CE specifications prevent direct jet to the shaft.) Mounting a bellows to the shaft tip makes
the protection degree compliant with IP65. However, avoid direct jet to the bellows. For the method to mount the
bellows, consult with the dealer.
2-11 Standard specifications
2Robot arm
(2) RH-12FH series
Table 2-2 : Standard specifications of robot arm
Item
Specifications
Unit
RH-12FH5535/5545
RH-12FH5535C/5545C
RH-12FH5535M/5545M
TypeNote1)
Environment
RH-12FH7035/7045
RH-12FH7035C/7045C
RH-12FH7035M/7045M
Blank: Standard specification
C: Clean specification
M: Oil mist specification
Installation posture
On floor
Degree of freedom
4
Structure
Horizontal, multiple-joint type
Drive system
AC servo motor
Position detection method
Motor capacity
Absolute encoder
J1
W
750
J2
W
750
J3 (Z)
W
400
J4 (θaxis)
W
200
№ 1 arm
mm
№ 2 arm
mm
Brake
J1, J2, J4: no brake, J3: with brake
Arm length
Max.reach radius( № 1+ № 2)
mm
Operating range
J1
deg
J2
deg
J3 (Z)
J4 (θaxis)
Speed of motion Note2)
225
375
550
700
±145
J2
deg/s
±153
RH-12FH**35/**35C/**35M: 350 (-10 ~ +340)
RH-12FH**45/**45C/**45M: 450 (-110 ~ +340)
deg
deg/s
±360
420
280
450
mm/s
2,800
J4 (θaxis)
deg/s
2,400
Maximum horizontal composite speed
mm/s
11,435
Note3)
Note4)
Load
Z axis pressing force
12,535
sec
0.30
Maximum
kg
(N)
12
Maximum
N
200
Rating
850
±170
mm
J1
525
325
J3 (Z)
Cycle time
RH-12FH8535/8545
RH-12FH8535C/8545C
RH-12FH8535M/8545M
11,350
3
Note5)
Allowable
inertia
Rating
Maximum
Pose repeatability Note6) X-Y direction
mm
±0.012
±0.015
mm
±0.010
J4 (θaxis)
deg
±0.005
℃
Mass
kg
Tool wiring
0 to 40
65
67
69
・ Input 8 points/Output 8 points, (total 20 cores)
・ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)
・ Ethernet cable one cable (100BASE-TX, eight cores) Note7)
Tool pneumatic pipes
Primary: φ6 x two hoses, Secondary: φ4 x eight hoses
Supply pressure
Painting color
0.3
J3 (Z)
Ambient temperature
Protection specification
0.025
kg ・ m2
MPa
Note9)
Note8)
0.5±10%
Standard specification: IP20
Clean specification: ISO class 3 Note10)
Oil mist specification: IP65 Note11) Note12)
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a
letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist
specification. The type in which operating range of J3 axis (Z) is 350mm and 450mm are shown together.
Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).
Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2,
and J4. The control point is the position offset by the rated inertia from the flange.
Standard specifications 2-12
2Robot arm
Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of
2kg.
・ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the
moving position.
25
300
Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the
J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of
time, an excess load error may occur. Please operate in a manner that does not cause errors.
Note6) The pose repeatability details are given in Page 16, "2.2.1 Pose repeatability".
Note7) The 8-wire cable designated for LAN wiring can also be used for backup wiring.
Note8) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown on Page 84, "(3) Solenoid valve set".
Note9) The protection specification details are given in Page 25, "2.2.7 Protection specifications".
Note10) The details of the clean specifications are described in Page 27, "2.2.8 Clean specifications". Protection of the
cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction is
60-140 L/min. A φ8 joint is prepared at the base rear part for suction.
Note11) Direct jet flow to the bellows section is not included.
Note12) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the operation environment. A robot equipped with the controller protection box as standard is available.
2-13 Standard specifications
2Robot arm
(3) RH-20FH series
Table 2-3 : Standard specifications of robot arm
Item
Specifications
Unit
RH-20FH8535/8545
RH-20FH8535C/8545C
RH-20FH8535M/8545M
TypeNote1)
Environment
RH-20FH10035/10045
RH-20FH10035C/10045C
RH-20FH10035M/10045M
Blank: Standard specification
C: Clean specification
M: Oil mist specification
Installation posture
On floor
Degree of freedom
4
Structure
Horizontal, multiple-joint type
Drive system
AC servo motor
Position detection method
Motor capacity
Absolute encoder
J1
W
750
J2
W
750
J3 (Z)
W
400
J4 (θaxis)
W
200
Brake
J1, J2, J4: no brake, J3: with brake
Arm length
525
№ 1 arm
mm
№ 2 arm
mm
325
475
Max.reach radius( № 1+ № 2)
mm
850
1,000
Operating range
J1
deg
J2
deg
J3 (Z)
J4 (θaxis)
±170
±153
RH-20FH**35/**35C/**35M: 350 (-10 ~ +340)
RH-20FH**45/**45C/**45M: 450 (-110 ~ +340)
mm
deg
±360
J1
deg/s
280
J2
deg/s
450
J3 (Z)
mm/s
2,400
J4 (θaxis)
deg/s
1,700
Maximum horizontal composite speed
mm/s
Speed of motion Note2)
Note3)
Cycle time
Note4)
Load
Z axis pressing force
sec
Rating
11,372
13,283
0.30
0.36
5
Maximum
kg
(N)
20
Maximum
N
230
Note5)
Allowable
inertia
Rating
Maximum
Pose repeatability Note7) X-Y direction
mm
Note6)
±0.015
±0.020
J3 (Z)
mm
±0.010
deg
±0.005
℃
Mass
kg
Tool wiring
0 to 40
75
77
・ Input 8 points/Output 8 points, (total 20 cores)
・ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)
・ Ethernet cable one cable (100BASE-TX, eight cores) Note8)
Tool pneumatic pipes
Primary: φ6 x two hoses, Secondary: φ4 x eight hoses
Supply pressure
Painting color
1.05
J4 (θaxis)
Ambient temperature
Protection specification
0.065
kg ・ m2
MPa
Note10)
Note9)
0.5±10%
Standard specification: IP20
Clean specification: ISO class 3 Note11)
Oil mist specification: IP65 Note12) Note13)
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in
a letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist
specification. The type in which operating range of J3 axis (Z) is 350mm and 450mm are shown together.
Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).
Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1,
J2, and J4. The control point is the position offset by the rated inertia from the flange.
Standard specifications 2-14
2Robot arm
Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass
of 2kg.
・ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by
the moving position.
25
300
Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and
the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long
periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.
Note6) When offset hand is used, the adjustment of moving speed and acceleration/deceleration speeds may be the Required.
Refers to it, because the details is shown in Page 17, "2.2.2 Rated load (mass capacity)".
Note7) The pose repeatability details are given in Page 16, "2.2.1 Pose repeatability".
Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.
Note9) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown on Page 84, "(3) Solenoid valve set".
Note10) The protection specification details are given in Page 25, "2.2.7 Protection specifications".
Note11) The details of the clean specifications are described in Page 27, "2.2.8 Clean specifications". Protection of the
cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction
is 60-140 L/min. A φ8 joint is prepared at the base rear part for suction.
Note12) Direct jet flow to the bellows section is not included.
Note13) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the operation environment. A robot equipped with the controller protection box as standard is available.
2.1.2 The counter-force applied to the installation surface
The counter-force applied to the installation surface for the strength design of the robot installation surface is
shown.
Table 2-4 : Value of each counter-force
Item
RH-6FH series
Falls moment: ML
Torsion moment: MT
Horizontal translation force: FH
Vertical translation force: FV
RH-12FH/20FH series
Falls moment: ML
Torsion moment: MT
Horizontal translation force: FH
Vertical translation force: FV
2-15 Standard specifications
Unit
Value
N•m
N•m
N
N
1,640
710
1,653
2,318
N•m
N•m
N
N
3,190
1,840
2,240
2,500
2 Robot arm
2.2 Definition of specifications
The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.
2.2.1 Pose repeatability
For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value
is based on 100 measurements (although 30 measurements are required according to JIS).
[Caution] The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.
[1] Operation pattern factors
1) When an operation that approaches from different directions and orientations are included in relation to the teaching position during repeated operations
2) When the speed at teaching and the speed at execution are different
[2] Load fluctuation factor
1) When work is present/absent in repeated operations
[3] Disturbance factor during operation
1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway
[4] Temperature factors
1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation
[5] Factors due to differences in accuracy definition
1) When accuracy is required between a position set by a numeric value in the robot's internal coordinate system and a position within the actual space
2) When accuracy is required between a position generated by the pallet function and a position
within the actual space
Definition of specifications 2-16
2 Robot arm
2.2.2 Rated load (mass capacity)
The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass,
eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the following issues.
(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable
moment found in Page 10, "2.1.1 Basic specifications".
(2) Fig. 2-1 shows the distribution dimensions for the center of gravity in the case where the volume of the
load is relatively small. Use this figure as a reference when designing the tooling.
Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in Fig. 2-1 to
Fig. 2-3, when loading mass is maximum (RH-6FH: 6kg, RH-12FH: 12kg, RH-20FH: 20kg).
(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allowable
moment. Refer to Page 10, "2.1 Standard specifications" for details of allowable moment value.
[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.
Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt
alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceleration, the operating speed, and the motion posture.
[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia
defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes
or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling.
Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note
that if the point of operation is kept away from the mechanical interface surface by long and low-rigid
tooling, the positioning accuracy may deteriorate or may cause vibration.
Note that the allowable offset value (Z direction) from the lower edge of the shaft to the position of center
of gravity is 100 mm.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascending operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending
speed.
[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position
separates from the shaft center. Refer to Page 19, "2.2.3 Relationships Among Mass Capacity, Speed, and
Acceleration/Deceleration Speed" in detail. When the load center-of-gravity position separate from the
center of shaft (RH-6FH: more than 140mm, RH-12FH: more than 150mm, RH-20FH: more than 120mm),
an overload alarm may occur depending on the posture. In this case, please reduce acceleration and
deceleration (Accel command) speeds and movement speed (Ovrd command). Although the standard value
to reduce is 50% for each command, please adjust corresponding to the movement posture. Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details of each command.
60mm (3kg)
140mm (6kg)
Unit:
mm
単位:mm
Shaft
center
シャフト中心
Allowable moment of inertia
Rating
定格慣性モーメント
Maximum
最大慣性モーメント
Fig.2-1 : Position of center of gravity for loads (for loads with comparatively small volume): RH-6FH series
2-17
2 Robot arm
85mm (3kg)
150mm (12kg)
Unit:
mm
単位:mm
Shaft
center
シャフト中心
Allowable moment of inertia
Rating
定格慣性モーメント
Maximum
最大慣性モーメント
Fig.2-2 : Position of center of gravity for loads (for loads with comparatively small volume): RH-12FH series
110mm (5kg)
230mm (20kg)
300mm (12kg)
Unit:
mm
単位:mm
Shaft
center
シャフト中心
Allowable moment of inertia
Rating
定格慣性モーメント
Maximum
最大慣性モーメント
Fig.2-3 : Position of center of gravity for loads (for loads with comparatively small volume): RH-20FH series
2-18
2 Robot arm
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according
to the load capacity and size that have been set, and operates using these automatically set speeds.
To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.
However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending
on the robot operation pattern or ambient temperature.
In this case, reduce the speed and the acceleration and deceleration rate before continuing to use. This is done by
accessing the robot program and adjusting the speed settings (Ovrd) and the acceleration and deceleration settings (Accel).
If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism elements used in the robot may be shortened. In the case of a work requiring a high degree of accuracy, set up the
load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.
(1) Setting Load Capacity and Size (Hand Conditions)
Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration
setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8
can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using
the "LoadSet" command in a program.
For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations."
It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".
<Factor default settings>
Hand mass
kg
RH-6FH series
HNDDAT*
WRKDAT*
RH-12FH series
HNDDAT*
WRKDAT*
RH-20FH series
HNDDAT*
WRKDAT*
size X
mm
size Y
mm
size Z
mm
center-of-gravity center-of-gravity center-of-gravity
position X mm
position Y mm
position Z mm
6.0
99.0
99.0
76.0
0.0
0.0
38.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
12.0
165.0
165.0
64.0
0.0
0.0
16.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
20.0
165.0
165.0
109.0
0.0
0.0
37.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
Note) The position of the center of gravity is located at the center of the surface at the bottom of the shaft. Set
the X, Y and Z center of gravity positions for the tool coordinate directions (the Z center of gravity position
will be a plus for downward directions).
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending
on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count
specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These
vibrations at the tip of the arm can be reduced by taking the following measures:
1) Change the robot's operating speed by using the Ovrd command.
2) Change and move the teaching points of the robot.
3) Change the hand mass and hand inertia.
2-19
2 Robot arm
2.2.5 Vibration of shaft (J3 axis) position and arm end
Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the
low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem
occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes
long. When this vibration affects the robot's operations, please change operating speed etc. like the above Page
19, "2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot".
(1) Relationship Between Mass Capacity and Speed
RH-20FH series
100
52
(%)
(%)
0
0
3
Load 負荷質量(kg)
capacity (kg)
6
Maximum speed ratio (%)
68
Maximum speed ratio (%)
100
RH-12FH series
最高速度割合
RH-6FH series
最高速度割合
最高速度割合
Maximum speed ratio (%)
A function to optimize the maximum speed of each axis according to the setting value of the load capacity will be
activated (Refer to Fig. 2-4).
However, this function does not work with the following load mass:
RH-6FH/12FH series: 3kg or less
RH-20FH series: 5kg or less
When the setting of the load mass is changed to following, the maximum speed is compensated according to the
load mass:
RH-6FH/12FH series: 3kg or heavier
RH-20FH series: 5kg or heavier
[CAUTION] Depending on the operation pattern, the speed and/or acceleration/deceleration at the front edge
may not be parallel with the speed and the rate of change of acceleration/deceleration specified in a
program.
100
50
(%)
0
0
6
9
負荷質量(kg)
Load
capacity (kg)
3
12
0
0
5
10
15
20
負荷質量(kg)
Load
capacity (kg)
Fig.2-4 : Automatic compensation of speed
2-20
2 Robot arm
(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-5,
Fig. 2-6) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2-5.
Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-5 if the position of the center of
gravity of the load is located at the front edge of the shaft.
This function contains both a standard acceleration and deceleration pattern and a high acceleration and deceleration pattern, both of which can be selected in the parameters. The original settings are set to the standard
acceleration and deceleration pattern, which enables operation while keeping vibration at the shaft tip (including
residual vibration) to a minimum. Users are also able to select the high acceleration and deceleration pattern and
operate the robot at high speed. When doing so, users should make sure that additional vibration will not have a
negative impact on work carried out by the robot. Where necessary the pattern should be changed, allowing the
robot to be used in the most effective way.
The relevant parameter names and their set values are shown below. For more details about parameters and how
to change them, please refer to the separate “Instruction Manual/Detailed Explanation of Functions and
Operations”.
Parameter name.....................MAPMODE (acceleration and deceleration optimization pattern selected)
Set value and function.........0: Standard acceleration and deceleration pattern (original setting)
1: High acceleration and deceleration pattern
Area in which speed and
acceleration/deceleration
speed are not速度、加減速度を
compensated
補正しない領域
P1
→
Area in which速度、加減速度を
speed and
acceleration/deceleration
→
補正する領域
speed are compensated
P3
Shaft
(J3 axis)
シャフト(J3軸)
P2
Fig.2-5 : Area in which acceleration/deceleration speed is compensated
Table 2-5 : Area in which acceleration/deceleration speed is compensated
J3 axis stroke (mm)
Type
RH-6FH series
Note1)
RH-12FH/20FH series
Compensation area
(P2 to P3)
Stroke
length
P1(Upper
end)
P2(Lower
end)
340
333
-7
350
340
-10
-10 to 240
450
340
-110
-110 to 155
-7 to 133
Note1) When stroke of J3 axis is 200mm this function is not operate.
2-21
2 Robot arm
(%)
0
2
-7
133 73
333
Shaftシャフト位置(mm)
position (mm)
加減速度割合
(Standard Acceleration/deceleration speed)
Acceleration/deceleration speed ratio(%)
100
65
38
(%) 20
0
0 -110
340 240 140
-10
Shaftシャフト位置(mm)
position (mm)
加減速度割合
Acceleration/deceleration speed ratio(%)
(Standard Acceleration/deceleration speed)
100
50
37
(%) 20
0
155 70 0 -110
340
-10
Shaftシャフト位置(mm)
position (mm)
50
34
(%)
0
-7
133 73
333
Shaftシャフト位置(mm)
position (mm)
J3
axis
stroke
350/450mm
J3 軸
(Z)(Z)
ストローク
340mm
( 高加減速度 )
(Standard Acceleration/deceleration speed)
100
65
61
58
(%)
0
0 -110
340 240 140
-10
Shaft シャフト位置(mm)
position (mm)
J3 軸
axis
stroke
350/450mm
(Z)(Z)
ストローク
340mm
( 高加減速度 )
加減速度割合
RH-20FH series
J3 軸
axis
stroke
350/450mm
(Z)(Z)
ストローク
340mm
( 標準加減速度 )
100
加減速度割合
RH-12FH series
J3 軸
(Z)(Z)
ストローク
340mm
( 標準加減速度 )
J3
axis
stroke
350/450mm
Acceleration/deceleration speed ratio(%)
50
(High acceleration and deceleration rate)
Acceleration/deceleration speed ratio(%)
Acceleration/deceleration speed ratio(%)
100
J3 axis (Z) stroke 340mm
加減速度割合
加減速度割合
(Standard Acceleration/deceleration speed)
(Standard Acceleration/deceleration speed)
Acceleration/deceleration speed ratio(%)
RH-6FH series
J3 axis (Z) stroke 340mm
(%)
100
50
41
30
0
155 70 0 -110
340
-10
Shaftシャフト位置(mm)
position (mm)
Fig.2-6 : Automatic compensation of acceleration/deceleration speed
2-22
2 Robot arm
(3) Relation between offset length and the maximum speed
Maximum speed ratio (%)
Maximum speed ratio (%)
最大速度割合
最大速度割合
<RH-6FH**20>
100
76
50
(%)
100
70
40
(%)
0
0
140
30 60
Offset
length
(mm)
オフセット量(mm)
0
140
0 20 40
Offset
length
(mm)
オフセット量(mm)
Maximum speed ratio (%)
100
91
(%)
最大速度割合
<RH-20FH**35/**45>
最大速度割合
<RH-12FH**35/**45>
Maximum speed ratio (%)
<RH-6FH**34>
100
62
(%)
0
0
92
Offset length (mm)
オフセット量(mm)
150
0
230
115
0
Offset
length (mm)
オフセット量(mm)
Fig.2-7 : Relationship of the offset length and maximum velocity
[Supplementary explanation 1]: The setting which shortens execution time
The execution time can be improved by using the following methods.
1)
2)
3)
4)
Perform continuous path operation using the Cnt command.
Control the optimum acceleration/deceleration using the Oadl command.
Control the optimum speed using the Spd command.
Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maximum 100)
The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate
parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a
short wait time (setting of B in the Fig. 2-8).
This setting is suited for continuous operations that have a short tact time, such as palletizing work.
Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/
deceleration speed can be increased by initial setting (setting of A in the Fig. 2-8).
However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat
errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.
A
Tact time/
1 cycle
O peration time
Wait time
B
Increased acceleration/deceleration speed
Acceleration/deceleration speed [m/sec2]
= optimum acceleration/deceleration speed [m/sec2]
x Accel instruction [%] x parameter JADL [%]
Fig.2-8 : Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)
2-23
2 Robot arm
(4) Time to reach the position repeatability
More150mm
than 150mm
以上
When using this robot, the time to reach the position repeatability may be prolonged due to the effect of residual
vibration at the time of stopping. If this happens, take the following measures:
1) Change the operation position of the Z axis to the location near the top as much as possible.
2) Increase the operation speed prior to stopping.
3) When positioning the work near the bottom edge of the Z axis, if no effectiveness is achieved in step ②
above, perform operation ① (robot path: O → A → C). In the case of operation 2 (robot path: O → B →
C), residual vibration may occur. (Refer to Fig. 2-9.)
A
①
O
②
B
Fig.2-9 : Recommended path when positioning at the bottom edge of the Z axis
2.2.6 Collision detection
This series have the "collision detection function" which detects the abnormalities by the collision of the robot
arm, and the initial setting has set this function as the enable to suppress damage to the minimum.
Although the enable/disable of this function can be changed by parameter: COL and command: ColChk, you should
use in valid condition of this function for protection of the robot and of the peripheral equipment.
The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any
time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should
be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for
example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold condition, the operation after long term stoppage)
In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection
level according to actual use environment, the sensitivity of collision detection can be optimized and the damage
risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate
by accustoming at low speed (warm-up), or use the warm-up operation mode.
Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related
parameter.
Table 2-6 : Factory-shipments condition
RH-6FH/12FH/20FH series
JOG operation
Automatic
Valid
Invalid
2-24
2 Robot arm
2.2.7 Protection specifications
(1) Types of protection specifications
The robot arm has protection specifications that comply with the IEC Standards. The protection specifications
and applicable fields are shown in Table 2-7.
Even oil mist environment can be used in addition to the general environment.
Table 2-7 : Protection specifications and applicable fields
Type
RH-6FHxx20/xx34
RH-12FHxx35/xx45
RH-20FHxx35/xx45
Protection
specifications
(IEC Standards value)
Classification
Applicable field
Remarks
Robot arm: IP20
General-purpose
environment specifications
General assembly
Slightly dusty environment
Robot arm: IP65
(Direct jet flow to the
bellows section is not
included.)
Oil mist specifications
Machine tool (cutting)
Machine shop with heavy oil mist
Dusty work shop
Note that if the cutting
machine is using abrasive materials, the
robot's life will be
shortened.
Robot arm: IP54
(Direct jet flow to the
bellows section is not
included.)
CE marking specifications
Machine tool (cutting)
Machine shop with heavy oil mist
Dusty work shop
Note that if the cutting
machine is using abrasive materials, the
robot's life will be
shortened.
RH-6FHxx20M/xx34M
RH-6FHxx20-SM/xx34-SM
Note1)
RH-12FHxx35M/xx45M
RH-12FHxx35M-SM/
xx45M-SM Note1)
RH-20FHxx35M/xx45M
RH-20FHxx35M-SM/
xx45M-SM Note1)
RH-6FHxx20-S15/xx34S15
Note1) The "-SM" specification comes with the controller protection box (CR750-MB) as standard.
CAUTION
Use the controller protection box to protect the controller from the environment
when the controller will be used in the environment such as the oil mist shown in the
Table 2-7.
The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective
structure against the entry of oil or water.
The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the
robot with the liquids, such as the water and the oil.
【Information】
・ The IEC IP20
It indicates the protective structure that prevents an iron ball 12 +0.05
0 mm diameter, which is being pressed
with the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.
・ The IEC IP54
The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water
scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm,
with 10 ± 0.5 liters of water every minute, at a water pressure of 80 to 100kPa, covering the entire area of
the robot with the exception of the installation section at 1 ㎡ per minute, for a total of 5 minutes or more.
・ The IEC IP65
Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully
affected when 12.5±5% liters of water is supplied from a test device at a position approx. 3m away in various
directions and a water pressure of 30kPa at the nozzle section. The water is filled one minute per 1m2 of test
device surface area for a total of three minutes.
2-25
2 Robot arm
(2) About the use with the bad environment
The protection specifications robot has protection methods that conform to IEC's IP65 standards. (Direct jet flow
to the bellows section is not included.)
It has protection structure designed to prevent harmful effects caused by splashing water coming from various
directions, as the robot is operating. (Direct jet flow to the bellows section is not included.)
Recommended usage conditions
1) The robot is designed for use in combination with machining device.
2) Robot's protection performance can be improved by pressurizing its interior. If you use a robot in an environment where oil mist is present, it is recommended that the interior of the robot be pressurized to
ensure its reliability over a long period of time. Use the provided φ8 joint (AIR PURGE) to supply dry air
for pressurizing. The φ8 joint (AIR PURGE) can be found at the base rear part of the robot arm.
Table 2-8 : Specification of the dry air for pressurization
Item
Specification
Dew point
Pressure
The atmospheric pressure dew point is - 0 to 3kPa
20 degree or less.
3) We are confirming examining with the cutting oil, and satisfying protection specification. Our warranty does
not cover damages or failure resulting from the robot being operated in any environment where other cutting
oils than those listed in the table are used (except cutting oils with respect to which the robot's compatibility with the protection specification is verified through our operability evaluation) or where the robot body
may be directly splashed with water, oil or dust in quantities larger than stated in the protection specification.
4) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.
5) The packing gets deteriorated with the passage of time and must be replaced as required. Table 2-9 provides guidelines for replacing the packing.
Table 2-9 : Packing replacement guideline
Environment
Whether or not robot is
pressurized
General environment
Not pressurized Note1)
Clean room
Not pressurized Note1)
Oil mist
Pressurized
Not pressurized
When packing must be replaced
When signs of cracking or peeling are noted in the packing.
When removing and installing the cover.
Note1) The pressurization inside the robot arm is unnecessary in general environment and clean room environment.
Failure to replace deteriorated packing permits water or oil to enter the interior of the robot, possibly causing it to
become inoperable.
Packing required and liquid gasket used therewith are available from dealer.
Also, entrained water droplets lead to the formation of rust on the robot, but would not usually affect the robot's
ability to operate normally.
The warranty is invalid for any faults that occur when the robot is used under the following conditions.
Also, if the cover and/or other parts are damaged by interferences caused by the peripheral devices and the
robot, the protection specification (seal performance, etc.) may be degraded. Therefore, please pay extra attention
when handling the robot.
Refer to Page 157, "6.2 Working environment".
1) In surroundings that generate inflammable gases or corrosive gasses.
2) Atmosphere of the mist containing polish liquid etc.
3) Atmosphere in which the water, the oil, and the dust exceeding protection specification fall on the robot arm
directly.
4) Pressurization by the dry air exceeding the specification of Table 2-8.
2-26
2 Robot arm
2.2.8 Clean specifications
(1) Types of clean specifications
The robot arm with clean specification is made by order. Please check the delivery schedule.
Table 2-10 : Clean specifications
Type
Degree of cleanliness
RH-6FHxx20C/xx34C
RH-12FHxx35C/xx45C
RH-20FHxx35C/xx45C
ISO class 3
Note1)
Internal suction
・ Suck the inside of robot arm with
vacuum pump. (prepared by customer)
・ Use it in the clean room with the
down flow (flow velocity 0.3 m/s
above).
Remarks
The use of a vacuum generating valve
is recommended.
Note1) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot
internal suction of RH-6FH series: 30-50L/min、 RH-12FH/20FH series: 60-140L/min, and installation of an
exhaust duct at the rear of the robot’s main base. A φ8 joint is prepared at the rear of the base for suction.
■ Precautions for use
1) A φ8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.
(Refer to Fig. 2-48) When using the robot, connect this coupling with the vacuum generating valve (Refer to
Table 2-11) and vacuum pump (furnished by the customer).
2) To suck in the robot arm, use the vacuum generator of the specification shown in following a) and b).
a) When using the vacuum generator
Table 2-11 : Specifications of vacuum generation valve (Confirmed in our company)
Type
MEDT 14
Maker
Air pressure Note1)
Quantity
KONEGAI CORPORATION
・ Vacuum rate: 90.0 L/min(ANR)
RH-6FH series
:1
RH-12FH/20FH series : 2
Note1) It is the vacuum pump maker's written specification.
b) When using the vacuum pump
Assure the vacuum flow rate of RH-6FH series: 30-50L/min and of RH-12FH/20FH series: 60-140L/min.
And, secure the exhaust course from the pump not to affect the power supply and the cleanness for the
vacuum pumps. RH-12FH/20FH has two VACUUME couplings. Please be sure to suck in using both of
couplings.
2-27
2 Robot arm
3) Remove the CONBOX cover on the robot arm rear and install the attached ventilation duct (refer to Fig. 210). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out
of the robot’s ventilation duct opening. Be sure to locate the ventilation duct’s opening in a position that
will not affect the robot’s cleanliness.
Furthermore, whilst it is only a small amount, internal suction results in external air flowing into the robot
through the ventilation duct’s opening, and therefore the following two points should be considered when
deciding where to locate the ventilation duct’s opening.
・ The opening should be facing downwards
・ The opening should not be located in the vicinity of dust/dirt or liquids, etc.
(Recommended cleanliness of surrounding area: less than ISO class 5)
CONBOX cover
Robot base
Ventilation duct
(with attached
plate cover)
Opening
Internal section
Machine cable
Fig.2-10 : Installation of Exhaust Duct
4) When using the optional electromagnetic valve set, we recommend using the primary piping’s spare piping
(φ6 air hose) to release the exhaust fumes.
Please take care as leaking exhaust fumes inside the robot may have an impact on the robot’s cleanliness.
2-28
2 Robot arm
2.3 Names of each part of the robot
J2
axis
J2軸
-
+
第2アーム
No.2 arm
No.1 arm
第1アーム
J1
axis
J1軸
-
+
+
J3 J3軸
axis
A
Shaft
シャフト
Note1)
Brake
release switch
ブレーキ解除スイッチ
-
-
Robot
ベース
base
+
J4J4軸
axis
Brake release switch
ブレーキ解除スイッチ
View A
Enabling switch
(Hold down to the left or the right.)
Note 1) The operation method of the brake release switch.
The brake of J3 axis can be released with this switch and the enabling
switch of T/B. The brake is released in an off-and-on way.
Please be sure to perform brake release operation by two-person
operations. Always assign an operator other than the switch operator to
prevent the arm from dropping. This operation must be carried out with the
switch operator giving signals.
CAUTION
When releasing the brake the J3 axis will drop. Be
sure to perform brake release operation by twoperson operations.
(1) One person supports so that the J3 axis may not drop.
(2) The one more person pushes the brake release switch of the robot arm, in the
condition that the enabling switch of T/B is turned on. Only when both
switches are pressed, the brake is released in an off-and-on way.
Fig.2-11 : Names of each part of the robot
2-29 Names of each part of the robot
T/B
2 Robot arm
2.4 Outside dimensions ・ Operating range diagram
2.4.1 Outside dimensions ・ Operating range diagram (RH-6FH series)
(1) Standard Specification
Note
*1) Indicates the space necessary
to replace the battery.
*2) Indicates screw holes (M4 depth
6mm) for fixing user wiring/
piping. Six places on both-sides
of No.2 arm, Two places on
front surface.
*3) Minimum radius of bending the
machine cable.
(
)
*3)
(
)/
*2)
(
)/
(
)
*2)
*1)
Note) Refer to Fig. 2-44 for the mechanical interface section and installation base section dimensions.
Fig.2-12 : Outside dimensions of RH-6FH35xx
Outside dimensions ・ Operating range diagram 2-30
2 Robot arm
Installation surface
Fig.2-13 : Operating range diagram of RH-6FH35xx
2-31 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary
to replace the battery.
*2) Indicates screw holes (M4 depth
6mm) for fixing user wiring/
piping. Six places on both-sides
of No.2 arm, Two places on
front surface.
*3) Minimum radius of bending the
machine cable.
*2)
(
)/
(
)
*3)
(
)/
(
)
*2)
*1)
Note) Refer to Fig. 2-44 for the mechanical interface section and installation base section dimensions.
Fig.2-14 : Outside dimensions of RH-6FH45xx
Outside dimensions ・ Operating range diagram 2-32
2 Robot arm
Installation surface
Fig.2-15 : Operating range diagram of RH-6FH45xx
2-33 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary
to replace the battery.
*2) Indicates screw holes (M4
depth 6mm) for fixing user
wiring/piping. Six places on
both-sides of No.2 arm, Two
places on front surface.
*3) Minimum radius of bending the
machine cable.
*2)
(
)/
(
)
*3)
*2)
*1)
Note) Refer to Fig. 2-44 for the mechanical interface section and installation base section dimensions.
Fig.2-16 : Outside dimensions of RH-6FH55xx
Outside dimensions ・ Operating range diagram 2-34
2 Robot arm
Installation surface
Fig.2-17 : Operating range diagram of RH-6FH55xx
2-35 Outside dimensions ・ Operating range diagram
2 Robot arm
(2) Clean Specification and oil mist specification
Note
*1) Indicates the space necessary to
replace the battery.
*2) Indicates screw holes (M4 depth
6mm) for fixing user wiring/piping.
Six places on both-sides of No.2
arm, Two places on front surface.
*3) The duct (φ25, length: 3m) attached
to the clean specification. Be careful for the hand etc. not to interfere
and arrange the duct.
((
))
*3)
((
) )/ /
*2)
*2)
)
*3)
(
)/
(
矢視AA
View
Bellows
ジャバラ
View
A
矢視A
CE Marking specification.
*1)
Note1) Refer to Fig. 2-44 for the mechanical interface section and installation
base section dimensions.
Note2) Bellows are not installed in the CE Marking specification. Please give an
order to the dealer if needed.
Fig.2-18 : Outside dimensions of RH-6FH35xxC/M
Outside dimensions ・ Operating range diagram 2-36
2 Robot arm
Installation surface
Fig.2-19 : Operating range diagram of RH-6FH35xxC/M
2-37 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary to
replace the battery.
*2) Indicates screw holes (M4 depth 6mm)
for fixing user wiring/piping. Six places
on both-sides of No.2 arm, Two places
on front surface.
*3) The duct (φ25, length: 3m) attached
to the clean specification. Be careful
for the hand etc. not to interfere and
arrange the duct.
(
)
*3)
(
)/
*2)
*2)
)
*3)
(
)/
(
View
矢視AA
*1)
Bellows
ジャバラ
矢視A
View
A
CE Marking specification.
Note1) Refer to Fig. 2-44 for the mechanical interface section and installation
base section dimensions.
Note2) Bellows are not installed in the CE Marking specification. Please give an
order to the dealer if needed.
Fig.2-20 : Outside dimensions of RH-6FH45xxC/M
Outside dimensions ・ Operating range diagram 2-38
2 Robot arm
Installation surface
Fig.2-21 : Operating range diagram of RH-6FH45xxC/M
2-39 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary to
replace the battery.
*2) Indicates screw holes (M4 depth
6mm) for fixing user wiring/piping.
Six places on both-sides of No.2
arm, Two places on front surface.
*3) The duct (φ25, length: 3m) attached
to the clean specification. Be careful
for the hand etc. not to interfere and
arrange the duct.
(
)
*3)
(
)/
*2)
*2)
(
)/
(
)
*3)
矢視AA
View
*1)
Bellows
ジャバラ
矢視A
View
A
CE Marking specification.
Note1) Refer to Fig. 2-44 for the mechanical interface section and installation
base section dimensions.
Note2) Bellows are not installed in the CE Marking specification. Please give an
order to the dealer if needed.
Fig.2-22 : Outside dimensions of RH-6FH55xxC/M
Outside dimensions ・ Operating range diagram 2-40
2 Robot arm
Installation surface
Fig.2-23 : Operating range diagram of RH-6FH55xxC/M
2-41 Outside dimensions ・ Operating range diagram
2 Robot arm
2.4.2 Outside dimensions ・ Operating range diagram (RH-12FH series)
(1) Standard Specification
Note
*1) Indicates the space necessary
to replace the battery.
*2) Indicates screw holes for fixing
user wiring/piping. (Refer to Fig.
2-49)
*3) Minimum radius of bending the
machine cable.
*4) Required space to installing/
removing the cover.。
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
±3
*2)
*2)
*1)
*3)
Note) Refer to Fig. 2-45 for the mechanical interface section and installation base section dimensions.
Fig.2-24 : Outside dimensions of RH-12FH55xx
Outside dimensions ・ Operating range diagram 2-42
2 Robot arm
Installation surface
Fig.2-25 : Operating range diagram of RH-12FH55xx
2-43 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary
to replace the battery.
*2) Indicates screw holes for fixing
user wiring/piping. (Refer to Fig.
2-49)
*3) Minimum radius of bending the
machine cable.
*4) Required space to installing/
removing the cover.。
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
*2)
±3
*2)
*1)
*3)
Note) Refer to Fig. 2-45 for the mechanical interface section and installation base section dimensions.
Fig.2-26 : Outside dimensions of RH-12FH70xx
Outside dimensions ・ Operating range diagram 2-44
2 Robot arm
Installation surface
Fig.2-27 : Operating range diagram of RH-12FH70xx
2-45 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary
to replace the battery.
*2) Indicates screw holes for fixing
user wiring/piping. (Refer to Fig.
2-49)
*3) Minimum radius of bending the
machine cable.
*4) Required space to installing/
removing the cover.。
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
*2)
±3
*2)
*1)
*3)
Note) Refer to Fig. 2-45 for the mechanical interface section and installation base section dimensions.
Fig.2-28 : Outside dimensions of RH-12FH85xx
Outside dimensions ・ Operating range diagram 2-46
2 Robot arm
Installation surface
Fig.2-29 : Operating range diagram of RH-12FH85xx
2-47 Outside dimensions ・ Operating range diagram
2 Robot arm
(2) Clean Specification and oil mist specification
Note
*1) Indicates the space necessary to
replace the battery.
*2) Indicates screw holes for fixing user
wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the
machine cable.
*4) Required space to installing/
removing the cover.。
*5) The duct (φ50, length: 2m)
attached to the clean specification.
Be careful for the hand etc. not to
interfere and arrange the duct.
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
±3
*2)
*2)
*5)
*1)
*3)
Note) Refer to Fig. 2-45 for the mechanical interface section and installation base section dimensions.
Fig.2-30 : Outside dimensions of RH-12FH55xxC/M
Outside dimensions ・ Operating range diagram 2-48
2 Robot arm
Installation surface
Fig.2-31 : Operating range diagram of RH-12FH55xxC/M
2-49 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary to
replace the battery.
*2) Indicates screw holes for fixing user
wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the
machine cable.
*4) Required space to installing/
removing the cover.。
*5) The duct (φ50, length: 2m)
attached to the clean specification.
Be careful for the hand etc. not to
interfere and arrange the duct.
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
±3
*2)
*2)
*5)
*1)
*3)
Note) Refer to Fig. 2-45 for the mechanical interface section and installation base section dimensions.
Fig.2-32 : Outside dimensions of RH-12FH70xxC/M
Outside dimensions ・ Operating range diagram 2-50
2 Robot arm
Installation surface
Fig.2-33 : Operating range diagram of RH-12FH70xxC/M
2-51 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary to replace the battery.
*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the machine cable.
*4) Required space to installing/removing the cover.。
*5) The duct (φ50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange
the duct.
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
*2)
±3
*2)
*5)
*1)
*3)
Note) Refer to Fig. 2-45 for the mechanical interface section and installation base section dimensions.
Fig.2-34 : Outside dimensions of RH-12FH85xxC/M
Outside dimensions ・ Operating range diagram 2-52
2 Robot arm
Installation surface
Fig.2-35 : Operating range diagram of RH-12FH85xxC/M
2-53 Outside dimensions ・ Operating range diagram
2 Robot arm
2.4.3 Outside dimensions ・ Operating range diagram (RH-20FH series)
(1) Standard Specification
Note
*1) Indicates the space necessary to replace the battery.
*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the machine cable.
*4) Required space to installing/removing the cover.
±3
*4)
640mm (450mm ス ト ロー ク )
540mm (350mm ス ト ロー ク )
±3
*2)
±3
*2)
*1)
*3)
Note) Refer to Fig. 2-46 for the mechanical interface section and installation base section dimensions.
Fig.2-36 : Outside dimensions of RH-20FH85xx
Outside dimensions ・ Operating range diagram 2-54
2 Robot arm
Installation surface
Fig.2-37 : Operating range diagram of RH-20FH85xx
2-55 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary to replace the battery.
*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the machine cable.
*4) Required space to installing/removing the cover.。
±3
*4)
640mm (450mm stroke)
540mm (350mm stroke)
±3
*2)
±3
*2)
*1)
*3)
Note) Refer to Fig. 2-46 for the mechanical interface section and installation base section dimensions.
Fig.2-38 : Outside dimensions of RH-20FH100xx
Outside dimensions ・ Operating range diagram 2-56
2 Robot arm
Installation surface
Fig.2-39 : Operating range diagram of RH-20FH100xx
2-57 Outside dimensions ・ Operating range diagram
2 Robot arm
(2) Clean Specification and oil mist specification
Note
*1) Indicates the space necessary to replace the battery.
*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the machine cable.
*4) Required space to installing/removing the cover.。
*5) The duct (φ50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the
duct.
±3
*4)
640mm (450mm ス ト ロー ク )
540mm (350mm ス ト ロー ク )
±3
*2)
±3
*2)
*5)
*1)
*3)
Note) Refer to Fig. 2-46 for the mechanical interface section and installation base section dimensions.
Fig.2-40 : Outside dimensions of RH-20FH85xxC/M
Outside dimensions ・ Operating range diagram 2-58
2 Robot arm
Installation surface
Fig.2-41 : Operating range diagram of RH-20FH85xxC/M
2-59 Outside dimensions ・ Operating range diagram
2 Robot arm
Note
*1) Indicates the space necessary to replace the battery.
*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49)
*3) Minimum radius of bending the machine cable.
*4) Required space to installing/removing the cover.。
*5) The duct (φ50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the
duct.
±3
*4)
640mm (450mm ス ト ロー ク )
540mm (350mm ス ト ロー ク )
±3
*2)
±3
*2)
*5)
*1)
*3)
Note) Refer to Fig. 2-46 for the mechanical interface section and installation base section dimensions.
Fig.2-42 : Outside dimensions of RH-20FH100xxC/M
Outside dimensions ・ Operating range diagram 2-60
2 Robot arm
Installation surface
Fig.2-43 : Operating range diagram of RH-20FH100xxC/M
2-61 Outside dimensions ・ Operating range diagram
2 Robot arm
2.4.4 Mechanical interface and Installation surface
(1) Mechanical interface and Installation surface of RH-6FH series
<Detail of<ハンド取り付けフランジ部詳細>
Mechanical interface>
φ90
10
10
30
10
58
10
15
φ39.5
10
φ25h7
Standard, CE標準仕様
marking specification
o le
gh h
u
穴
o
r
th 通
88貫
φ
φ11
Section
断面Z-ZZ-Z
<Details of<ベース裏面据付寸法詳細>
installation dimensions>
2-φ6 hole
2-φ6穴
Pilot(φ8位置決めピン用下穴)
hole (positioning pin φ8)
4-φ9 installation
reference hole
4-φ9据付用穴
212
92
90
(120)
150
60
Rz25
174
150
160
180
182
92
(Installation reference
surface)
(据付基準)
Rz25 (Installation
reference surface)
(据付基準)
24
24
Clean and oil mist specification
クリーン、オイルミスト仕様
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-44 : Mechanical interface and Installation surface (RH-6FH series)
Outside dimensions ・ Operating range diagram 2-62
2 Robot arm
(2) Mechanical interface and Installation surface of RH-12FH series
<Detail of Mechanical interface>
<ハンド取り付けフランジ部詳細>
Standard specification
標準仕様
Clean / oil mist specification
φ110
φ25h7
24
φ25h7
le
24
o
gh h
u穴
o
通
r
h
t
88貫
φ
φ11
le
24
24
8
φ1
o
gh h
u穴
o
r
通
h
t
貫
10
10
10
10
10
52
10
クリーン・ミスト仕様
Section
Z-Z
断面Z-Z
<Details
of installation dimensions>
<ベース裏面据付寸法詳細>
2-φ6
hole
2-φ6穴
Pilot
hole (positioning pin φ8)
(φ8位置決めピン用下穴)
Rz25 (Installation
reference surface)
(据付基準)
Section
Z-Z
断面Z-Z
122
120
(158)
200
4-φ16 installation
reference hole
4-φ16据付用穴
80
Rz25
200
200
220
240
242
122
(Installation reference
surface)
(据付基準)
280
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-45 : Mechanical interface and Installation surface of RH-12FH series
2-63 Outside dimensions ・ Operating range diagram
2 Robot arm
(3) Mechanical interface and Installation surface of RH-20FH series
<Detail of Mechanical interface>
Standard specification
Clean / oil mist specification
φ110
<ハンド取り付けフランジ部詳細>
標準仕様
8
φ30h7
ole
h穴h
g
ou
hr 通
t貫
2211
φ
φ
4N9
Section
Z-Z
断面Z-Z
<Details
of installation dimensions>
<ベース裏面据付寸法詳細>
2-φ6
hole
2-φ6穴
Pilot(φ8位置決めピン用下穴)
hole (positioning pin φ8)
Rz25
(Installation
reference surface)
(据付基準)
Section
Z-Z
断面Z-Z
4-φ16 installation
reference hole
4-φ16据付用穴
280
122
(158)
120
200
80
Rz25
200
200
220
240
242
122
(Installation reference
surface)
(据付基準)
21
φφ
28
4N9
ole
h穴
h
ug通
ro
t2h1貫
29
28
29
11
10
10
φ30h7
11
10
10
10
8
44
10
クリーン・ミスト仕様
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-46 : Mechanical interface and Installation surface of RH-20FH series
Outside dimensions ・ Operating range diagram 2-64
2 Robot arm
2.4.5 Change the operating range
The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set
inside of that area.
If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the
operating range as shown below.
(1) Operating range changeable angle
The operating range must be set up at angels indicated by Table 2-12.
Table 2-12 : Operating range changeable angle
Type
Note1)
Direction
Note2)
Standard
Change angle
Note3) Note4)
RH-6FH series
J1
RH-6FH35*/45*/55*
+ side
Mechanical stopper angle
Mechanical stopper position
+170 deg
+150 deg
+130 deg
+172.3 deg
+152.3 deg
+132.3 deg
P10
P11
P12
-170 deg
-150 deg
-130 deg
Mechanical stopper angle
-172.3 deg
-152.3 deg
-132.3 deg
Mechanical stopper position
P10
N11
N12
- side
RH-12FH/20FH series
J1
RH-12FH55*/70*/85*
RH-20FH85*/100*
+ side
Mechanical stopper angle
Mechanical stopper position
+170 deg
+150 deg
+130 deg
+173.3 deg
+153.3 deg
+133.3 deg
P10
P11
P12
-170 deg
-150 deg
-130 deg
Mechanical stopper angle
-173.3 deg
-153.3 deg
-133.3 deg
Mechanical stopper position
P10
N11
N12
- side
Note1) The "*" of the robot type indicates up/down stroke length and environment specification. It is possible to change the
movement ranges shown in Table 2-12 for any model.
Note2) Refer to Fig. 2-44 for mechanical stopper position.
Note3) The changeable angle shown in Table 2-12 indicates the operation range by the software. The mechanical stopper
angle in the table shows the limit angle by the mechanical stopper. Use caution when layout designing of the robot.
Note4) The changeable angle can be set independently on the + side and - side.
2-65 Outside dimensions ・ Operating range diagram
2 Robot arm
(2) The change method of the operating range
■ Installation of the mechanical stopper
1) Turn off power to the controller.
2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to Table 2-12 and Fig. 247. About the mechanical stopper position and the relation of bolt size is shown in Fig. 2-47. When the
screw hole is covered by the arm, move the No.1 armslowly by hand.
P12
P11
P10
N11
N12
Installation bolt:
Hexagon socket head cap screw
・ RH-6FH series: M10 x 20
・ RH-12FH/20FH series: M12 x 20
* Changing the operating range is prepared optional.
Fig.2-47 : Mechanical stopper position
■ Change the operating range parameters
Specify the operating range to parameters MEJAR with appropriate values (variable angles given in Table 2-12) by
the following steps:
1) Turn on power to the controller.
2) Set up the operating range changed into parameter MEJAR
MEJAR: (J1 minus (-) side, J1 plus (+) side, □ , □ , □ , ...).
■ Change the mechanical stopper origin position parameters
If you have changed operating range on the J1 minus(-) side, change mechanical stopper origin position parameters by the following step:
1) Set MORG parameter to the angle which set mechanical stopper position.
MORG: (J1 mechanical stopper position, □ , □ , □ , ...).
■ Check the operating range
After changing the parameter, turn off the controller power and turn on again. Then, move the axis changed by
joint jog operation to the limit of the operating range.
Confirm that the robot stops by limit over at the changed angle.
This completes the procedure to change the operating range.
Outside dimensions ・ Operating range diagram 2-66
2 Robot arm
2.5 Tooling
2.5.1 Wiring and piping for hand
Shows the wiring and piping configuration for a standard-equipped hand.
Primary piping pneumatic hose (AIR OUT, RETURN)
(4)Hand input signal connector (HC1, 2)
(3)Hand output signal connector (GR1, 2)
Secondary piping pneumatic hose (Option, or customer prepared)
RH-6FH series: φ4 hose (Max. 8 hoses)
RH-12FH/20FH series: φ6 hose (Max. 8 hoses)
Solenoid valve set (Option)
(3)Hand output signal connector (GR1, 2)
(Robot arm side)
A
No.2 arm
Primary piping pneumatic hose
(AIR OUT, RETURN)
(Robot arm side)
View A
No.1 arm
Robot base
Pulling out wiring and piping
Wiring and piping can be passed
through the inside of the shaft.
It can also be pulled out externally
from the rear of the No. 2 arm by
using the Page 94, "(8) External
Wiring/Piping box".
Ethernet cables and the power supply
chord for remote input/output can be
pulled out from the grommet at the
rear of the base section.
Note) On the clean and oil mist
specifications it is necessary to
seal the cable aperture closed.
(6)The signal wire only for
the multifunctional hand.
(two cores + two wires)
(7)Ethernet cable (8 cores)
* If the LAN connector is cut and connector of
customer preparation is connected, it can be
use as other usages.
(5)The power source wire only for
the multifunctional hand.)
(two wires)
(2) Clean specification: for suction (VACCUME)φ8 coupling
RH-6FH series
: one coupling
RH-12FH/20FH series : two couplings
Oil mist specification: for pressurization (AIR PARGE)φ8 coupling
Common between the types: one coupling (left side)
(Only for clean / oil mist specification)
Machine cable connector (power supply) (CN2)
Machine cable connector (for signal) (CN2)
Cable apertures of Ethernet cable and
signal wire only for the multifunctional hand
(Grommet)
(1)Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
Connector and pneumatic coupling
Robot side (Robot arm side)
No.
Name
Counter side (customer-prepared)
Manufacturer
Qty.
Connectors, couplings
2
Connector pins
Connector
Connector pins
(1)
Coupling
(2)
Coupling
(3)
Connector
2
1-1717834-4
1318108-1
1-1318115-4
1318112-1
Tyco Electronics AMP
(4)
Connector
2
1-1717834-3
1318108-1
1-1318115-3
1318112-1
Tyco Electronics AMP
(5)
Connector
1
1-1318117-3
(6)
Connector
1
2-1717834-4
(7)
Connector
1
TM21P-88P
1 or 2
Note1)
UKBL6
-
-
-
Koganei Corporation
UKBL8
-
-
-
Koganei Corporation
1318108-1
2-1318115-4
-
-
1318112-1
Tyco Electronics AMP
1318112-1
Tyco Electronics AMP
-
Note1) The clean specification RH-6FH series: one coupling, RH-12FH/20FH series: two couplings. The oil-mist specification is
common to between the types, and is one coupling. The general-purpose environment specification is nothing.
Fig.2-48 : Wiring and piping for hand
2-67 Tooling
2 Robot arm
2.5.2 Internal air piping
(1) Standard type/Oil mist specifications
1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the No.2
arm. The base and No.2 arm sides of the hose end are two air joints for φ6 hoses.
2) The solenoid valve set (optional) can be installed to the side on No.2 arm.
3) Refer to Page 84, "(3) Solenoid valve set" for details on the electronic valve set (optional).
4) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR
PURGE) of φ8 is prepared at the rear of the base section, please supply the dry air for pressurization from
this joint. Refer to Page 25, "2.2.7 Protection specifications" for the details of dry air.
(2) Clean type
1) The clean specification basically includes the same piping as the standard type.
2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.
For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the
vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use
the exhaust filter (prepared by the customer).
3) Refer to Page 27, "2.2.8 Clean specifications" for details of the vacuum for suction.
4) Supply clean air to the vacuum generator.
2.5.3 Internal wiring for the hand output cable
1) The hand output primary cable extends from the connector PCB of the base section to the back side of the
No.2 arm. (AWG#24(0.2mm2)) The cable terminals have connector bridges for eight hand outputs.The connector names are GR1 and GR2.
To pull the wiring out of the arm, following separate options are required.
・ Hand output cable ....................................1F-GR60S-01
・ External wiring and piping box .............1F-UT-BOX (RH-6FH series)
1F-UT-BOX-01 (RH-12FH/20FH series)
2.5.4 Internal wiring for the hand input cable
1) The hand input cable extends from the connector PCB of the base section to the No.2 arm.
(AWG#24(0.2mm2)x 2: 12 cables) The cable terminals have connector bridges for eight hand inputs. The
connector names are HC1 and HC2.
2) The hand check signal of the pneumatic hand is input by connecting this connector.
To extend the wiring to the outside of the arm, following separate options are required.
・ Hand input cable .......................................1F-HC35C-01 (RH-6FH series)
1F-HC35C-02 (RH-12FH/20FH series)
・ External wiring and piping box .............1F-UT-BOX (RH-6FH series)
1F-UT-BOX-01 (RH-12FH/20FH series)
2.5.5 Ethernet cable
Ethernet cables are installed from the robot’s base section up to the No. 2 arm section, and can be used.
Similar to on our previous models, these cables can also be used for backup wiring. For further details please refer
to the separate “Instruction Manual/Robot Arm Setup”.
Example of use for backup wiring.
・ When connecting previously used tools to the robot
・ Folding back the hand output cable when attaching the electromagnetic valve to the robot’s exterior.
・ When attaching 8 devices or more to the hand section such as sensors, (8 input and 8 output dedicated
points are available for hand signals.). In this case connect the signals (of the sensors, etc.) to parallel
input/output signals.
When shipped from the factory, both ends are LAN connectors.
When using as back up wiring, cut the LAN connectors off and use with user supplied connectors.
Table 2-13 : Ethernet cable specification
Item
Communication speed
Size
Externality of insulator
Specification
100BASE-TX
AWG #26 (0.13mm2) x four pair (total eight cores)
Approx. 0.98 mm
Tooling 2-68
2 Robot arm
2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)
The customer is required to provide tooling wiring, piping and metal fixtures.
Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to
the Fig. 2-49.)
The length of wiring and piping and the installation position on the robot must be adjusted according to the work
to be done by the robot. Please use the following example as reference.
・ A hand input cable and a hand curl cable are available as optional accessories for your convenience.
・ After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part
does not interfere with the robot arm and the peripheral devices.
Confirm that there is no interference also with bellows of the shaft section by clean specification and oil mist
specification.
・ Please be aware that dust may be generated from friction if wires and pipes come into contact with the robot
arm when using it according to the clean specifications.
(1) RH-6FH series
164
102
2-M4,2-M4深さ8
depth 8
(Usable on opposite side too.)
(反対側にもあり)
55
25
2-M4深さ8
2-M4,
depth 8
B
2-M4, 2-M4深さ6
depth 6
on opposite
20 (Usable
(反対側にもあり)
矢視B
View
B
side too.)
10
A
2-M4, 2-M4深さ8
depth 8
(Usable on opposite
side too.)
(反対側にもあり)
110
11
1
p1t1h
deさ
,
深
w
reじ
s5cね
M
5
M
4- 4
矢視AA
View
Fig.2-49 : Location of screw holes for fixing wiring/piping (RH-6FH)
2-69 Tooling
1
2 Robot arm
(2) RH-12FH/20FH series
2-M4, depth 8
2-M4, depth 8
2-M4, depth 8
(Usable on opposite side too.)
(Usable on opposite side too)
B
2-M4, depth 8
(Usable on opposite side too)
A
View B
4-M5 screw, depth 15
View A
Fig.2-50 : Location of screw holes for fixing wiring/piping (RH-12FH/20FH)
Tooling 2-70
2 Robot arm
(3) Example of wiring and piping <1>
By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact.
<RH-6FH series>
Cable
fixed plate for Internal Wiring/Piping
ケーブル内装配線・配管セット(オプション)用
set
for hand (Option)
ケーブル固定板金
2次配管エアホースなど
Secondary
piping air hose, etc
・ケーブル内装配線・配管セット(オプション)
・ Internal
Wiring/Piping set for hand (Option)
(ハンドチューブ:φ4×8本、ハンド入力ケーブル(信号用8本、電源用2本))
(Hand tube: φ4 x 8 hoses, Hand input cable (For signal: 8 cable, For power: 2 cable))
または
or
・ハンドチューブなど(お客様ご準備)
・ Hand
tube (Customer prepared)
電磁弁セット(オプション)
Solenoid valve set (Option)
Primary piping air hose (AIR
OUT, RETURN)
1次配管エアホース(AIR
OUT、RETURN)(第2アーム内)
Inside the No.2 arm
Hand output signal connector (GR1, GR2)
ハンド出力信号コネクタ(GR1、GR2)(電磁弁オプション側)
(Solenoid valve (option) side)
Hand output signal connector (GR1, GR2)
ハンド出力信号コネクタ(GR1、GR2)(第2アーム内)
(Inside the No.2 arm)
Example
フランジ設計例
of a flange
Two
set screws M5-M6
2-M5~M6セットネジ
23
Slot
set screw M5
M5スリ割止め用ネジ
φ60
Example
of the customer
お客様ご準備ツール
preparation tool
Fig.2-51 : Example of wiring and piping <1> (RH-6FH series)
<RH-12FH/20FH series>
40
固定金具設計例
30
20
20
Cable
fixed plate for Internal Wiring/Piping
ケーブル内装配線・配管セット(オプション)用
ケーブル固定板金
set
for hand (Option)
2次配管エアホースなど
Secondary
piping air hose, etc
・ケーブル内装配線・配管セット(オプション)
・ Internal
Wiring/Piping set for hand (Option)
2 Hand input cable (For signal: 8 cable, For power: 2 cable))
ポイント
(ハンドチューブ:φ4×8本、ハンド入力ケーブル(信号用8本、電源用2本))
(Hand
tube: φ6
x 4 hoses,
または ロボットが動作したときに、配線、配管が
or
ハンド(シャフト)に巻きつかない位置であること。
・ハンドチューブなど(お客様ご準備)
・ Hand
tube (Customer
prepared)
また、第1アームと第2アームに挟まれない位置
になる様にブラケット位置、配線、配管の長さを
電磁弁セット(オプション)
Solenoid valve set (Option)
調整して、確認してください。
1 RETURN)
Primary piping air hoseポイント
(AIR
OUT,
1次配管エアホース(AIR
OUT、RETURN)(第2アーム内)
ロボットが動作したときに、配線、配管が
Inside the No.2 arm
ロボットのフレキケーブルと干渉しない
フランジ設計例
ことを確認してください。
RH-6SDHシリーズ
2-M4~M5セットネジ
M4スリ割止め用ネジ
23
Example of a flange
Hand output signal connector (GR1, GR2)
ハンド出力信号コネクタ(GR1、GR2)(電磁弁オプション側)
(Solenoid valve (option) side)
フレキケーブル
Hand
output
signal
connector
(GR1, GR2)
ハンド出力信号コネクタ(GR1、GR2)(第2アーム内)
(Inside the No.2 arm)
Example
フランジ設計例
of a flange
φ50
Two
set screws M5-M6
2-M5~M6セットネジ
RH-12SDH/18SDH/20SDHシリーズ
Slot
set screw M5
M5スリ割止め用ネジ
2-M5~M6セットネジ
23
23
M5スリ割止め用ネジ
配線、配管はお客様ご準備
又はオプション
・ハンド入力ケーブル
・ハンドカールチューブ
φ60
Example
of the customer
ハンド(お客様ご準備)
お客様ご準備ツール
preparation tool
φ60
Slot set screw M5
Fig.2-52 : Example of wiring and piping <1> (RH-12FH/20FH series)
2-71 Tooling
2 Robot arm
(4) Wiring and piping example <2>
This is an effective method in cases where the wiring and piping is often changed, or when the hand rotation is
minimal (within ±90°), etc.
Fixing plate
(Customer preparation)
固定金具(お客様準備)
固定金具(お客様準備)
Metal fittings
(customer preparation)
Wiring/Piping
(Customer preparation)
配線・配管(お客様準備)
or または
Hand
input cable (Option)
ハンド入力ケーブル(オプション)
External
Wiring/Piping box (Option)
外部配線配管ボックス(オプション)
Wiring/Piping
(Customer preparation)
配線・配管(お客様準備)
or または
Hand
curl tube (Option)
ハンドカールチューブ(オプション)
Example
of the customer
お客様準備ツール
preparation tool
Fig.2-53 : Example of wiring and piping <2>
(5) Precautions for the clean specification
The top and bottom parts of the through hole of the tip shaft are taped at shipment.
Perform the following actions as necessary in order to ensure that the robot is sufficiently clean during the
operation:
1) When the through hole of the shaft is not used
・ Keep the tip shaft taped while the robot is in use.
2) When the through hole of the shaft is used for wiring.
・ Peel the tape of the tip shaft off and perform the necessary wiring. Once the wiring is completed, seal the
tip shaft using liquid seal in order to avoid accumulation of dust.
・Perform the wiring in such a way that the wires around the area below the tip shaft will not get into contact
with other parts while the robot is operating.
Tooling 2-72
2 Robot arm
2.5.7 Wiring and piping system diagram for hand
Shows the wiring and piping configuration for a standard-equipped hand.
Hand
signal output connector (GR1)
ハンド信号出力用コネクタ(GR1コネクタ)
*1), *2)
Hand input signal
Connect with customer's tool
drive equipment (hand, etc), by
the optional hand input cable.
For the multifunctional
hand only
*1), *2)
Piping
Connect with customer's hand,
etc.
A1
A2
A3
B1
B2
B3
White
白
Black
黒
White
白
Black
黒
White
白
Black
黒
<+24V(COM)>
<Reserved>
<予約>
<GR
<GR
<GR
<GR
5>
6>
7>
8>
Hand
signal input connector (HC1)
ハンド信号入力用コネクタ(HC1コネクタ)
White
白
Black
黒
White
白
Black
黒
White
白
黒
Black
<+24V>
<Reserved>
<予約>
<HC 1>
<HC 2>
<HC 3>
<HC 4>
Controller
A1
A2
A3
A4
B1
B2
B3
B4
Hand
signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
Robot arm wiring relay board
or
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
<GR 1>
<GR 2>
<GR 3>
<GR 4>
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
Black
黒
White
白
Black
黒
<+24V(COM)>
<Reserved>
<予約>
ロボット本体配線中継ボード
*1)
Hand output signal
A1
A2
A3
A4
B1
B2
B3
B4
Hand
signal input connector (HC2)
ハンド信号入力用コネクタ(HC2コネクタ)
A1
A2
A3
B1
B2
B3
<Reserved>
<予約>
A1
A2
A3
A4
B1
B2
B3
B4
<Power
line>
<電源用>
<Power
line>
<電源用>
1
2
3
4
5
6
7
8
White/Orange
白橙
Orange
橙
White/Green
白緑
Blue
青
White/Blue
白青
Green
緑
White/
白茶Brown
Brown
茶
White
白
Black
黒
White
白
Black
黒
White
白
Black
黒
<24G(RG)>
<HC 5>
<HC 6>
<HC 7>
<HC 8>
<TXRXH>
<TXRXL>
<Power
line>
<電源用>
<Power
line>
<電源用>
Ethernet cable AWG#24(0.2mm2)x8
(Both ends are LAN connectors)
(Cab tire cables with the shield)
Solenoid
valve
電磁弁
set
セット
(Option)
(オプション)
* Refer to Fig. 2-56 for air
supply circuit example.
Primary piping 1次配管エアホース
pneumatic hose
φ6φ6クイック継手
quick coupling
φ6
hose
φ6ホース
AIR IN
φ6
hose
φ6ホース
RETURN
φ6
quick coupling
φ6クイック継手
φ8クイック継手
φ8 quick
coupling
No.2 arm
第2アーム内
Base
ベース部
VACCUM :clean specification
AIR PURGE:oil-mist specification
Note) Only Clean/Oil mist specification.
・ clean specification
RH-6FH series
: one coupling
RH-12FH/20FH series : two couplings
・ oil-mist specification is common to
between the types, and is one coupling.
*1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally.
(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping (RH-6FH series) or two φ6 joints
for primary piping, eight φ6 joints for secondary piping (RH-12FH/20FH series), and holes for pulling out the cables.)
*2) Using the Internal Wiring/Piping set for hand, the hand input signal cable and air hose can be fed through the inside of the shaft.
(This option comes as a set that includes φ4 x 8 (RH-6FH series) or φ6 x 4 (RH-12FH/20FH series) air hoses, hand input cables (8 x signal
lines, 2 x power chords), and fixing tools.
Fig.2-54 : Wiring and piping system diagram for hand and example the solenoid valve installation (Sink type)
2-73 Tooling
2 Robot arm
Hand
signal output connector (GR1)
ハンド信号出力用コネクタ(GR1コネクタ)
*1), *2)
Hand input signal
Connect with customer's tool
drive equipment (hand, etc), by
the optional hand input cable.
For the multifunctional
hand only
*1), *2)
Piping
Connect with customer's hand,
etc.
A1
A2
A3
A4
B1
B2
B3
B4
A1
A2
A3
B1
B2
B3
White
白
Black
黒
White
白
Black
黒
White
白
Black
黒
<24GND(COM)>
<Reserved>
<予約>
<GR
<GR
<GR
<GR
5>
6>
7>
8>
Hand
signal input connector (HC1)
ハンド信号入力用コネクタ(HC1コネクタ)
White
白
Black
黒
White
白
黒
Black
White
白
黒
Black
<+24V>
<Reserved>
<予約>
<HC 1>
<HC 2>
<HC 3>
<HC 4>
Hand signal input connector (HC2)
ハンド信号入力用コネクタ(HC2コネクタ)
A1
A2
A3
B1
B2
B3
<Reserved>
<予約>
<24G(RG)>
<HC 5>
<HC 6>
<HC 7>
<HC 8>
A1
A2
A3
A4
B1
B2
B3
B4
<Power line>
<電源用>
<Power line>
<電源用>
<TXRXH>
<TXRXL>
<Power line>
<電源用>
<Power line>
<電源用>
1
2
3
4
5
6
7
8
White/Orange
白橙
Orange
橙
White/Green
白緑
Blue青
White/Blue
白青
Green
緑
White/
白茶Brown
Brown
茶
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Robot arm wiring relay board
Hand
signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
or
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
Black
黒
White
白
Black
黒
<24GND(COM)>
<Reserved>
<予約>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
ロボット本体配線中継ボード
*1)
Hand output signal
A1
A2
A3
A4
B1
B2
B3
B4
白
White
黒
Black
White
白
黒
Black
White
白
黒
Black
Ethernet cable AWG#24(0.2mm2)x8
(Both ends are LAN connectors)
(Cab tire cables with the shield)
Solenoid
valve
電磁弁
set
セット
(Option)
(オプション)
* Refer to Fig. 2-56 for air
supply circuit example.
Primary piping 1次配管エアホース
pneumatic hose
φ6φ6クイック継手
quick coupling
φ6
hose
φ6ホース
AIR IN
φ6
hose
φ6ホース
RETURN
φ6
quick coupling
φ6クイック継手
φ8 quick
coupling
φ8クイック継手
No.2 arm
第2アーム内
Base
ベース部
VACCUM :clean specification
AIR PURGE:oil-mist specification
Note) Only Clean/Oil mist specification.
・ clean specification
RH-6FH series
: one coupling
RH-12FH/20FH series : two couplings
・ oil-mist specification is common to
between the types, and is one coupling.
*1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally.
(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping (RH-6FH series) or two φ6 joints
for primary piping, eight φ6 joints for secondary piping (RH-12FH/20FH series), and holes for pulling out the cables.)
*2) Using the Internal Wiring/Piping set for hand, the hand input signal cable and air hose can be fed through the inside of the shaft.
(This option comes as a set that includes φ4 x 8 (RH-6FH series) or φ6 x 4 (RH-12FH/20FH series) air hoses, hand input cables (8 x signal
lines, 2 x power chords), and fixing tools.
Fig.2-55 : Wiring and piping system diagram for hand and example the solenoid valve installation (Source type)
Tooling 2-74
2 Robot arm
2.5.8 Electrical specifications of hand input/output
Table 2-14 : Electrical specifications of input circuit
Item
Specifications
Type
DC input
No. of input points
8
Insulation method
Photo-coupler insulation
<Sink type>
+24V
+24V
Rated input voltage
24VDC
Rated input current
approx. 7mA
Working voltage range
DC10.2 to 26.4V (ripple rate within 5%)
ON voltage/ON current
8VDC or more/2mA or more
OFF voltage/OFF current
4VDC or less/1mA or less
Input resistance
Approx. 3.3kΩ
Response time
Internal circuit
OFF-ON
10ms or less (DC24V)
ON-OFF
10ms or less (DC24V)
820
HCn *
3.3K
24GND
<Source type>
+24V
+24V
HCn*
3.3K
820
24GND
* HCn = HC1 to HC8
Table 2-15 : Electrical specifications of output circuit
Item
Specification
Type
Transistor output
No. of output points
8
Insulation method
Photo coupler insulation
Rated load voltage
DC24V
Rated load voltage range
DC21.6 to 26.4VDC
Max. current load
0.1A/ 1 point (100%)
Current leak with power OFF
0.1mA or less
Maximum voltage drop with power ON
DC0.9V(TYP.)
Response time
OFF-ON
2ms or less (hardware response time)
ON-OFF
2 ms or less (resistance load) (hardware response time)
Protects
Internal circuit
<Sink type>
+24V(COM)
(Initial
power supply)
(内部電源)
GRn*
Protection
of
過電流
over-current
保護機能
Protects the over-current (0.9A)
24GND
<Source type>
+24V
Protection
過電流of
over-current
保護機能
GRn*
24GND(COM)
* GRn = GR1 to GR8
2-75 Tooling
2 Robot arm
2.5.9 Air supply circuit example for the hand
Fig. 2-56 shows an example of pneumatic supply circuitry for the hand.
(1) Place diodes parallel to the solenoid coil.
(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be
damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-56 and
use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure
clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes damaged.
(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator.
(4) Supply clean air to the vacuum generation valve when you use clean type robot.
(5) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.
Pressure switch
圧力スイッチ
To
the AIR IN (Robot
ロボット本体のAIR
INへarm)
(0.5MPa
±10%)
(0.5MPa±10%)
Pneuエア源
matic source
(Cleen)
(クリーンエアー)
Filter
0.7MPa
less
フィルター
0.7MPa以下
Regurater
レギュレーター
Fig.2-56 : Air supply circuit example for the hand
2-76
2 Robot arm
2.6 Shipping special specifications, options, and maintenance parts
2.6.1 Shipping special specifications
■ What are sipping special specifications?
Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to
confirm the delivery date by the customer.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.
■ How to order
(1) Confirm beforehand when the factory special specifications can be shipped, because they may not be
immediately available.
(2) Specify, before shipping from our company.
(3) Specified method …… Specify the part name, model, and robot model type.
2-77 Shipping special specifications, options, and maintenance parts
2 Robot arm
(1) Machine cable
■ Order type :
● Fixed type .........1S-02UCBL-01 (2m)
■ Outline
This cable is exchanged for the machine cable (5 m for fixed type) that was supplied
as standard to shorten the distance between the controller and the robot arm.
■ Configuration
Table 2-16 : Configuration equipment and types
Part name
Fixed
Set of signal and power cables
Type
1S-02UCBL-01
Qty.
Mass (Kg) Note1)
1 set
2.6
Motor signal cable
BKO-FA0741H02
(1 cable)
-
Motor power cable
BKO-FA0739H02
(1 cable)
-
Remarks
Note2)
2m
Note1) Mass indicates one set.
Note2) Standard 5 m (for fixed type) is not attached.
[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the
machine cable (5 m for fixed type) that was supplied as standard is not reclaimed.
Shipping special specifications, options, and maintenance parts 2-78
2 Robot arm
2.7 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for customer needs.
customer installation is required for the options. Options come in two types: "set options" and "single options".
1. Set options .......................................A combination of single options and parts that together, from a set for serving
some purpose.
2. Single options ..................................That are configured from the fewest number of required units of a part.
Please choose customer's purpose additionally.
2-79 Options
2 Robot arm
(1) Machine cable extension
■ Order type:
● Fixed type............1S- □□ CBL-01(extension type)
● Flexed type .........1S- □□ LCBL-01(extension type)
1S- □□ LUCBL-01(direct type)
Note) The numbers in the boxes □□ refer the length.
■ Outline
The distance between the robot controller and the robot arm is extensible by this
option.
A fixed type and flexible type are available.
The extended method is discriminated as follows.
Fixed type ........ ・ Adds to the machine cable attached in the standards.
Flexed type...... ・ Adds to the machine cable attached in the standards.
・ Exchanges with the machine cable attached in the standards.
The fix and flexible types are both configured of the motor signal cable and motor
power cable.
■ Configuration
Table 2-17 : Configuration equipment and types
Qty.
Part name
Fixed
Flexed
Flexed
Type
Note1)
Fixed
Flexed
Flexed
(extension
type)
(extension
type)
(direct
type)
Set of signal and power cables
1S- □□ CBL-01
1 set
-
-
Motor signal cable
1S- □□ CBL(S)-01
(1 cable)
-
-
Motor power cable
1S- □□ CBL(P)-01
(1 cable)
-
-
Set of signal and power cables
1S- □□ LCBL-01
-
1 set
-
Motor signal cable
1S- □□ LCBL(S)-01
-
(1 cable)
-
Motor power cable
1S- □□ LCBL(P)-01
-
(1 cable)
-
Set of signal and power cables
1S- □□ LUCBL-01
-
-
1 set
Motor signal cable
1S- □□ LUCBL(S)-01
-
-
(1 cable)
Motor power cable
1S- □□ LUCBL(P)-01
-
-
(1 cable)
Mass (kg)
Note2)
Remarks
6.7(5m)
12(10m)
17(15m)
5m, 10m, or 15m each
7(5m)
13(10m)
17(15m)
5m, 10m, or 15m each
7(5m)
13(10m)
17(15m)
5m, 10m, or 15m each
Nylon clamp
NK-14N
-
2 pcs.
2 pcs.
-
for motor signal cable
Nylon clamp
NK-18N
-
2 pcs.
2 pcs.
-
for motor power cable
-
4 pcs.
4 pcs.
-
Silicon rubber
Note1) The numbers in the boxes □□ refer the length.
Note2) Mass indicates one set.
Options 2-80
2 Robot arm
■ Specifications
The specifications for the fixed type cables are the same as those for standard cables.
Shows usage conditions for flexed type cables in Table 2-18.
Table 2-18 : Conditions for the flexed type cables
Item
Specifications
Minimum flexed radius
100R or more
Cableveyor, etc., occupation rate
50% or less
Maximum movement speed
2,000mm/s or less
Guidance of life count
7.5 million times
Environmental proof
Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type) IP54
Cable configuration
Motor signal cable
φ6 x 5, φ8.5 x 1 and φ1.7 x 1
Motor power cable
φ8.9 x 3 and φ6.5 x 6
[Caution] The guidance of life count may greatly differ according to the usage state (items related to Table 2-18
and to the amount of silicon grease applied in the cableveyor.
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
■ Cable configuration
The configuration of the flexible cable is shown in Table 2-19. Refer to this table when selecting the cableveyor.
The configuration is the same between the length difference in the cable, and extension type / direct type.
Table 2-19 : Cable configuration (Flexed type)
Item
Motor signal cable
Motor power cable
AWG#24
(0.2mm2)-4P
AWG#24
(0.2mm2)-7P
AWG#18
(0.75mm2)
AWG#16
(1.25mm2)-4C
AWG#18
(0.75mm2)-4C
Finish dimensions
Approx. φ6mm
Approx. φ8.5mm
Approx. φ1.7mm
Approx. φ8.9mm
Approx. φ6.5mm
No.of cables used
5 cables
1 cable
1 cable
3 cable
6 cable
No. of cores
No. in total
7 cables
Note) The square in the cable name indicates the cable length.
2-81 Options
9 cables
2 Robot arm
■ Fixing the flexible cable
(1) Connect the connector to the robot arm.
(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and extension section as shown in Fig. 2-57, and fix with the nylon clamp to protect the cable from external stress.
Robot
arm
ロボット本体
Nylon clamp
ナイロンクランプ
シリコンゴム
Silicon
rubber
Note2)
Drive
unit
コントローラ
CN2
CN1
CN1
Nylon
clamp
ナイロンクランプ
300~400mm
NK-18N
CN2
300~400mm
Extended
flexible
The fixed cable
延長屈曲ケーブル
標準付属5m
(オプション)
固定ケーブル cable
(Option)
(Standard attachment)
継足し部分
Extension
section Note1)
CAUTION
Nylon clamp
ナイロンクランプ
NK-14N
Nylon clamp
ナイロンクランプ
NK-14N
Nylon clamp
ナイロンクランプ
NK-18N
モータ電源ケーブル
Motor
power cable
Cover the extension terminal
area with the cover etc. so that
it may not be easily touched to
the latch lever.
Note1) When direct type, exchanges with the standard cable and
connect directly.
Note2) Although the picture is the CR751-D controller, also the
connection method is the same in the CR751-Q controller.
モータ信号ケーブル
Motor
signal cable
The cable shall
bend and size
shall be 140mm or
more.
Fig.2-57 : Fixing the flexible cable
Options 2-82
2 Robot arm
(2) Changes J1 axis operating range
■ Order type: RH-6FH series ............................J1 axis: 1F-DH-01
RH-12FH/20FH series ............J1 axis: 1F-DH-02
■ Outline
The operating range of J1 axis is limited by the robot arm's mechanical stopper and
the controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.
■ Configuration
Table 2-20 : Configuration devices
Part name
Type
Qty.
Mass(kg)
Remarks
1F-DH-01
1 set
0.05
hexagon socket head bolt (M10 x 20): 2 bolts
1F-DH-02
1 set
0.05
hexagon socket head bolt (M12 x 20): 2 bolts
RH-6FH series
Stopper for changing the operating range
RH-12FH/20FH series
Stopper for changing the operating range
■ Specifications
Table 2-21 : Specifications
Axis
J1
Standard
+/- side
+/- 170 deg
Changeable angle
+/- 130 deg, +/- 150 deg
(1) The changeable angle shown in Table 2-21 indicates the operation range by the software.
The limit by the mechanical stopper is positioned 3 degrees outward from that angle, so take care when
designing the layout.
(2) The operating range is changed with robot arm settings (insertion of the pin) and parameter settings. Refer
to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE", "Instruction Manual/Detailed
Explanation of Functions and Operations"or Page 65, "2.4.5 Change the operating range" for details.
(3) If the arm collides with mechanical stopper for operating range change at the automatic operation, replacement of the mechanical stopper is necessary.
2-83 Options
2 Robot arm
(3) Solenoid valve set
■ Order type: RH-6FH series ............................One set:
Two sets:
Three sets:
Four sets:
RH-12FH/20FH series ............One set:
Two sets:
Three sets:
Four sets:
■ Outline
・ 1F-VD0*-01
・ 1F-VD0*E-01
・ 1S-VD0*-01
・ 1S-VD0*E-01
1F-VD01-01(Sink type)/1F-VD01E-01(Source type)
1F-VD02-01(Sink type)/1F-VD02E-01(Source type)
1F-VD03-01(Sink type)/1F-VD03E-01(Source type)
1F-VD04-01(Sink type)/1F-VD04E-01(Source type)
1S-VD01-01(Sink type)/1S-VD01E-01(Source type)
1S-VD02-01(Sink type)/1S-VD02E-01(Source type)
1S-VD03-01(Sink type)/1S-VD03E-01(Source type)
1S-VD04-01(Sink type)/1S-VD04E-01(Source type)
The solenoid valve set is an option that is used for controlling
toolings when various toolings, such as the hand, are installed at the
end of the arm.
Also, for easy installation of this electromaagnetic set onto the robot,
it comes equipped with a manifold, couplings, silencers, among other
things.
■ Configuration
Table 2-22 : Configuration equipment
Part name
Type
Q'ty
Mass(kg)
Note1)
Remark
RH-6FH series
Solenoid valve set (1 sets)
1F-VD01-01/
1F-VD01E-01
Either
one pc.
1.0
Solenoid valve set (2 sets)
1F-VD02-01/
1F-VD02E-01
Either
one pc.
1.0
Hand output cable is already connected.
Refer to Page 90, "(5) Hand output cable".
Solenoid valve set (3 sets)
1F-VD03-01/
1F-VD03E-01
Either
one pc.
1.0
M4 x 8 Two screws (Installation screws)
1F-VD0*-01: Sink type
1F-VD0*E-01: Source type.
Solenoid valve set (4 sets)
1F-VD04-01/
1F-VD04E-01
Either
one pc.
1.0
Solenoid valve set (1 sets)
1S-VD01-01/
1S-VD01E-01
Either
one pc.
1.0
Solenoid valve set (2 sets)
1S-VD02-01/
1S-VD02E-01
Either
one pc.
1.0
Hand output cable is already connected.
Refer to Page 90, "(5) Hand output cable".
Solenoid valve set (3 sets)
1S-VD03-01/
1S-VD03E-01
Either
one pc.
1.0
M4 x 8 Two screws (Installation screws)
1S-VD0*-01: Sink type
1S-VD0*E-01: Source type.
Solenoid valve set (4 sets)
1S-VD04-01/
1S-VD04E-01
Either
one pc.
1.0
RH-12FH/20FH series
Note1) Mass indicates one set.
■ Specifications
Options 2-84
2 Robot arm
Table 2-23 : Valve specifications
Item
Specifications
Number of positions
2
Port
Valve function
5 Note1)
Double solenoid
Operating fluid
Clean air Note2)
Operating method
Internal pilot method
Effective sectional area (CV value)
0.64mm
Oiling
Unnecessary
Operating pressure range
0.1 to 0.7MPa
Response time
22msec or less (at 0.5 MPa)
Max. operating frequency
5Hz
Ambient temperature
-10 to 50 ℃ (However, there must be no condensation.)
Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied air will
blow out from the couplings, lowering the air pressure of the solenoid valves being used and making them
nonfunctional
(recommended plugs: KQ2P-04 plugs made by SMC).
Note2)
air to be provided must be clean, i.e., filtered with a mist
CAUTION The
separator or air filter. Failing to do so may lead to malfunctions.
Table 2-24 : Solenoid specifications
Item
Specifications
Method
Built-in fly-wheel diodes with surge protection
Coil rated voltage
DC24V ±10%
Power consumption
0.55W
Voltage protection circuit with power surge protection
Diode
2-85 Options
2 Robot arm
<RH-6FH series>
50mm
80mm
④
}
①
②
③
<Sink
type>
<シンクタイプ>
<Source
type>
<ソースタイプ>
Connector
コネクタ名 name
<GR1>
+24V (COM)
予約
Reserved
GR1
GR2
GR3
GR4
予約
Reserved
予約
Reserved
A1
A2
A3
A4
+24V (COM)
予約
Reserved
GR5
GR6
GR7
GR8
予約
Reserved
予約
Reserved
A1
A2
A3
A4
<GR1>
Black
クロ
Redアカ
クロ
Black
Redアカ
Black
クロ
Redアカ
Black
クロ
Redアカ
B1
B2
B3
B4
<GR2>
Connector
コネクタ名name
White
白
24GND (COM)
予約
Reserved
SOL1A
SOL1B
SOL2A
SOL2B
GR3
GR4
予約
Reserved
予約
Reserved
Black
クロ
Redアカ
Black
クロ
Redアカ
Black
クロ
Redアカ
Black
クロ
Redアカ
24GND (COM)
予約
Reserved
SOL3A
SOL3B
SOL4A
SOL4B
Part name
GR5
GR6
GR7
GR8
予約
Reserved
予約
Reserved
White
白
Redアカ
クロ
Black
Redアカ
クロ
Black
Redアカ
クロ
Black
Redアカ
Black
クロ
B1
B2
B3
B4
<GR2>
White
白
B1
B2
B3
B4
GR1
GR2
A1
A2
A3
A4
A1
A2
A3
A4
SOL1A
SOL1B
SOL2A
SOL2B
White
白
B1
B2
B3
B4
Redアカ
クロ
Black
Redアカ
クロ
Black
Redアカ
クロ
Black
Redアカ
Black
クロ
Qty.
Specification
①
A, B port
4 peace for each
φ4
②
P port
1
φ6
③
R port
1
φ6
④
Hand output cable connection connector
2
GR1, GR2
SOL3A
SOL3B
SOL4A
SOL4B
Note) The hand output cable (1F-GR60S-01: Option) is unnecessary.
Fig.2-58 : Outline dimensional drawing (RH-6FH series)
Options 2-86
2 Robot arm
<RH-12FH/20FH series>
87.9
102
93
⑦⑧
4.5
37.8
50.1
GR2
⑨
φ4.5
③
⑥
131
138.5
②
GR1
①
⑤
1
φ2
④
3.5
φ4.5
80
11
<Sink type>
<Source type>
Connector name
<GR1>
+24V (COM) A1
Reserve A2
GR1
GR2
Connector name
Black
GR3
GR4
B1
B2
Reserve B3
Reserve B4
+24V (COM) A1
Reserve A2
GR5
GR6
<GR1>
24V (RG) A1
Reserve A2
White
A3
A4
<GR2>
Note) The hand output cable (1F-GR60S-01:
Option) is unnecessary.
Red
Black
SOL1A
Red
Black
SOL1B
Red
Black
SOL2A
Red
SOL2B
GR1
GR2
GR3
GR4
B1
B2
Reserve B3
Reserve B4
24V (RG) A1
Reserve A2
Black
Red
Black
Red
Black
Red
Black
Red
A3
A4
GR7
GR8
B1
B2
Reserve B3
Reserve B4
Part no.
<1>
<2>
SOL3A
SOL3B
SOL4A
SOL4B
Part name
Solenoid valve
Manifold block
GR5
GR6
SOL1A
SOL1B
SOL2A
SOL2B
White
Red
Black
Red
Black
Red
Black
Red
A3
A4
GR7
GR8
B1
B2
Reserve B3
Reserve B4
SOL3A
SOL3B
SOL4A
SOL4B
Black
1 sets
2 sets
3 sets
4 sets
1
1
2
1
3
1
4
1
Specifications
<3>
Quick coupling
2
4
6
8
<4>
Block plate
1
1
1
1
<5>
Quick coupling
1
1
1
1
<6>
Quick coupling
1
1
1
1
φ6
<7>
Connector
1
1
2
2
1-1318115-4
φ6
φ6
<8>
Contact
6
6
12
12
1318112-1
<9>
Installation screw
4
4
4
4
M4×8
Fig.2-59 : Outline dimensional drawing (RH-12FH/20FH series)
2-87 Options
Red
Black
Red
Black
Red
Black
Red
Black
A3
A4
<GR2>
White
White
2 Robot arm
(4) Hand input cable
■ Order type: RH-6FH series ............................1F-HC35C-01
RH-12FH/20FH series ............1F-HC35C-02
■ Outline
The hand input cable is used for customer-designed pneumatic hands.
It is necessary to use this to receive the hand's open/close confirmation signals and
grasping confirmation signals, at the controller.
One end of the cable connects to the connector for hand input signals, which is in
the wrist section of the hand. The other end of the cable connected to the sensor
inside the hand customer designed.
To extend the wiring to the outside of the robot arm, optional external wiring and piping box (RH-6FH series: 1F-UT-BOX, RH-12FH/20FH series: 1F-UT-BOX-01) is
required.
■ Configuration
Table 2-25 : Configuration equipment
Qty.
Mass (kg) Note1)
1F-HC35C-01
1 cable
0.2
1F-HC35C-02
1 cable
0.2
Part name
Type
Remarks
RH-6FH series
Hand input cable
RH-12FH/20FH series
Hand input cable
Note1) Mass indicates one set.
■ Specifications
Table 2-26 : Specifications
Item
Specifications
Remarks
RH-6FH series
Size x cable core
AWG#24 (0.2mm2)×12
Total length
1,650mm (Including the curl section, which is 350mm long)
One-sided connector, one-sided cable bridging
RH-12FH/20FH series
Size x cable core
AWG#24 (0.2mm2)×12
Total length
1,800mm (Including the curl section, which is 350mm long)
One-sided connector, one-sided cable bridging
Options 2-88
2 Robot arm
φ25
450
HC1
100
HC2
HC
15
400
350
Alteration dimensions A
Type
Dimensions of A
(mm)
1F-HC35C-01
450±10
1F-HC35C-02
600±10
A
450±10
1-1318115-3
(Tyco
Electronics AMP)
(タイコエレクトロニクスアン
(Purple)
(紫)ムラサキ
(茶)チャ
(Brown)
(Blue)
(青)アオ
(黒)クロ
(Black)
<HC1>
A1 +24V
+24V
A2 Reserve
予約
HC1( ハンド 入力 1)
A3 HC1
B1 HC2
HC2( ハンド 入力 2)
B2 HC3
HC3( ハンド 入力 3)
B3 HC4
HC4( ハンド 入力 4)
(緑)ミドリ
(Green)
(赤)アカ
(Red)
(白)シロ
(White)
(灰)ハイ
(Gray)
(Pink)
(桃)モモ
<HC2>
A1 Reserve
予約
0V(COM)
A2 0V(COM)
HC5( ハンド 入力 5)
A3 HC5
B1 HC6
HC6( ハンド 入力 6)
B2 HC7
HC7( ハンド 入力 7)
B3 HC8
HC8( ハンド 入力 8)
(Yellow)
(黄)キ
* Pin assignment of sink and source is the same.
Fig.2-60 : Outside dimensional drawing and pin assignment
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
2-89 Options
2 Robot arm
(5) Hand output cable
■ Order type: 1F-GR60S-01
■ Outline
The hand output cable (solenoid valve connection cable) is an option that is used
when a solenoid valve other than one of the solenoid valve set options, is used.
One end of the cable has a connector that connects to the input terminal inside the
robot. The other end of the cable is connected.
To extend the wiring to the outside of the robot arm, optional external wiring and piping box (RH-6FH series: 1F-UT-BOX, RH-12FH/20FH series: 1F-UT-BOX-01) is
required.
■ Configuration
Table 2-27 : Configuration equipment
Part name
Hand output cable
Qty.
Mass (kg) Note1)
1 cable
0.3
Type
1F-GR60S-01
Remarks
Note1) Mass indicates one set.
■ Specifications
Table 2-28 : Specifications
Item
Specifications
Size x Cable core
AWG#24(0.2mm2)
Total length
1,050mm
x 12 cores
Remarks
One side connector and one side cable connection
GR1
(100)
GR2
GR
15
450
600
(Yellow)
(黄)キ
(Purple)
(紫)ムラサキ
(Brown)
(茶)チャ
(Blue)
(青)アオ
(Black)
(黒)クロ
(Green)
(緑)ミドリ
(Red)
(赤)アカ
(White)
(白)シロ
(Gray)
(灰)ハイ
(Pink)
(桃)モモ
1-1318115-4
(タイコエレクトロニクス
(Tyco
Electronics AMP)
アンプ(株))
<GR1> シンクタイプ
Sink type
A1 +24V
+24V (COM)
A2 Reserve
予約
GR1( ハンド 出力1)
A3 GR1
GR2 ハンド 出力2)
A4 GR2
B1 GR3
GR3( ハンド 出力3)
B2 GR4
GR4( ハンド 出力4)
B3 Reserve
予約
B4 Reserve
予約
ソースタイプ
Source type
+24GND
(COM)
24GND (COM)
Reserve
予約
GR1( ハンド 出力1)
GR2 ハンド 出力2)
GR3( ハンド 出力3)
GR4( ハンド 出力4)
Reserve
予約
Reserve
予約
<GR2>
(COM)
A1 +24V
+24V(COM)
A2 Reserve
予約
GR5( ハンド 出力5)
A3 GR5
GR6( ハンド 出力6)
A4 GR6
B1 GR7
GR7( ハンド 出力7)
B2 GR8
GR8( ハンド 出力8)
B3 Reserve
予約
B4 Reserve
予約
+24GND
(COM)
24GND(COM)
Reserve
予約
GR5( ハンド 出力5)
GR6( ハンド 出力6)
GR7( ハンド 出力7)
GR8( ハンド 出力8)
Reserve
予約
Reserve
予約
Fig.2-61 : Outline dimensional drawing and pin assignment
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-90
2 Robot arm
(6) Hand curl tube
■ Order type: RH-6FH series ............................Four sets: 1E-ST0408C-300
RH-12FH/20FH series.............Four sets: 1N-ST0608C-01
■ Outline
The hand curl tube is a curl tube for the pneumatic hand.
■ Configuration
Table 2-29 : Configuration equipment
Type
Qty.
Mass(kg)Note1)
1E-ST0408C-300
1 pc.
0.1
Φ4 tube, 8pcs
1N-ST0608C-01
1 pc.
0.4
Φ6 tube, 8pcs
Part name
Remarks
RH-6FH series
Hand curl tube (Four set: 8 pcs.)
RH-12FH/20FH series
Hand curl tube (Four set: 8 pcs.)
Note1) Mass indicates one set.
■ Specifications
Table 2-30 : Specifications
Specifications
Item
RH-6FH series
RH-12FH/20FH series
Material
Urethane
Urethane
Size
Outside diameter: Φ4 x Inside diameterΦ2.5
Outside diameter: Φ6 x Inside diameterΦ4
RH-6FH series: 1E-ST0408C-300 (φ4 x 8pcs)
300
(Robot
side)
(ロボット側)
100
600
(Tooling
side)
(ツーリング側)
RH-12FH/20FH series: 1N-ST0608C-01 (φ6 x 8pcs)
250
(Robot
side)
(ロボット側)
300
750
(Tooling
side)
(ツーリング側)
Fig.2-62 : Outline dimensional drawing
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
2-91 Options
2 Robot arm
(7) Internal Wiring/Piping set for hand
■ Order type: RH-6FH series, 200mm stroke................................1F-HS408S-01
RH-6FH series, 340mm stroke ...............................1F-HS408S-02
RH-12FH/20FH series, 350mm stroke................1F-HS604S-01
RH-12FH/20FH series, 450mm stroke................1F-HS604S-02
■ Outline
This set, consisting of air hoses and cables, is for feeding air hoses and hand input
signal cables from the No. 2 arm through to the shaft tip.
A plate is already attached to be fixed onto the No. 2 arm, and therefore it is easy to
ensure the necessary space for wiring and piping.
This can be used together with the separately sold electromagnetic valve set option.
This option
■ Configuration
Table 2-31 : Configuration equipment
Type
Qty.
Mass (Kg) Note1)
Remarks
Internal Wiring/Piping set
for hand
(For 200mm stroke)
1F-HS408S-01
1
0.4
Internal Wiring/Piping set
for hand
(For 340mm stroke)
1F-HS408S-02
1
0.4
The air hose and the cable for hand input signals are
contained.
The grease (for application to shaft top) and the
union band (for fixation of the hose and the cable)
are attached.
Internal Wiring/Piping set
for hand
(For 350mm stroke)
1F-HS604S-01
1
0.4
Internal Wiring/Piping set
for hand
(For 450mm stroke)
1F-HS604S-02
1
0.4
Item
RH-6FH series
RH-12FH/20FH series
The air hose and the cable for hand input signals are
contained.
The grease (for application to shaft top) and the
union band (for fixation of the hose and the cable)
are attached.
Note1) Mass indicates one set.
■ Specification
Table 2-32 : Specification
Specification
Item
1F-HS408S-01
1F-HS408S-02
Air hose
Remarks
1F-HS604S-01
φ4 x 8pcs
Hand input signal cable Signal
Useable length from the shaft end
φ4 x 8pcs
AWG
Power
1F-HS604S-02
Both ends are free.
#25(0.2mm2)×8pcs
The robot arm side is connector (HC1,
HC2), and one side is free.
2
AWG #23(0.3mm )×2pcs
300mm
400mm
300mm
The length from the shaft end which can
be used of customer.
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-92
2 Robot arm
15
(Red)赤
(White)
白
(Black)
黒
(Green)
緑
1-1318115-3(2個) AMP
1-1318115-3
(2pcs) AMP
(Red)
赤
(White & Orange)
白橙
(Orange)
橙
(White & Green)
白緑
(Green)
緑
(White)
白
(White & Blue)
白青
(Blue)
青
白茶
(White & Brown)
茶
(Brown)
Pin
assignment
配線図
Fig.2-63 : Outline dimension drawing and pin assignment (Hand input cable)
2-93 Options
2 Robot arm
(8) External Wiring/Piping box
■ Order type: RH-6FH series ............................1F-UT-BOX
RH-12FH/20FH series............1F-UT-BOX-01
■ Outline
Pull out
Wiring/Piping
This is a very useful option when removing the air hoses and signal lines from the
rear of the No. 2 arm, and pulling hand wiring and piping out to the robot’s exterior.
The joint for connects to the external hose is prepared, and the holes which fixes the
signal cable to pull out with cable clamp are prepared. Optional hand output cables
and hand input cables can be fixed here.
This option can also be used on the oil mist and clean specifications.
■ Configuration
Table 2-33 : Configuration equipment
Qty.
Mass (Kg) Note1)
1F-UT-BOX
1
0.5
Attachment
・ Eight Air hoses (φ4, connect to solenoid valve)
・ Installation screw M4 x 12: 4 screws
(Conical spring washer, Plain washer)
1F-UT-BOX-01
1
0.5
Attachment
・ Eight Air hoses (φ6, connect to solenoid valve)
・ Installation screw M4 x 12: 4 screws
(Conical spring washer, Plain washer)
Part name
Type
Remarks
RH-6FH series
External Wiring/Piping box
RH-12FH/20FH series
External Wiring/Piping box
Note1) Mass indicates one set.
■ Specification
Table 2-34 : Specification
Item
Specification
Remarks
RH-6FH series
Outline
The hole for wiring drawers
Coupling
106(W) x 73.6(D) x 72(H)
φ21 x 4 places
For φ4 air hose x 8pcs
The coupling is included.
Fix the cable by cable clamp etc.
Installed previously
For φ6 air hose x 2pcs
RH-12FH/20FH series
Outline
100(W) x 91.9(D) x 70(H)
The coupling is included.
The hole for wiring drawers
Coupling
φ21 x 4 places
For φ6 air hose x 8pcs
Fix the cable by cable clamp etc.
Installed previously
An outside dimension and a component are shown in Fig. 2-64.
Options 2-94
2 Robot arm
Inside the robot
<RH-6FH series>
①
⑤
(T
h
th is h
e o ol
th e is
er a
sid lso
e) in
③
②
④
Configuration
Part name
Qty.
Specification
①
External Wiring/Piping box housing
1
②
Quick coupling
8
φ4 (Elbow)
③
Quick coupling
2
φ6 (Elbow)
④
φ21 hole
4
The grommet is attached to each hole.
(Two holes are in the right and the left.)
⑤
Manifold block
1
-
Plug
8
Stopper for φ4 quick coupling
-
Plug
2
Stopper for φ6 quick coupling
-
Installation screw
4
Installation screws M4 x 12
Conical spring washer, Plane washer (Attachment)
Fig.2-64 : Outline dimension and configurations (RH-6FH series)
2-95 Options
2 Robot arm
<RH-12FH/20FH series>
①
④
②
②
φ
oi
als
is e)
le id
ho er s
his th
(T he o
t
21
4-φ4.8 hole
n
③
Configuration
Part name
Qty.
Specification
①
External Wiring/Piping box housing
1
②
Quick coupling
8
φ6 (Elbow)
③
φ21 hole
4
The grommet is attached to each hole.
(Two holes are in the right and the left.)
④
Manifold block
1
-
Plug
8
Stopper for φ6 quick coupling
4
Installation screw M4 x 12
Conical spring washer, Plane washer (Attachment)
-
Installation screw
Fig.2-65 : Outline dimension and configurations (RH-12FH/20FH series)
Options 2-96
2 Robot arm
2.8 About Overhaul
Robots which have been in operation for an extended period of time can suffer from wear and other forms of
deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of specified service life or other parts which have been damaged, so that the robots may be put back in shape for continued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of
the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be
carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot
body and 36,000 hours for the controller). (See Fig. 2-66.) For specific information about parts to be replaced and
timing of overhaul, contact your local service representative.
If overhaul is not performed
Shipment
Failure rate λ
Predetermined time period
Periodic inspection
Overhaul
If overhaul is performed
Servo-on time
Fig.2-66 : Periodic inspection/overhaul periods
2-97 About Overhaul
2 Robot arm
2.9 Maintenance parts
The consumable parts used in the robot arm are shown in Table 2-35. Purchase these parts from the designated
maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus,
confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.
Table 2-35 : Consumable part list
No.
Type Note1)
Part name
Usage place
Qty.
Supplier
Common parts between robot type
1
Grease
2
3
Lithium battery
ER6
Reduction gears of each axis
As needed
Ball screw
Ball spline
As needed
Front section of the base
3
J3 axis
1
5
J4 axis motor side
1
6
J4 axis shaft side
1
J3 axis
1
8
J4 axis motor side
1
9
J4 axis shaft side
1
J3 axis
1
11
J4 axis motor side
1
12
J4 axis shaft side
1
Mitsubishi Electric
RH-6FH series
4
Timing belt
Mitsubishi Electric
RH-12FH series
7
Timing belt
Mitsubishi Electric
RH-20FH series
10
Timing belt
Mitsubishi Electric
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.
Maintenance parts 2-98
3Controller
3 Controller
3.1 Standard specifications
Use the robot CPU unit which consists of CR751-Q controllers, equipping the base unit of the sequencer of the
MELSEC-Q series of our company. Specifications such as the power supply and outside dimension of the robot
CPU unit are the same as the sequencer's specification. Refer to Page 103 "Fig. 3-2"(Names of each part), Page
105 "Fig. 3-4" and Page 106 "Fig. 3-5" (Outside dimensions)
Although the specification with which the robot CPU unit and the drive unit (box which mounts the servo amplifier
for the robots, the safety circuit, etc.) were put together is shown in Table 3-1, the specification of the drive unit
is mainly described.
Table 3-1 : Specifications of controller
Item
Unit
Specification
Type
CR750-06HQ-1
CR750-12HQ-1
CR750-20HQ-1
Number of control axis
Simultaneously 4
Memory
capacity
Programmed positions
point
13,000
No. of steps
step
26,000
Number of program
MELFA-BASIC V
Pose teaching method, MDI method Note1)
Teaching method
Interface
Input and output
point
Dedicated input/output
0/0
Assign to the multi-CPU shared device.
Multi-CPU shared device
Input 8192/Output 8192 (Max.)
Hand open/close input/output
point
8/8
Built-in
Emergency stop input
point
1
Dual line
Door switch input
point
1
Dual line
Enabling device input
point
1
Dual line
Emergency stop output
point
1
Dual line
Mode output
point
1
Dual line
Robot error output
point
1
Dual line
Addition axis synchronization
point
1
Dual line
RS-422
port
1
Only for T/B
Ethernet
port
1
10BASE-T/100BASE-Tx
1
SSCNET III (Connects with MR-J3BS, MR-J4-B series)
Additional axis interface
Power
source
CR750-06HD1-1-S15 is the same
256
Robot language
External
input and
output
Remarks
Input voltage range
Power capacity
Power supply frequency
Channel
V
kVA
RH-6FH series:
Single phase AC180 to 253
RH-12FH/20FH seriesNote2) :
Three phase AC180 to 253, or
Single phase AC207 to 253
RH-6FH series: 1.0
RH-12/20FH series: 1.5
Hz
50/60
Outline dimensions Note4)
mm
430(W) x 425(D) x 174(H)
Mass
kg
Construction
Operating temperature range
Ambient humidity
Grounding
Paint color
Does not include rush current Note3)
Excluding protrusions
RH-6FH series
: Approx. 16
RV-12FH/20FH series : Approx. 18
Self-contained floor type, Opened type.
Installation vertically or horizontally
℃
0 to 40
%RH
45 to 85
Ω
100 or less
IP20 Note5)
Without dew drops
100Ωor less (class D grounding)Note6)
Dark gray
Note1) Pose teaching method: The method to register the current position of the robot arm.
MDI method:
The method to register by inputting the numerical value Immediate.
3-99 Standard specifications
3Controller
Note2) Both the three phase power supply and the single phase power supply can use this product according to voltage conditions.
Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when
the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The power consumption in the specific operation pattern with the RH-6FH is approx. 0.3kW and RH-20FH is
approx. 0.49kW. The short circuit breaker should use the following.
* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency
ingredient, it will become the cause in which below the maximum leak current value carries out the trip.
Note4) Refer to Page 104, "3.4 Outside dimensions/Installation dimensions" for details.
Note5) This controller is standard specification. (Refer to Page 100, "3.2 Protection specifications and operating supply".)
Note6) The robot must be grounded by the customer.
Table 3-2 : Robot CPU unit standard specification
Item
Unit
Specification
Remarks
Q172DRCPU
Type
Interface
Addition axis synchronization
port
Power source
Power capacity (DC5V)
1
A
1.25
Outline dimension
mm
98(W) x 27.4(D) x 119.3(H)
Mass
kg
0.33
Operating temperature range
℃
0 to 55
%RH
5 to 95
Ambient humidity
Without dew drops
3.2 Protection specifications and operating supply
A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.
The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated
that any special protection has been constructed for the prevention against oil and water.
【Information】
・ The IEC IP20
It indicates the protective structure that prevents an iron ball 12 +0.05
0 mm diameter, which is being pressed with
the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.
Refer to the section Page 157, "6.2 Working environment" for details on the working environment.
Protection specifications and operating supply 3-100
3 Controller
3.3 Names of each part
Drive unit (Front side)
<15>
<16>
<17>
<3>
<18>
<6>
Fan, Air suction
<20>
Drive unit (Rear side)
<4>
<5>
<7>
<8> <9> <10>
Attached cover
<19>
<2>
<1>
Exhaust downward
(Bottom)
<11>
<12>
<13>
<14>
<1>: ACIN terminal
RH-6FH: Single phase
L1
RH-12FH/20FH: Single phase/Three phase
L2: no-CE specifications
N: CE specifications
L1 L2 L3
<21>
<22>
<20>: The operation panel
<24>
Fig.3-1 : Names of drive unit parts (CR750)
3-101 Names of each part
<25>
<26>
<27>
<28>
<29>
<23>
3 Controller
<1> ACIN terminal ................................................The terminal box for AC power source (single phase or single phase/
three phase, AC200V) input. (Inner side of a cover)
Note)When using the RH-6FH series, connect the primary power supply
to L1 and L2 terminal.
When using the RH-12FH/20FH series, connect the primary power
supply to L1, L2 and L3 terminal when using the three phase
primary power supply, and connect the primary power supply to L1
and L3 terminal when using the single phase primary power supply.
<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place)
<3> Power switch .................................................This turns the control power ON/OFF
<4> Machine cable connector (motor signal) (CN1)
Connect with the CN1 connector of the robot arm.
<5> Machine cable connector (motor power) (CN2)
Connect with the CN2 connector of the robot arm.
<6> T/B connection connector (TB) ...........This is a dedicated connector for connecting the T/B. When not using T/
B, connect the attached dummy connector.
<7><8><9><10> CNUSR connector ..............The connector for input/ output connection dedicated for robot. (a plug
connector attached)
<7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2
Note) <9>: CNUSR13 connector is not used in this controller.
<11> DCOUT connector (DCOUT)........... For emergency stop
<12> CNDISP connector (CNDISP) ........... For LAN of T/B connection
<13> CON3 connector (CON3).................. For RS422 of T/B connection
<14> OPT connector (OPT)........................ For SSCNETIII connection
<15> Interface cover ...................................... USB interface and battery are mounted.
<16> Mode key switch ................................... This key switch changes the robot's operation mode.
AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the
operation mode must be at the external device or T/B are not possible. (Exclude the start
of automatic operation.)
MANUAL ..................When the T/B is valid, only operations from the T/B are valid. Operations for which the
operation mode must be at the external device or controller are not possible.
<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.
<18> Filter cover.............................................. There is an air filter inside the cover.
<19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2
places)
<20> Operation panel..................................... The operation panel for servo ON/OFF, START/STOP the program etc.
<21> Display panel (STATUS.NUMBER) ........... The alarm No., program No., override value (%), etc., are displayed.
<22> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order
of "Override" → "Program No." → "Line No.".
<23> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER"
display panel.
<24> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.)
<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)
<26> START button........................................ This executes the program and operates the robot. The program is run
continuously.
<27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.
<28> RESET button ........................................ This resets the error. This also resets the program's halted state and
resets the program.
<29> END button ............................................. This stops the program being executed at the last line or END statement.
Names of each part 3-102
3 Controller
3.3.1 Names of each part of the robot CPU
⑩
⑨
①
③
Q172DRCPU
⑫
②
0
C
8
8
STOP
⑤
4
C
0
1
4
④
SW
⑬
2
RUN
CAUTION
DISPLAY I/F
EMI
⑭
TU I/F
CN1
⑥
CN2
⑦
FRONT
BAT
M PG
ACFAIL
RIO
Back
背面
⑪
Side
側面
⑧
Front
正面
Fig.3-2 : Names of each part of the robot CPU
① Seven segments LED......................Indicates operational status and error information
② Rotary switch (SW1)........................Set up operation mode. Always set it as "0."
③ Rotary switch (SW2)........................Set up operation mode. Always set it as "0."
④ RUN/STOP switch...........................Unused
⑤ Emergency stop input (EMI)*1) ...Connects with the connector (DCOUT) of the controller by the EMI cable for
robot. (For the emergency stops)
⑥ CN1 connector*2) ............................Connects with the connector (OPT) of the controller by the SSCNET III cable
for robot. (For the robot-arm servo amplifier connection)
⑦ CN2 connector*2) ............................Connect to the servo amplifier of the addition axis (Eight axes)
⑧ Lever for unit installation ..............Use this lever, when installing the unit in the base unit.
⑨ Hook for unit fixing*3) .....................The hook which fixes the unit to the base unit (For the support at installation)
⑩ Unit fixing screw................................The screw for fixing to the base unit (M3×13)
⑪ The projection for unit fixing ......The projection for fixing to the base unit
⑫ Battery connector (BAT)*4) ........The connector for connection with battery holder unit Q170DBATC.
⑬ The connector for the networks (DISPLAY I/F)
Connects with the connector (CNDISP) of the controller by the DISP cable for
robot. (For the LAN of T/B)
⑭ RS422 connector (TU I/F)............Connects with the connector (CON3) of the controller by the TU cable for
robot. (For the RS-422 of T/B)
*1) Please be sure to use the emergency stop input cable. The emergency stop cannot be canceled if it does not
use. If it manufactures the emergency stop input cable in the customer, cable length should use 30m or less.
*2) Please store in the duct or fix the cable section near robot CPU with the bunch wire rod so that prudence of
the cable is not applied to CN1 and CN2 connector section.
*3) It is equipment for the support when installing the unit in the basic base unit. Please be sure to fix the unit to
the basic base unit with the attached fixing screw.
*4) Please be sure to use the external battery. Unless the battery cable is connected surely, the program in
SRAM with a built-in robot CPU, the parameter, origin position data, etc. are not held.
3-103 Names of each part
3 Controller
3.4 Outside dimensions/Installation dimensions
3.4.1 Outside dimensions
Fig.3-3 : Outside dimensions of drive unit (CR750)
Outside dimensions/Installation dimensions 3-104
3 Controller
(1) Outside dimensions of robot CPU unit
* The outside dimensions of connected battery is shown in Fig. 3-5.
Fig.3-4 : Outside dimensions of robot CPU
3-105 Outside dimensions/Installation dimensions
3 Controller
(2) Battery unit outside dimension
2-Φ5.5 hole
Fig.3-5 : Outside dimensions of battery unit
Outside dimensions/Installation dimensions 3-106
3 Controller
3.4.2 Installation dimensions
<Placed horizontally>
145mm
145mm
Intake vent
吸気口
250mm
or以more
上
250mm
150mm
or more
150mm以上
<Placed vertically>
250mm
or more
250mm以上
50mm or more
50mm以上
20mm20mm以上
or more
Fig.3-6 : Installation of controller (CR750)
CAUTION
Fixing installation section sure for prevention from the fall, when using the drive unit
placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-7.
You should install the metal plate for fixation to the drive unit with M4 x 8 or the shorter
screw. The screw projection length inside the controller (side board thickness is 1.2 mm)
surely makes 6.8 mm or less.
CAUTION
When storing the drive unit in a cabinet, etc., take special care to the heat radiating
properties and ventilation properties so that the ambient temperature remains within the
specification values. And, don't install the drive unit in the position where direct rays or
the heat of lighting hits. The skin temperature of the drive unit may rise, and the error
may occur.
3-107 Outside dimensions/Installation dimensions
3 Controller
hole
hole
hole
(Controller fixation hole)
Fig.3-7 : Metal plate for fixation to placing vertically (Reference for CR750)
Outside dimensions/Installation dimensions 3-108
3 Controller
(1) Robot CPU Unit installation dimensions
Because to improve ventilation and to make unit replacement easy, please secure the following distance
between the upper and lower sides of the unit and the structure, etc.
<Q172DRCPU>
The position of the ceiling of the
board, and the wiring duct section
盤の天井、配線ダクト部分の位置
Base unit
ベースユニット
Robot CPU Unit
ロボットCPUユニット
QX40
Q172DEX
QX40
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 SY.ENCTREN
8 9 A B C D E F 8 9 A B C D E F
Q 172D RCPU
4
C
0
STOP
1
1
2
2
Within
40mm
40mm以上
Robot CPU Unit
ロボットCPUユニット
Q173DPX
PLS.A
PLS.B
1
1
2
2
3
3
SW
4
C
0
1
8
POWER
Q03DCPU
MODE
RUN
ERR.
USER
BAT.
BOOT
8
MELSEC
Q61P
TREN
1
2
3
2
RUN
CAUTION
RS-232
I/I/O11
O11
Q312DB
盤
Board
TU I/F
CN1
USB
CN2
PULL
SY.ENC1
PULSER
PULL
FR O N T
BA T
M PG
AC F AI L
RI O
扉
Q172DEX
Within
100mm
100mm以上
Q173DPX
123.5mm
123.5mm
Within
100mm
100mm以上
Within
5mm
5mm以上
Fig.3-8 : Installation of robot CPU Unit
3-109 Outside dimensions/Installation dimensions
Within
5mm
5mm以上
Door
DISPLAY I/F
EMI
3 Controller
3.5 External input/output
3.5.1 Types
(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and
status display.
(2) General-purpose input/output.................These are inputs and outputs that the customer can program for
peripheral device control.
(3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can
program.
(4)Emergency stop/Door switch input.........The wiring for the safe security of the emergency stop etc. is shown in
on Page 114, "3.7 Emergency stop input and output etc." and on Page
149, "6.1.7 Examples of safety measures".
<For Reference>
Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to
control robot controller's input/output from a GOT (graphic operation terminal).
External input/output 3-110
3 Controller
3.6 Dedicated input/output
Show the main function of dedicated input/output in the Table 3-3. Refer to attached instruction manual
"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and
output signal No.
Table 3-3 : Dedicated input/output list
Parameter
name
Input
Name
Output
Note1)
Function
Level
Name
Function
TEACHMD
None
Teaching mode output signal
Outputs that the teaching mode is
entered.
ATTOPMD
None
Automatic mode output signal
Outputs that the automatic mode is
entered.
ATEXTMD
None
Remote mode output
signal
Outputs that the remote mode is
entered.
RCREADY
None
Controller power ON
complete signal
Outputs that external input signals can
be received.
Automatic operation
enabled output signal
Outputs the automatic operation
enabled state.
Operating output signal
Outputs that the slot is operating.
Wait output signal
Outputs that the slot is temporarily
stopped.
Wait output signal
Outputs that the slot is temporarily
stopped.
Notes) Specification is the same as the
STOP parameter.
E
Program selection
enabled output signal
Outputs that the slot is in the program
selection enabled state.
E
Error occurring output signal
Outputs that an error has occurred.
E
In cycle stop operation output signal
Outputs that the cycle stop is operating.
Automatic operation enabled input
signal
Allows automatic operation.
START
Start input signal
Starts all slots.
STOP
Stop input signal
Stops all slots.
The input signal No. is fixed to 0.
Note) Use the emergency stop
input for stop inputs related
to safety.
AUTOENA
STOP2
SLOTINIT
Stop input signal
Program reset input
signal
L
The program during operation is
stopped.
Unlike the STOP parameter,
change of the signal number is
possible.
Notes) Specification is the same as
the STOP parameter.
Resets the wait state.
E
L
L
ERRRESET Error reset input
signal
Resets the error state.
CYCLE
Cycle stop input
signal
Carries out cycle stop.
SRVOFF
Servo ON enabled
input signal
Turns the servo OFF for all mechanisms.
L
Servo ON enabled
output signal
Outputs servo-on disable status.
(Echo back)
SRVON
Servo ON input
signal
Turns the servo ON for all mechanisms.
E
In servo ON output
signal
Outputs the servo ON state.
IOENA
Operation rights
input signal
Requests the operation rights for
the external signal control.
L
Operation rights output signal
Outputs the operation rights valid state
for the external signal control.
MELOCK
Machine lock input
signal
Sets/resets the machine lock
state for all mechanisms.
E
In machine lock output signal
Outputs the machine lock state.
SAFEPOS
Evasion point
return input signal
Requests the evasion point return
operation.
E
In evasion point
return output signal
Outputs that the evasion point return
is taking place.
OUTRESET General-purpose
output signal reset
Resets the general-purpose output
signal.
E
EMGERR
S1START
:
S32START
None
Start input
3-111 Dedicated input/output
Starts each slot.
E
None
Emergency stop output signal
Outputs that an emergency stop has
occurred.
In operation output
Outputs the operating state for each
slot.
3 Controller
Parameter
name
S1STOP
:
S32STOP
Input
Name
Output
Note1)
Function
Level
Name
Outputs that each slot is temporarily
stopped.
Stop input
Stops each slot.
L
Program selection
input signal
Designates the setting value for
the program No. with numeric value
input signals.
E
None
Override selection
input signal
Designates the setting value for
the override with the numeric value
input signals.
E
None
Numeric value input
(start No., end No.)
Used to designate the program
name, override value., mechanism
value.
L
Numeric value output
(start No., end No.)
Program No. output request
Requests output of the program
name.
E
Program No. output
signal
Outputs that the program name is
being output to the numeric value output signal.
LINEOUT
Line No. output
request
Requests output of the line No.
E
Line No. output signal
Outputs that the line No. is being output to the numeric value output signal.
OVRDOUT
Override value out- Requests the override output.
put request
E
Override value output signal
Outputs that the override value is being
output to the numeric value output signal.
E
Error No. output signal
Outputs that the error No. is being output to the numeric value output signal.
E
Jog valid output signal
Outputs that the jog operation with
external signals is valid.
L
Jog mode output 2bit
Outputs the current jog mode.
PRGSEL
OVRDSEL
IODATA
Note2)
PRGOUT
In wait output
Function
Used to output the program name,
override value., mechanism No.
ERROUT
Error No. output
request
Requests the error No. output.
JOGENA
Jog valid input signal
Validates jog operation with the
external signals
JOGM
Jog mode input 2bit
Designates the jog mode.
JOG+
Jog feed + side for
8-axes
Requests the + side jog operation.
L
None
JOG-
Jog feed - side for
8-axes
Requests the - side jog operation.
L
None
HNDCNTL1
:
HNDCNTL3
None
HNDSTS1
:
HNDSTS3
HNDERR1
:
HNDERR3
None
Mechanism 1 hand
error input signal
:
Mechanism 3 hand
error input signal
Requests the hand error occurrence.
L
Mechanism 1 hand
output signal status
:
Mechanism 3 hand
output signal status
Mechanism 1: Outputs the status of
general-purpose outputs
900 to 907.
Mechanism 2: Outputs the status of
general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of
general-purpose outputs
920 to 927.
Mechanism 1 hand
input signal status
:
Mechanism 3 hand
input signal status
Mechanism 1: Outputs the status of
hand inputs 900 to 907.
Mechanism 2: Outputs the status of
hand inputs 910 to 917.
Mechanism 3: Outputs the status of
hand inputs 920 to 927.
Mechanism 1 hand
error output signal
:
Mechanism 3 hand
error output signal
Outputs that a hand error is occurring.
Dedicated input/output 3-112
3 Controller
Parameter
name
AIRERR1
:
AIRERR3
Input
Name
Pneumatic pressure
error 1 input signal
:
Pneumatic pressure
error 3 input signal
Function
Request the pneumatic pressure
error occurrence.
Level
Name
L
Pneumatic pressure
error 1 output signal.
:
Pneumatic pressure
error 3 output signal.
M1PTEXC
:
M3PTEXC
USERAREA
Note3)
None
None
Output
Note1)
L
Function
Outputs that a pneumatic pressure
error is occurring.
Maintenance parts
replacement time
warning signal
Outputs that the maintenance parts
have reached the replacement time.
User-designated area
8-points
Outputs that the robot is in the userdesignated area.
Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the
signal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state,
and the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
3-113 Dedicated input/output
3 Controller
3.7 Emergency stop input and output etc.
Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from
the "special input/output" terminal connector.
Table 3-4 : Special input/output terminal
Item
Input
Name
Function
Emergency stop
Applies the emergency stop. Dual emergency line
Input
Special stop input
Applies the stop. (Refer to Page 119, "3.7.2 Special stop input (SKIP)")
Input
Door switch
Servo-off. Dual line, normal close (Page 120, "3.7.3 Door switch function")
Input
Enabling device
Servo-off. Dual line, normal close (Page 120, "3.7.4 Enabling device function")
Output
Robot error output
Contactor is opening during error occurrence.
Output
Emergency stop output
The point of contact opens under occurrence of emergency stop of external input signal, emergency
stop of OP, emergency stop of T/B.
Output
Mode output
MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.
Output
Magnet contactor control
connector output for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm. (Page 125, "3.9 Magnet contactor control connector output (AXMC) for addition
axes")
*At the time of the power supply OFF, the output point of contact is always open.
[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the
equipment except for this range. The use exceeding contact capacity causes failure.
In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect
to the controller. (related with emergency stop and parallel input/output) If it connects with the controller
under the condition that the + side is grounded, it will lead to failure of controller.
Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-10.
3.7.1 Connection of the external emergency stop
The external emergency stop input and door switch input and enabling device input are opened at shipment as
shown in Fig. 3-10.
Connect the external emergency stop switch and door switch with the following procedure.
And, the example of the connection and notes of the emergency stop are described in Page 149, "6.1.7 Examples
of safety measures" Refer to it together
[Caution] The emergency stop circuit is duplicated inside the drive unit. The emergency stop switch uses a double
contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below
in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of
the pins is connected.
1) Please prepare the emergency stop switch, door switch and enabling device.
a) External emergency switch
・ CR750 drive unit........... CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4".
b) Door switch
・ CR750 drive unit........... CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".
c) Enabling device
・ CR750 drive unit........... CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".
[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environment that is easily affected by noise, be sure to fix the attached ferrite core (model number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than
30 cm from the connecting terminal section.
CAUTION
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not being
released. In order to prevent errors occurring, please be sure to check that all functions
(such as the teaching box emergency stop, customer emergency stop, and door switch)
are working properly after the wiring setup is completed.
Emergency stop input and output etc. 3-114
3 Controller
CAUTION
You should always connect doubly connection of the emergency stop, the door switch,
and the enabling switch. In connection of only one side, if the relay of customer use
should break down, it may not function correctly.
And, the output contacts from the robot controller (robot error output, emergency stop
output, mode output, addition axis contactor control output) are dual contacts (synchronizes). You should connect surely by dual line with the customer's equipment as
well as connection of the emergency stop and the door switch.
CAUTION
Please make sure to wire the multiple emergency stop switches so that they each
function independently. Check and make sure that the emergency stop doesn't only
function under an AND condition (when multiple emergency stop switches are ON at
the same time).
CNUSR11
connector
CNUSR11コネクタ
CNUSR12
connector
CNUSR12コネクタ
Within 30 cm
30cm以内
Ferrite
core
フェライトコア
Pass
twice
2回通し
Fig.3-9 : Emergency stop cable connection (CR750)
3-115 Emergency stop input and output etc.
3 Controller
Internal
circuit structure
内部回路構成
内部回路構成
unit
side)ッ ト 側 )
((Drive
ド
ライ
ブユニ
(コントローラ側)
OP - TBTB
OP emer
emergency
stop 非常停止
gency stop
非常停止
(お客様配線側)
(Customer)
(お客様配線側)
(Customer)
CNUSR11
+24V
CNUSR11
11
1
モード出力
Mode output
12
13
2
3
Emergency
非常停止出力
stop output
14
RA
Relay
4
5
CNUSR12
11
6
モード出力
Mode output
12
13
Emergency
非常停止出力
Relay
RA
stop output
14
+24V
24GND
+24V
24GND
RA
Relay
7
8
9
10
1
2
Robot error
output
ロボットエラー出力
17
RA Relay
Robot error
ロボットエラー出力
3
4
5
output
6
+24V
24GND
Relay
RA
+24V
24GND
External emergency
stop input
*1)
短絡
Short
外部非常停止入力
ドアスイッチ入力
Door switch input
Enabling device
イネーブリング
input
デバイス入力
CNUSR12
CNUSR2
41
*1)
+24V
24GND
16
短絡
Short
RA
Relay
7
8
9
10
短絡
Short
*1)
External emergency
外部非常停止入力
stop input
短絡
Short
*1)
Door switch input
ドアスイッチ入力
Enabling device
イネーブリング
input
デバイス入力
24GND
Please do not carry out an insulation pressure test.
CAUTION
警告 絶縁耐圧試験は行なわないでください。
Moreover, it becomes the cause of failure if it
また誤って接続した場合は故障の原因となります。
Please refer to the example of safety measures
of "Standard Specifications Manual".
connects incorrectly.
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the drive unit is used, short-circuit the terminal.
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the drive
unit. (related with emergency stop and parallel input/output) If it connects with the drive unit under the condition that
the + side is grounded, it will lead to failure of drive unit.
Fig.3-10 : External emergency stop connection (CR750)
CAUTION
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing Page 149, "6.1.7 Examples of safety
measures".
This is a necessary measure in order to ensure safe operation so that the robot can be
stopped immediately by pressing the emergency stop switch in the event that the
robot malfunctions.
Emergency stop input and output etc. 3-116
3 Controller
<CR750 drive unit>
CNUSR11
CNUSR12
CNUSR11/12 connector
Reference: CNUSR13
(Connect the encoder,
when using the tracking
function)
Connector for user wiring
Connector fixing screw
(Two places)
Driver
*Recommendation driver
size: 2.5mm.
Cable fixing screw
Pin number of connector
A
16
1
Cable insert point
7mm
View A
Connecting cable
(AWG #26 ~ 16(0.14mm ~ 1.5mm2))
Connection procedure
Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix
it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the
controller.
Please use an AWG #26 to 16 (0.14 to 1.5mm2) connector cable.
1) Prepare the user wiring connector that accompanies the product.
2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head
with a width of 2.5mm to loosen the screw.
3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding connector.
4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.
(tightening torque of 0.22 to 0.25Nm)
5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that correspond with the controller. Connect so that the cable fixing screw comes on top, and make sure to fix securely
by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should be used to
fix screws (tightening torque of 0.22 to 0.25Nm).
This concludes the connection procedure.
Fig.3-11 : Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))
CAUTION
The connector on the controller side that connects to the user wiring connector is
CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not
operate properly.
3-117 Emergency stop input and output etc.
3 Controller
<CR750 drive unit>
CNUSR2 connector
Cover fixing screw (Two places)
CNUSR2
Connector cover
Plug
Connector for
user wiring
Remove the connector cover
View A
25
Pin number of plug
1
Soldering
50
26
A
3mm
Connecting cable
(AWG #30 ~ 24(0.05mm2 ~ 0.2mm2))
Connection procedure
Solder thepins of the user wiring connector that accompanies the product, and connect the connector to the
CNUSR2 connector at the back of the drive unit. For the connection cables, please use AWG #30 to 24 (0.05 to
0.2mm2).
1) Loosen the two fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and
make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR2) on the drive unit. With pin number 1 facing
to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig.3-12 : Method of wiring for external emergency stop connection (CR750 (CNUSR2))
CAUTION
When soldering please take care to only connect to the specified pin number.
Connecting to a different pin number or short-circuiting with another pin will result in
the robot breaking down or malfunctioning.
Emergency stop input and output etc. 3-118
3 Controller
3.7.2 Special stop input (SKIP)
The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-13.
Table 3-5 : Special stop input electric specification
Item
Specifications
Type
DC input
No. of input point
1
Insulation method
Photo-coupler insulation
Rated input voltage
DC24V
Rated input current
Approx. 11mA
Working voltage range
DC 21.6 ~ 26.4V
(Ripple rate within 5%)
ON voltage/ON current
DC 8V or more / 2mA or more
OFF voltage/OFF current
DC 4V or less / 1mA or less
Input resistance
Approx. 2.2 k Ω
Response
time
OFF → ON
1ms or less
ON → OFF
1ms or less
Common method
1 point per common
External wire connection method
Connector
Internal circuit
91A
+24V(COM)
330
2.2k
34
1B
入力
Input
CNUSR2
connector
CNUSR2
Within30cm以内
30cm
* Connects with CNUSR2 connector
with soldering.
Refer to Page 118 "Fig. 3-12: Method
of wiring for external emergency stop
connection (CR750 (CNUSR2))".
Ferrite
core
フェライトコア
Pass
twice
2回通し
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-13 : Connection of the special-stop-input (CR750)
3-119 Emergency stop input and output etc.
3 Controller
3.7.3 Door switch function
This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in Page 116 "Fig. 3-10: External emergency
stop connection (CR750)" and Page 149, "6.1.7 Examples of safety measures". Those figure explains the wire is
contact closes when the door is closed. Details of this function according to the robot status are shown below.
*During automatic operation .............. When the door is opened, the servo turns OFF and the robot stops. An error
occurs.
The process of the restoration: Close the door, reset the alarm, turn on the
servo, and restart
*During teaching........................................ Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.
① Auto executing
Safeguard
STOP!!
MODE
TEACH
AUTO
MANUAL
(Op.)
AUTO
AUTOMATIC
(Ext.)
Robot arm
(Example)
Open
Turns OFF the servo
② Teaching
Safeguard
AUTO
MANUAL
(Op.)
TEACH
MODE
AUTO
AUTOMATIC
(Ext.)
Open
Robot arm
(Example)
Teaching
pendant
The servo can be turned ON/Off
by turning the enable switch ON/OFF.
Fig.3-14 : Door switch function
3.7.4 Enabling device function
When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by
switch operation of the enabling device*1) (servo-off), and the safety increases. To use the robot safely, please be
sure to connect the enabling device.
(1) When door is opening
Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the
servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then
the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device.
And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the
enabling device is released.
(2) When door is closing
You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the
safeguard sure.
*1) Recommendation products: HE1G-L20MB (IDEC)
Emergency stop input and output etc. 3-120
3 Controller
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
The following is a description of various operations performed on the robot and switch settings that are required.
Table 3-6 : Various operations and necessary switch settings
Related switch settings Note1)
No
1
2
Operation
Jog operation
Jog operation
Note2)
Brake release
3
Note3)
4
Automatic
operation
Mode of
controller
T/B
enable/
disable
T/B
enable switch
Enabling
device input
terminal
Door switch
input terminal
Manual
Enable
ON
Close(ON)
-
Manual
Enable
ON
Open(OFF)
Manual
Enable
ON
Close(ON)
Automatic
Disable
-
-
Description
If the enabling device input is set to
Close (On), the state of door switch
input does not matter.
If the enabling device input is set to
Close
Open (Off), door switch input must be
(Door Close)
in a state of Close
-
Irrespective of the state of door
switch input, enabling device input
must be in a state of Close (On).
Close
Door switch input must always be in a
(Door Close) state of Close (Door Close).
Note1) "-" in the table indicates that the state of switch concerned does not matter.
Refer to the following for operation of each switch.
・ Mode of controller: ..............................................................................................Page 101, "3.3 Names of each part"
・ T/B enable/disable:..................................................................................... Page 128, "(1) Teaching pendant (T/B)"
・ T/B enable switch:....................................................................................... Page 128, "(1) Teaching pendant (T/B)"
・ Enabling device input terminal: .................................................Page 149, "6.1.7 Examples of safety measures"
・ Door switch input terminal: ........................................................Page 149, "6.1.7 Examples of safety measures"
Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety barrier.
Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the
enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake
release can be effected only when both of the enabling switch device and the T/B enable switch are placed
in intermediate position (lightly gripped position). At this point, the state of door switch input does not matter.
T/B being manipulated
Door in
Open state
Enabling device being manipulated
Fig.3-15 : Brake release operation
3-121 Emergency stop input and output etc.
CAUTION
Upon the release of brake, the
robot arm may fall under its own
weight depending on the axis
which has been released. For
added safety, provide support or
take other precaution to prevent
the falling of the arm.
3 Controller
3.8 Additional Axis Function
This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis
or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time
by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET
III.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
3.8.1 Wiring of the Additional Axis Interface
Table 3-7 shows the connectors for additional axes inside the drive unit. Fig. 3-16 shows a connection example
(configuration example).
Table 3-7 : Dedicated connectors inside the drive unit
Name
Connector name
Connector for additional axes
Details
CN2(Robot CPU)Note1)
The connector for connecting the general-purpose servo amplifier.
Note1) Since the CN1 connector is used for the robot arms, it cannot be used for the addition axis.
CNUSR11
connector
CNUSR11コネクタ
CNUSR12
connector
CNUSR12コネクタ
Robot
CPU
ロボットCPU
(Q172DRCPU)
Servo
amplifier
サーボアンプ
Servo
amplifier
サーボアンプ
Q172DRCPU
0
C
8
8
STOP
SW
4
4
C
0
1
2
RUN
CAUTION
SSCNET
III cable
SSCNETⅢケーブル
DISPLAY I/F
EMI
To CN1A
connector
CN1Aコネクタへ
SSCNET
III cable
SSCNETⅢケーブル
To CN1A
CN1Aコネクタへ
connector
TU I/F
CN1
To CN1B
CN1Bコネクタへ
connector
To CN1B
connector
CN1Bコネクタへ
Cap
キャップ
To CN2
CN2
CN2コネクタへ
connector
FRONT
BAT
MPG
ACFAIL
RIO
Magnetic
contact
電磁接触器
* It cannot communicate,
if connection of CN1A and CN1B is mistaken.
※CN1A、CN1Bの接続を間違えると、通信できません。
Fig.3-16 : Example of addition axis connection (CR750)
Additional Axis Function 3-122
3 Controller
(1) Example of the installation of the noise filter
1) EMC filter (recommended)
Please install the recommendation filter shown below according to the example of connection.
1)
2)
Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120 VAC power supply.
Note2) The example is when a surge protector is connected.
Fig.3-17 : Example of EMC noise filter installation
3-123 Additional Axis Function
3 Controller
2) Line noise filter
This filter is effective in suppressing noises radiated from the power supply side and output side of the
servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially
within 0.5MHz to 5MHz band.
Fig.3-18 : Example of noise filter installation
Additional Axis Function 3-124
3 Controller
3.9 Magnet contactor control connector output (AXMC) for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the
servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the
drive unit and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off
when this output is open.
An example circuit and an image of how to connect the controller connector are shown below. When you are using
an additional axis, please perform appropriate circuit connections by referring to these drawings.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please
do not connect this output signal. Servo-on of the user mechanism may be unable.
1) Get the power supply for the drive unit from the secondary terminal
1)付加軸アンプボックス内蔵漏電遮断器(NV)の2次側より、ドライブユニット電源を取り出す
of short circuit breaker (NV) built in the addition axis amplifier box.
Amplifier
アンプ
2) Get the2)ドライブユニット内蔵漏電遮断器(NV)の2次側より、
power supply for the MC synchronization from the secondary terminal
of short circuit breaker (NV) built in the drive
MC同期用電源を取り出す。
unit.
NV
注1)
Note1)
CNUSRコネクタ
CNUSR2
connector
NV
To the
内部回路へ
internal
circuit
MC1
MC2
88
DC24V
注2)
Note2)
AXMC11
AXMC12
Note2)
注2)
AXMC21
AXMC22
AXMC
is output
内部サーボ電源用
from
the contact
コンタクタ接点より
for
internal servo
AXMC出力
power
supplies.
MC
<Addition axis amplifier box>
<走行軸(付加軸)アンプボックス>
Note)
The connector and the pin number are shown below.
注1)コネクタとピン番号を以下に示します。
<Drive unit>
<ドライブユニット>
信号名
Signal
Connector
コネクタ
ピン番号
Pin
number
AXMC11
AXMC12
AXMC21
AXMC22
CNUSR2
20
45
19
44
CNUSR2
Note2)
This output is opened, if the robot turns off the servo by occurrence of alarm etc.
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<Electric specification>
<接点容量>
DC24V/10mA to 100mA
DC24V/10mA~100mA
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that
the + side is grounded, it will lead to failure of controller.
Fig.3-19 : Example of circuit for addition axes of Magnet contactor control output
CNUSR2
connector
CNUSR2コネクタ
Within
30cm
30cm以内
*Connects with CNUSR2 connector
with soldering. Refer to Page 118 "Fig.
3-12: Method of wiring for external
emergency stop connection (CR750
(CNUSR2))".
Fig.3-20 : AXMC terminal connector (CR750)
3-125 Magnet contactor control connector output (AXMC) for addition axes
Ferrite
core
フェライトコア
Pass
twice
2回通し
3 Controller
Magnet contactor control connector output (AXMC) for addition axes 3-126
3 Controller
3.10 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for user needs.
User installation is required for the options.
Options come in two types: "set options" and "single options".
1. Set options ......................................A combination of single options and parts that together, form a set for serving
some purpose.
2. Single options .................................That are configured from the fewest number of required units of a part.
Please choose user's purpose additionally.
3-127
3 Controller
(1) Teaching pendant (T/B)
■ Order type: R32TB
R32TB-15
:Cable length 7m
:Cable length 15m
■ Outline
This is used to create, edit and control the program, teach the operation position and
for jog feed, etc.
For safety proposes, a 3-position enable switch is mounted.*1)
■ Configuration
Table 3-8 : Configuration device
Part name
Teaching pendant
Type
R32TB
R32TB-15
Qty.
Either one pc.
Mass (kg) Note1)
Remarks
1.7
Cable length is 7m. Hand strap is attached.
2.8
Cable length is 15m. Hand strap is attached.
Note1) Mass indicates one set.
■ Specifications
Table 3-9 : Specifications
Items
Specifications
Outline dimensions
195(W) x 292(H) x 106(D) (refer to outline drawing)
Body color
Dark gray
Remarks
Mass
Approx. 0.9kg (only arm, excluding cable)
Connection method
Connection with drive unit and connector.
Interface
RS-422
Display method
LCD method: 24 characters x 8 lines, LCD illumination: with backlight
Operation section
36 keys
At 8x8 font
*1) <3-position enable switch>
In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the
robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.
With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch"
and "Enable switch".
The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
a) "Not pressed" ..........................The robot does not operate. *)
b) "Pressed lightly" .....................The robot can be operated and teaching is possible.
c) "Pressed with force" ............The robot does not operate. *)
*) Operations, such as program editing and status display, other than robot operation are possible.
Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.
Teaching pendant (T/B) 3-128
3 Controller
195.2
133
105.5
LCD
Enable/Disable switch
Emergency stop
291.9
Operetion key
Body
Enable switch
Cable (with connector)
<side>
63.5
<Front>
<Bottom>
Fig.3-21 : Outside dimensions of teaching pendant
■ Installation method
The teaching pendant is connected to the T/B connector on the front of the drive unit.
3-129 Teaching pendant (T/B)
<Back>
3 Controller
■ Key layout and main functions
②
④
①
⑤
⑥
⑦
⑨
⑪
⑫
⑬
⑭
⑮
⑯
⑤
⑥
⑧
⑩
③
⑰
⑱
⑲
⑳
① [Emergency stop] switch ................ The robot servo turns OFF and the operation stops immediately.
② [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and disable.
③ [Enable] switch.................................... When the [Enable/Disable] switch " ② " is enabled, and this key is
released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.
④ LCD display panel .............................. The robot status and various menus are displayed.
⑤ Status display lamp ........................... Display the state of the robot or T/B.
⑥ [F1], [F2], [F3], [F4].......................... Execute the function corresponding to each function currently displayed on LCD.
⑦ [FUNCTION] key ................................ Change the function display of LCD.
⑧ [STOP] key........................................... This stops the program and decelerates the robot to a stop.
⑨ [OVRD ↑ ][OVRD ↓ ] key ........... Change moving speed. Speed goes up by [OVRD ↑ ] key. Speed goes
down by [OVRD ↓ ] key
⑩ [JOG] operation key......................... Move the robot according to jog mode. And, input the numerical value.
⑪ [SERVO] key........................................ Press this key with holding AA key lightly, then servo power will turn
on.
⑫ [MONITOR] key .................................. It becomes monitor mode and display the monitor menu.
⑬ [JOG] key.............................................. It becomes jog mode and display the jog operation.
⑭ [HAND] key........................................... It becomes hand mode and display the hand operation.
⑮ [CHARCTER] key............................... This changes the edit screen, and changes between numbers and
alphabetic characters.
⑯ [RESET] key......................................... This resets the error. The program reset will execute, if this key and
the EXE key are pressed.
⑰ [ ↑ ][ ↓ ][ ← ][ → ] key................ Moves the cursor each direction .
⑱ [CLEAR] key ........................................ Erase the one character on the cursor position.
⑲ [EXE] key............................................... Input operation is fixed. And, while pressing this key, the robot moves
when direct mode.
⑳ Number/Character key.................... Erase the one character on the cursor position . And, inputs the number or character
Fig.3-22 : Teaching pendant key layout and main functions
Teaching pendant (T/B) 3-130
3 Controller
(2) Controller protection box
■ Order type: ● CR750-MB
■ Outline
By putting the controller in this box, the controller can be protected from oil mist
environment.
Use this option, when the controller is installed where environment is oil mist such as
machine shop etc. Therefore, the operation of installing and removing the T/B, and
changing the mode switch can be done, with the controller put in.
■ Configuration
Table 3-10 : Configuration equipment and types
Part name
Type
Controller protection box
CR750-MB
Qty.
Mass (Kg)Note1)
備考
1
power supply wiring cable
3
For connection between the power supply relay
terminal and controller inside this box
Grounding cable
1
For connection between the grounding terminal and
controller inside this box
Seal for the serial number copy
1
Protection seal clear
22
1
Cable tie
T50L
4
Screw for fixing of the controller
mounting plate
M4x8
4
Note1) Mass indicates one set.
■ Specifications
Table 3-11 : Specifications
Item
Unit
Specifications
Outside dimension
mm
500(W)×725(D)×250(H)
Mass
Kg
22
Ω
100 or less (class D grounding)
Construction
Grounding
Paint color
Self-contained floor type
Remarks
Excluding protrusions
IP54
Dark gray
(1) The robot must be grounded by the customer.
(2) The cable for primary power supply connection and the grounding cable are customer preparations.
3-131 Controller protection box
3 Controller
■ Outside dimension and controller setting position
Cable cover
Drain hole
Controller setting position
Rubber foot fixation screw for
placing vertically
(Four places)
Fig.3-23 : Outside dimension and controller setting position
Controller protection box 3-132
3 Controller
■ Names of each part
Window
Mode key switch
Seal for the serial number copy
Protection seal clear
T/B connector
Front view
Mode change SW
extension cable
Controller
Fixing lever
Power supply relay terminal
(M4 screw)
Grounding terminal (M4 screw)
Cable cover
Cable tie
T/B junction
cable
External emergency stop
wiring (customer preparation)
Front side
of the
controller
Machine cable CN2
Power supply cable,
Grounding cable
(customer preparation)
Machine cable CN1
Controller mounting plate
Power supply wiring
Upper view
Fig.3-24 : Names of each part
3-133 Controller protection box
Grounding cable
3 Controller
■ Wiring system diagram
<Single phase: RH-6FH series>
Controller protection box
Terminal
Power supply wiring
Controller
Power supply cable
Grounding cable
(L1)
(L1)
(L2)
(L2)
ACIN
CN1
CN2
FG
CNUSR
11/12
AC fan
FG
FG
FG
Grounding cable
Grounding terminal
<Single phase/Three phase: RH-12FH/20FH series>
Controller protection box
Terminal
Note1)
Power supply wiring
Controller
Power supply cable
Grounding cable
(L1)
(L1)
(L2)
(L2)
(L3)
ACIN
CN1
CN2
(L3)
FG
CNUSR
11/12
AC fan
FG
Grounding cable
FG
FG
Grounding terminal
Note1) When using the controller for the three phases with the single-phase power supply, connect the primary power
supply to L1 and L2 electric terminal of the protection box so that the power supply may be supplied to the
heat-exchanger AC fan of the protection box.
Connects with L1 and L3 electric terminal to the ACIN terminal block of the controller. Refer to the separate
manual "Controller setup, basic operation, and maintenance" for detail of connecting the power cable and the
grounding cable.
Fig.3-25 : Wiring system diagram
Controller protection box 3-134
3 Controller
■ Installation dimensions
<<Placed horizontally>
150mm
or more
30mm or more
150mm
or more
<Placed vertically>
150mm or more
30mm
or more
Fig.3-26 : Installation dimensions
3-135 Controller protection box
150mm or more
150mm
or more
150mm
or more
3 Controller
(3) RT ToolBox2/RT ToolBox2 mini
■ Order type : ● RT ToolBox2
*For windows CD-ROM
● RT ToolBox2 mini
*For windows CD-ROM
: 3D-11C-WINE
: 3D-12C-WINE
■ Outline
This is handy software that fully uses the personal computer functions. It can be used in
various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of
program), and maintenance.
The "personal computer support software" which supports these function fully, and the
"personal computer support software mini" which does not have the simulation function
are available.
■ Configuration
Table 3-12 : Product configuration
Type
Medium
Mass (kg) Note1)
RT ToolBox2
3D-11C-WINE
CD-ROM
0.2
RT ToolBox2 mini
3D-12C-WINE
CD-ROM
0.2
Part name
Remarks
Note1) Mass indicates one set.
■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations
can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry
out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and displays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially
sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the
machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition
while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubrication and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs
can be reduced.
(4) The position recovery support function increases the recovery efficiency in the event of origin position displacement. This function compensates the origin settings and position data by just reproducing several previous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or
when reloading the robot. This function can reduce the time required for recovery.
RT ToolBox2/RT ToolBox2 mini 3-136
3 Controller
■ Functions
Table 3-13 : Functions
Function
Functional existenceNote1)
Compatible model
Program editing
functions
○
Personal computer running Microsoft Windows2000/XP/Vista/7. Note2)
○
○
・ MELFA BASIC V language compatible
・ Multiple editing screen simultaneously display
・ Command input, comment writing
・ Position data editing
・ File operation (writing to controller, floppy disk, personal computer)
・ Search and replace function (using characters, line Nos., labels)
・ Copy, cut, paste, insert (per character, line), undo (per command
statement, position conversion)
・ Line No. automatic generation, renumbering
・ Batch syntax check
・ Command template
・ Position conversion batch editing
・ Position variable template
・ Print, print preview
○
○
・ Program file control (list, copy, movement, delete, content comparison, name change, protect)
○
○
・ Direct editing of program in controller
・ Confirmation of robot program operation (step execution, direct execution)
○
×
・ Off-line simulation of robot program operation using CG (computer
graphics)
・ Tact time calculation
○
○
・ Robot operation monitor (robot operation state, stop signal, error
monitor, program monitor (execution program, variables), general-purpose input/output signals (forced output possible), dedicated input/
output signals, operation confirmation (operation range, current position, hand, etc.)
・ Operation monitor (working time statistics, production information,
robot version)
・ Servo monitor (load)
○
○
・ Parameter setting
・ Batch, divided backup
○
Editing functions
Control functions
Debugging functions
Simulation function
Monitor functions
Maintenance
function
Details
RT ToolBox2 mini
(3D-12C-WINE)
RT ToolBox2
(3D-11C-WINE)
Note1) The functions included with the RT ToolBox2 and the RT ToolBox2 mini are shown below.
○ : Function provided ×: Function not provided
Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.
3-137 RT ToolBox2/RT ToolBox2 mini
3 Controller
(4) Instruction Manual(bookbinding)
■ Order type: ● 5F-RB01-PE01..............RH-6FH/12FH/20FH-Q series
■ Outline
This is a printed version of the CD-ROM (instruction manual) supplied with this
product.
■ Configuration
Table 3-14 : Product configuration
Type
Mass (Kg) Note1)
5F-RB01-PE01
2.6
Safety Manual
BFP-A8006
-
Standard Specifications
BFP-A8882
-
Specification of the robot arm and controller
Name
Instruction Manual
Specifications
The instructions manual set of "RH-6FH/12FH/
20FH-Q series".
Items relating to safety in handling the robot
Robot Arm Setup & Maintenance
BFP-A8865
-
Installation method of the robot arm, jog operation, and
maintenance and inspection procedures
Controller Setup, Basic Operation and Maintenance
BFP-A8886
-
Installation method of the controller, basic operation,
and maintenance and inspection procedures
Detailed Explanation of Functions and Operations
BFP-A8869
-
Functions of the controller and T/B, operation
method, and explanation of MELFA-BASIC V
Troubleshooting
BFP-A8871
-
Causes of errors occurred and their countermeasures
Additional axis function
BFP-A8863
-
Function of the additional axis, operation method.
Tracking Function Manual
BFP-A8664
-
Function of the Tracking, operation method.
Extended Function
BFP-A8787
-
Function of the Extended, operation method.
Note1) Mass indicates one set.
Instruction Manual(bookbinding) 3-138
3 Controller
3.11 Maintenance parts
The consumable parts used in the controller are shown in Table 3-15. Purchase these parts from your dealer
when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part
name, robot arm and controller serial No. and purchase the parts from your dealer.
Table 3-15 : Controller consumable parts list
No.
1
2
Name
Lithium battery
Filter
Type
Note1)
Q6BAT
BKOFA0773H42
Qty.
Usage place
1
The battery unit connected to the robot CPU
unit
1
Supplier
Mitsubishi Electric
Inside the filter cover
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.
3-139 Maintenance parts
4Software
4 Software
4.1 List of commands
The available new functions in MELFA-BASIC V are given in Table 4-1.
Table 4-1 : List of MELFA-BASIC V commands
Type
Class
Function
Joint interpolation
Linear interpolation
Circular interpolation
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
Moves along a designated arc (start point → passing point → start point
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point)
with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point
→ reference point → end point) with 3-dimensional circular interpolation.
Moves along a set arc (start point → end point) with 3-dimensional circular interpolation.
Designates the speed for various interpolation operations with a percentage (0.1% unit).
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
Designates the speed for linear and circular interpolation with a numerical value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in
respect to the predetermined maximum acceleration/deceleration. (1%
unit)
Automatically adjusts the acceleration/deceleration according to the
parameter setting value.
Sets the hand and work conditions for automatic adjustment of the
acceleration/deceleration.
Adds a process unconditionally to the operation.
Adds a process conditionally to the operation.
Designates smooth operation.
Performance of movement is upgraded corresponding to the application.
Designates the positioning completion conditions with a No. of pulses.
Designates the positioning completion conditions with a distance in a
straight line
Designates the positioning completion conditions with a joint interpolation.
Turns the servo power ON/OFF for all axes.
Limits the operation of each axis so that the designated torque is not
exceeded.
Designates the base conversion data.
Designates the tool conversion data.
The robot arm rigidity is lowered and softened. (XYZ coordinate system)
The robot arm rigidity is lowered and softened. (JOINT coordinate system)
The robot arm rigidity is lowered and softened. (TOOL coordinate system)
The robot arm rigidity is returned to the normal state.
The robot arm rigidity is designated.
Defines the pallet.
Operates the pallet grid point position.
Move to a specified position using linear interpolation passing through a
singular point.
Position and operation control
Speed designation
Operation
Position control
Float control
Pallet
Singular point passage
Input format (example)
Mov P1
Mvs P1
Mvc P1,P2,P1
Mvr P1,P2,P3
Mvr2 P1,P9,P3
Mvr3 P1,P9,P3
Ovrd 100
JOvrd 100
Spd 123.5
Accel 50,80
Oadl ON
Loadset 1,1
Wth
WthIf
Cnt 1,100,200
MvTune 4
Fine 200
Fine 1, P
Fine 0.5, J, 2
Servo OFF
Torq 4,10
Base P1
Tool P1
Cmp Pos ,&B00000011
Cmp Jnt ,&B00000011
Cmp Tool ,&B00000011
Cmp Off
CmpG 1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Def Plt 1,P1,P2,P3,P4,5,3,1
Plt 1,M1
Mvs P1 Type 0,2
List of commands 4-140
4Software
Type
Class
Branching
Function
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Input format (example)
Repeats until the designated end conditions are satisfied.
GoTo 120
If M1=1 Then GoTo *L100
Else GoTo 20
End If
For M1=1 TO 10
Repeats while the designated conditions are satisfied.
Next M1
While M1<10
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated expression
value..
WEnd
On M1 GoTo *La1, *Lb2, *Lc3
Select
Case 1
Program control
Break
Case 2
End
Hand open
Hand close
Moves the program process to the next line.
Set to enable/disable the collision detection.
Set the detection level of the collision detection.
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP command.
Executes the subroutine corresponding to the designated expression
value.
Defines the interrupt conditions and process.
Enables/disables the interrupt.
Defines the start line of the program to be executed when an interrupt is
generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output time. (0.01s
unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or servo
OFF can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Assignment
Input
Output
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Collision detection
Subroutine
Interrupt
Wait
Parallel execution
Input/output
Hand
Stop
Break
End Select
Skip
ColChk ON/OFF
ColLvl 100,80,,,,,,
GoSub *L200
Return
CallP "P10",M1,P1
FPrm M10,P10
On M1 GoSub *La1, *Lb2, *Lc3
Def Act 1, M1=1 GoTo *L100
Act 1=1
On Com(1) GoSub *L100
Com(1) On
Com(1) Off
Com(1) Stop
Dly 0.5
Wait M_In(1)=1
Hlt
Error 9000
End
HOpen 1
HClose 1
Def IO PORT1=BIT,0
M1=M_In(1)
M_Out(1) =0
Mechanism designation
Selection
Start/stop
4-141 List of commands
Acquires the mechanism with the designated mechanism No.
Releases the mechanism with the designated mechanism No.
Selects the designated program for the designated slot.
Carries out parallel execution of the designated program.
Stops parallel execution of the designated program.
Returns the designated program's execution line to the head and enters
the program selection enabled state.
GetM 1
RelM 1
XLoad 2,"P102"
XRun 3,"100",0
XStp 3
XRst 3
4Software
Type
Class
Others
Definition
Clear
File
Comment
Label
Function
Defines the integer type or real number type variable.
Defines the character string variable.
efines the layout variable. (Up to 3-dimensional possible)
Defines the joint variable.
Defines the position variable.
Defines the function.
Clears the general-purpose output signal, variables in program, variables
between programs, etc.
Opens a file.
Closes a file.
Inputs data from a file.
Outputs data to a file.
Describes a comment.
Indicates the branching destination.
Input format (example)
Def Inte KAISUU
Def Char MESSAGE
Dim PDATA(2,3)
Def Jnt TAIHI
Def Pos TORU
Def FN TASU(A,B)=A+B
Clr 1
Open "COM1:" AS #1
Close #1
Input# 1,M1
Print# 1,M1
Rem "ABC"
*SUB1
List of commands 4-142
4Software
4.2 List of parameters
Show the main parameter in the Table 4-2.
Table 4-2 : List of parameters
Parameter
Details
Standard tool coordinates.
MEXTL
Set the default value for the tool data.
Unit: mm or deg.
Standard base coordinates
MEXBS
Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
XYZ operation range
MEPAR
Designate the overrun limit value for the world coordinate system.
JOINT operation range
MEJAR
Set the overrun limit value for each joint axis.
Free plane limit
This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.
SFC1P
:
SFC8P
Eight types of free plane limits can be set in SFC1P to SFC8P.
There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC1ME
:
SFC8ME
Designate which mechanism to use eight types of set free plane limits.
The mechanism No. to use is set with 1 to 3.
SFC1AT
:
SFC8AT
Set the validity of the eight types of set free plane limits.
(Valid 1/Valid 2/invalid = 1/-1/0)
User-defined area
An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to 32 types of area can be designated.
AREA1CS
:
AREA32CS
Specify the coordinate system of the user definition area *.
0: Base coordinate system (conventional compatibility)
1: Robot coordinate system
AREA1P1
:
AREA32P1
Designated the 1st point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1P2
:
AREA32P2
Designated the 2nd point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1ME
:
AREA32ME
Designate which mechanism to use the 32 types of set area.
The mechanism No. to use is set with 1 to 3.
AREA1AT
:
AREA32AT
Designate the area check type.
(Invalid/zone/interference = 0/1/2)
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
Automatic return setting
RETPATH
Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
Buzzer ON/OFF
BZR
Designate whether to the turn buzzer ON or OFF.
Jog setting
JOGJSP
Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGPSP
Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGSPMX
Limit the operation speed during the teaching mode. Max. 250[mm/s]
Jog speed limit value
4-143 List of parameters
4Software
Parameter
Details
Hand type
HANDTYPE
Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
Stop input B contact designation
INB
Change the dedicated input (stop) to either of normal open or normal close.
User-designated origin
USERORG
Designate the user-designated origin position.
Program selection memory
SLOTON
Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.
Communication setting
CBAU232
Set the baud rate.
CLEN232
Set the character length.
CPRTY232
Set the parity.
CSTOP232
Set the stop bit.
CTERM232
Set the end code.
Slot table
SLT1
:
SLT32
Make settings (program name, operation type, order of priority, etc.) for each slot during slot
initialization.
No. of multi-tasks
TASKMAX
Designate the No. of programs to be executed simultaneously. (Max. 32)
Multi CPU system setting
QMLTCPUN
At the multi CPU system, set the number of CPU units with which the standard base unit is
equipped.
QMLTCPUn
At the multi CPU system, set the number of points performing transmission and receipt
between each CPU unit for the high speed communication function between multi CPU nos.
1 to 4.
QMLTCPUS
At the CR750-Q/CR751-Q series controller, set the robot input signal offset for the multi
CPU.
Select the function of
singular point adjacent alarm
MESNGLSW
Designate the valid/invalid of the singular point adjacent alarm.
(Invalid/Valid = 0/1)
When this parameter is set up "VALID", this warning sound is buzzing even if parameter:
BZR (buzzer ON/OFF) is set up "OFF".
Display language.
LNG
Change the language to display on the LCD display of teaching pendant.
List of parameters 4-144
5Instruction Manual
5 Instruction Manual
5.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
Instruction manuals enclosed in dashed lines in the list below are for optional products.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Safety Manual
Explains the common precautions and safety measures to be taken for robot handling, system design and manufacture to ensure safety of the operators involved with the robot.
Standard
Specifications
Explains the product's standard specifications, factory-set special specifications, option
configuration and maintenance parts, etc. Precautions for safety and technology, when
incorporating the robot, are also explained.
Robot Arm
Setup &
Maintenance
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
Additional axis
function
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to automatic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation, commands used in the program, connection with the external input/output device, and parameters, etc.
Explains the causes and remedies to be taken when an error occurs. Explanations are given
for each error No.
Explains the specifications, functions and operations of the additional axis control.
Tracking Function Manual
Explains the control function and specifications of conveyor tracking
Extended Function Instruction Manual
Explains the detailed description of data configuration of shared memory, monitoring, and
operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750D/CR751-D controller).
5-145 The details of each instruction manuals
6Safety
6 Safety
6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.
6.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2
for safe use.
Table 6-1 : Self-diagnosis stop functions
No.
Function
1
Overload protection function
Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and
the specified value.
an alarm displays.
Details
2
Overcurrent diagnosis
function
Activates when an overcurrent flows to the motor
circuit.
The drive circuit is shut off. The robot stops, and
an alarm displays.
3
Encoder disconnection
diagnosis function
Activates when the encoder cable is disconnected.
The drive circuit is shut off. The robot stops, and
an alarm displays.
4
Deflection over diagnosis
function
Activates when an error occurs between the command value and actual position, and the error
exceeds the specified amount.
The drive circuit is shut off. The robot stops, and
an alarm displays.
5
AC power voltage drop
diagnosis function
Activates when the AC power voltage drops below
the specified value.
The drive circuit is shut off. The robot stops, and
an alarm displays.
6
CPU error detection func- Activates when an error occurs in the CPU.
tion
The drive circuit is shut off. The robot stops, and
an alarm displays.
7
Overrun
prevention
function
Software limit This is the limit provided by the software to enable
detection
operation only in the operation range.
The drive circuit is shut off. The robot stops, and
an alarm displays.
Mechanical
stopper
The robot mechanically stops, and function 1 or 2
activates.
This is the mechanical stopper provided outside the
software.
Remarks
Table 6-2 : List of stop functions
Stop
function
Operation
panel
Teaching
pendant
External
input
Emergency
stop
◯
◯
◯
This is the stop with the highest degree of emergency. The servo power is shut off,
and the mechanical brakes (all axes) activate to stop the robot.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
Stop
◯
◯
◯
This is a stop operation with a high degree of emergency. The robot immediately
decelerates and stops.
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.
Details
Safety 6-146
6Safety
6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3 : External input/output signals that can be used for safety protection measures
Signal
External emergency stop
Connection
point
Connector
Parameter
-
(CNUSR11/12)
Functions
This servo power is shut off, and the
robot stops immediately.
Input
Note1)
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
Door switch
-
The door switch of the safe protection
fence
Enabling device
input
-
Enabling device.
The safety switch during teaching work
Stop
Sequencer unit
Servo OFF
AUTOENA
Emergency stop Connector
output
(CNUSR11/12)
In servo ON
Sequencer unit
Waiting
In alarm
STOP
SRVOFF
Automatic operation enable
Output
Usage method
-
SRVON
STOP
Connector
(CNUSR2)
The program execution is stopped, and
the robot stops. The servo power is not
shut off.
The robot is stopped when a peripheral
device fault occurs. The servo power is
not shut off.
The servo power can be shut off.
The robot is stopped when a peripheral
device fault occurs. The servo power is
not shut off.
Disables automatic operation when inac- Door switch on safety protection fence
tive.
Outputs the input signal of external
emergency stop or emergency stop
switch of T/B turned on.
Display and warn the pilot lamp, the input
signal of external emergency stop or the
emergency stop switch of T/B turned on.
The servo power ON/OFF state is output.
The servo power ON/OFF state is shown
and alerted with the display lamps.
Outputs that the robot is temporarily
stopped.
The temporary stop state is shown and
alerted with the display lamps.
ERRRESET Outputs when an alarm occurs in the
robot.
-
The alarm state is shown and alerted with
the display lamps.
Note1) The external emergency stop input is prepared as a normal close for safety proposes. Thus, if the emergency stop
input circuit is opened when the robot is started up, the robot will not operate. Refer to Page 149, "6.1.7 Examples of safety measures"for details.
And, refer to Page 121, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings"for the function of the door switch input and the enabling device input.
6.1.3 Precautions for using robot
The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of
the rules is given below.
(1) Robot installation
・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the
robot.
・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)
・ Install the controller where the entire robot operation can be viewed.
・ Install display lamps, etc., to indicate the robot's operation state.
・ Securely fix the robot arm onto the fixing table with the designated bolts.
(2) Prevention of contact with operator
・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.
(3) Work procedures
・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
・ Create hand signals to be followed when several operators are working together.
・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is
in the robot's motion space so that other operators will not operate the operation panel (controller, control
panel).
(4) Training
・ Train the operators about the operations, maintenance and safety required for the robot work.
・ Only trained and registered operators must operate the robot.
Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Committee, etc., is recommended for safety training.
6-147 Safety
6Safety
(5) Daily inspection and periodic inspection
・ lways inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and
perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more
years.
6.1.4 Safety measures for automatic operation
(1) Install safety fences so that operators will not enter the operation area during operation and indicate that
automatic operation is in progress with lamps, etc.
(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the
operator follows the signals.
6.1.5 Safety measures for teaching
Observe the following measures when teaching, etc., in the robot's operation range.
(1) Specify and follow items such as procedures related to teaching work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.
(4) Always inspect that stop functions such as the emergency stop device before starting the work.
(5) Immediately stop the work when trouble occurs, and correct the trouble.
(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial
robots and work methods, etc.)
(8) Create signals to be used when several operators are working together.
6.1.6 Safety measures for maintenance and inspections, etc.
Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the
start switch when performing inspections, repairs, adjustments, cleaning or oiling.
If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.
(1) Specify and follow items such as procedures related to maintenance work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that work is being done.
(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and
work methods, etc.)
(6) Create signals to be used when several operators are working together.
Safety 6-148
6Safety
6.1.7 Examples of safety measures
Two emergency-stop input circuits are prepared on the user wiring terminal block of the drive unit. Create a circuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emergency stop state.
[Caution] Since we have omitted the information in part because of explanation, there is the section different
from the product. Also refer to Page 154, "(2) External emergency stop connection [supplementary
explanation]".
[Note] ・ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay
prepared by the customer is connected to the drive unit, please be sure to implement the measure
against the noise by the customer in the coil section. And, please also take the lifetime of noise suppression parts into consideration.
・ Electric specification of the emergency-stop-related output terminal: 100mA/24V or less
・ In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the
controller under the condition that the + side is grounded, it will lead to failure of controller.
(1) CR750 drive unit
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the drive unit.
The power supply for emergency stop input uses the power supply in the drive uni.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
Drive unit
(2- (2接点タイプ)
contact type)
Power supply in the
robot
controller
内部電源
24V24V
OP Emergency
OP非常停止
stop
button
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
CNUSR11/CNUSR12
1
Not
短絡connected
2
3
RA
*4)
4
5
Short circuit
短絡
(Short-circuited)
6
7
TB Emergency
TB非常停止
stop
button
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
9
RA
10
Enabling
イネーブリング
device
デバイス
*5)
*7)
Safety
relay
安全リレー
13
14
11
12
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
Internal emergency stop
内部非常停止回路
circuit
*2)
CNUSR2
16/17
41/42
*3)
*4)
*5)
*6)
*7)
output
エラー出力
}Error
The T/B emergency stop button connected with the drive unit.
Emergency stop input relay.
*1) Each of the connectors,
CNUSR11 and CNUSR12, are
assigned with the same pin
number, creating two systems for
each terminal. It is absolutely
necessary to connect the two
systems.
*2) You can see in the diagram that
connector CNUSR2 has two
terminals and two systems (16/
17 indicates two terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the two systems.
Refer to Standard specification manual for the enabling device.
The emergency stop button of the robot controller. (Only specification with the operation panel.)
The emergency stop input detection relay is used the drive unit’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also
switched OFF.
Fig.6-1 : Example of safety measures (CR750 wiring example 1)
6-149 Safety
6Safety
<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the drive unit.
The power supply for emergency stop input uses the power supply of peripheral equipment.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2- contact
type)
(2接点タイプ)
Drive unit
Power supply in the
robot内部電源
controller24V
24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
Peripheral
equipment
周辺装置
CNUSR11/CNUSR12
1
未接続
Not
connected
2
3
RA
*4)
4
5
6
7
TB Emergency
stop
button
TB非常停止
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
Power
supply in
周辺装置側電源
the
24VPeripheral
equipment 24V
9
RA
10
イネーブリング
Enabling
device
デバイス
*5)
*7)
Safety
relay
安全リレー
13
14
11
12
Internal emergency stop
内部非常停止回路
circuit
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
*2)
CNUSR2
16/17
41/42
output
エラー出力
} Error
*1) Each of the connectors,
CNUSR11 and CNUSR12, are
assigned with the same pin
number, creating 2 systems in
each terminal. It is absolutely
necessary to connect the 2
systems.
*2) You can see in the diagram that
connector CNUSR2 has 2
terminals and 2 systems (16/17
indicates 2 terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the 2 systems.
*3) The T/B emergency stop button connected with the drive unit.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the drive unit’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-2 : Example of safety measures (CR750 wiring example 2)
Safety 6-150
6Safety
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the drive
unit. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of drive
unit OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2- (2接点タイプ)
contact type)
Drive unit
Power supply in the
24V
robot内部電源
controller
24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
CNUSR11/CNUSR12
1 Not connected
未接続
2
周辺装置側
Power
sup電源24V
ply
24V
3
RA
*4)
4
5
6
7
TB Emergency
stop
button
TB非常停止
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
周
Circuit
辺
9
RA
10
イネーブリング
Enabling
device
デバイス
*5)
*7)
13
Safety
relay
安全リレー
14
11
12
装
置
側
内
部
回
路
Emergency
stop output
非常停止出力
Monitor
監視
モード出力
output
} Mode
Monitor
監視
Internal emergency stop
内部非常停止回路
circuit
*2)
CNUSR2
16/17
41/42
エラー出力
output
}Error
*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2
terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the drive unit’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-3 : Example of safety measures (CR750 wiring example 3)
6-151 Safety
6Safety
<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two drive units, and it
interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input
uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral
equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of drive
unit OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2contact type)
(4接点タイプ)
周辺装置
Peripheral equipment
Drive unit #1
OP
Emergency
stop
OP非常停止
ボタン
button
Power supply in the robot CNUSR11/CNUSR12*1)
内部電源 24V
controller 24V
1
未接続
Not connected
周辺装置
の非常停止
出力
2
3
*6)
RA
*4)
Power
supply
周辺装置側
24V
電源24V
周辺装置内部
非常停止回路
Circuit
4
5
6
7
TB非常停止
*3)
ボタン
TB
Emergency stop
button
RA
8
Door
switch input
ドアスイッチ入力
9
RA
10
ドアスイッチ出力
イネーブリング
Enabling
デバイス
device
Safety fence
door
安全柵のドア
*5)
*7)
13
Safety
relay
安全リレー
14
非常停止出力
Emergency
stop output
11
モード出力
output
} Mode
12
Internal emergency
内部非常停止回路
stop
circuit
Monitor
監視
監視
Monitor
*2)
CNUSR2
16/17
エラー出力
output
} Error
41/42
Drive unit #2
OP
EmerOP非常停止
gency
stop
ボタン
button
Power supply in the robot CNUSR11/CNUSR12*1)
内部電源 24V
controller 24V
1
Not connected
未接続
周辺装置
の非常停止
出力
2
3
RA
*6)
*4)
4
5
6
7
TB非常停止
*3)
ボタン
TB
Emergency stop
button
RA
RA
*7)
Safety
relay
安全リレー
8
イネーブリング
Enabling
デバイス
device
*5)
13
14
11
Internal
emergency
内部非常停止回路
stop circuit
ドアスイッチ入力
Door
switch input
9
10
12
Emergency stop output
非常停止出力
モード出力
output
} Mode
*2)
CNUSR2
16/17
41/42
エラー出力
output
}Error
Monitor
監視
*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with
the same pin number, creating 2 systems in each terminal. It is
absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals
and 2 systems (16/17 indicates 2 terminals at pin number 16 and
pin number 17). It is absolutely necessary to connect the 2
systems.
*3) The T/B emergency stop button connected with the drive unit.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the drive unit’s internal safety relay control. If the emergency stop input detection
relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.
Fig.6-4 : Example of safety measures (CR750 wiring example 4)
Safety 6-152
6Safety
<Wiring example 5>: Connect the drive unit to the safety relay
Use the drive unit’s emergency stop button command as an input to the safety relay.
Drive unit
Customer equipment
お客様装置
CNUSR11
1
OP
E-stop
No connection
TB
E-stop
2
3
Internal
relay
内部リレー
24V DC
External
emergency stop switch
外部非常停止スイッチ
4
No connection T11
5
Safety input 1
安全入力1
T12
6
Safety
relay
安全リレー
安全リレー
Safety
relay
ex)
例)オムロン社 G9SX-AD
G9SX-AD series *OMRON
0V DC
Emergency stop
非常停止出力
output
13
24V DC
No connection T21
14
安全入力2
Safety input 2
T22
CNUSR12
1
No connection
2
3
Internal
relay
内部リレー
24V DC
A1
A2
24V DC
0V DC
External emergency stop
外部非常停止スイッチ
switch
*2)
4
5
6
Emergency
stop
非常停止出力
output
13
0V DC
24V DC
14
Customer
Power Supply
(DC 24V)
お客様電源(DC
24V)
[Caution]
1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,
particularly for emergency stop button output when using user equipment. Connect the positive side of the
user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop button (or
contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately connect the negative side (0V DC).
3) When installing a safety relay to use it as an input point of the controller's emergency stop button command,
use a safety relay that is activated by an input from one of the two systems (i.e. Omron’s G9S Series).
4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.
If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety
relay is also switched OFF.
5) When connecting emergency stop button output to an external safety relay, please take note of the polarity
and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the
two places in the diagram. If the polarity is setup incorrectly, this function will not operate correctly. Please
connect the terminal 13 of CNUSR11/12 to 24V.
Fig.6-5 : Example of safety measures (CR750 wiring example 5)
6-153 Safety
6Safety
(2) External emergency stop connection [supplementary explanation]
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the
door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF
(is opened) when the door is open.
(3) Use a manual-return type of normal close which have two lines for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input (terminal block) on the user wiring in the drive unit can be used for safety
measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity
and cable length, so refer to the following and install.
・ Switch contact ..........................Prepare a 2-contact type.*1)
・ Switch contact capacity........Use a normal open contact that operates with a switch contact
capacity of approx. 1mA to 100mA/24V. *1)
If you connect the relay etc., rated current of the coil should use the
relay which is 100mA/24V or less. (Refer to Fig. 6-6)
・ Cable length................................The length of the wire between the switch and terminal block must be
max. 15m or less. Please use the shield line, in case of the cable may
receive the noise etc. by other equipment, such as servo amplifier.
And, since the ferrite core is attached as noise measures parts, please
utilize.
The size of the wire that fits to use is shown below.
・ CR750 drive unit................................... CNUSR11/12/13 connector:
AWG #26 to #16 (0.14mm2 to 1.5mm2)
・ CR750 drive unit................................... CNUSR2 connector:
AWG #30 to #24 (0.05mm2 to 0.2mm2)
Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect
the equipment except for this range.
*1) The minimum load electric current of the switch is more than 5mA/24V.
Safety 6-154
6Safety
The electric-current value limitation when connecting the coils, such as the Relays (CR750 drive unit)
Internal fuse
Robot controller
ロボットコントローラ
ロボットコント
Power
supply in the
robot
controller
ローラ内電源
F2
24V
F1
CNUSR11/12
1
2
Peripheral
equipment
周辺装置
Power
周辺装置
supply24V
側電源24V
Not connected
未接続
3
TB
Emergency
TB非常停止
stop button
ボタン
RA
4
5
RA
Relay
6
7
RA
Door switch input
ドアスイッチ入力
Monitor
監視
Safety
fence door
安全柵のドア
8
9
RA
10
Enabling
device
イネーブリング
デバイス
13
Safety relay
安全リレー
14
11
12
Internal emergency
内部非常停止回路
stop
circuit
output
エラー出力
} Error
16/17
周
辺
装
置
側
内
部
回
路
Monitor
監視
}
Note) If you connect the relay etc., rated current of the coil
should use the relay which is 100mA/24V or less.
If the electric current of the further flows, internal fuse 1
may cut. And, although the example of the connection
Contactor
control outwhich uses the external power source is shown in the
付加軸用コンタクタ
put
for additional axes
コントロール出力
figure, if the coil is connected using the internal power
supply of the robot controller, internal fuse 2 may cut.
Fig.6-6 : Limitations when connecting the relay etc. (CR750)
6-155 Safety
Rated-current is 100mA
or less
output
モード出力
} Mode
CNUSR2
41/42
Note)
Circuit
OP
Emergency
OP非常停止
stop button
ボタン
非常停止スイッチ
Emergency stop switch
(2- contact type)
(2接点タイプ)
6Safety
[Supplementary explanation regarding emergency stop circuit]
The drive unit’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly
shuts off the emergency stop detection relay when the emergency stop button is pressed.
OP
TB
OP
TB
emergency
emergency
非常停止 非常停止
stop
stop
24V
+
-
OP
TB
OP
TB
emergency
非常停止 emergency
非常停止
stop
stop
検出
検出
detection detection
Emergency stop
非常停止検出
detection relay
リレー
0V
External
外部
emergency
非常停止
stop
検出
detection
Input
入力
Safety
relay
安全リレー
CAUTION
Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may
not stop when the emergency stop button is pressed and there will be a risk of damage
or personal injury occurring.
After wiring, be sure to press each of the installed emergency stop switches and check
whether the emergency stop circuit works properly.
CAUTION
Be sure to duplicate connection of the emergency stop, door switch and enabling
switch. If not duplicated, these functions may fail due to a broken relay used by
customer, etc.
Safety 6-156
6Safety
6.2 Working environment
Avoid installation in the following places as the equipment's life and operation will be affected by the ambient
environment conditions. When using in the following conditions, the customer must pay special attention to the
preventive measures.
(1) Power supply
・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.
CAUTION
Please use the controller with an input power supply voltage fluctuation rate of 10% or
less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC
during the day and 220 VAC during the night, turn the servo off once and then on again.
If this is not performed, an excessive regeneration error may occur.
(2) Noise
・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high
output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this
product is used near radios or televisions. Keep the robot away from these items.
(3) Temperature and humidity
・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.
(4) Vibration
・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s2 or less during transportation and 5m/s2 or less during operation.)
(5) Installation environment
・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)
・ Where there is heavy powder dust and oil mist present.
6.3 Precautions for handling
(1) This robot has brakes on J3 axes. The precision of the robot may drop, looseness may occur and the reduction
gears may be damaged if the robot is moved with force with the brakes applied.
(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accuracy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) Note that depending on the posture, even when within the movement range, the shaft section could interfere
with the base section. Take care to prevent interference during jog. *1)
(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.
When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy
may drop or servo alarms may occur. If these problems occur, perform a 5 to 10 minute running-in operation at
a low speed (about a half of normal operating speed).
(5) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise
resistance and to prevent electric shocks.
(6) The items described in these specifications are conditions for carrying out the periodic maintenance and
inspections described in the instruction manual.
(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard configuration may break due to the fixed installation specifications. In this case, use "the machine cable extension
(for flexed)" factory shipment special specifications or options.
*1) Jog operation refers to operating the robot manually using the teaching pendant.
6-157 Working environment
6Safety
(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.
Take care to prevent interference with the workpiece or peripheral devices during operation.
(9) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive
power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the
coated surface may be damaged when such tape or label is peeled off.
(10) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It
would not result in burns, however, it may cause secondary accidents if touched carelessly.
(11) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during
a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the program data may be destroyed.
(12) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is
shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation
path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper
depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent
any dangerous situation from occurring due to the interference between the arm and peripheral devices.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce
interference.
(13) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.
(14) When the sequencer system becomes large too much, the robot's locus may deteriorate uncommonly. If this
phenomenon occurs, inform to the dealer. And, when it turns out that the system is enlarged in advance, please
inform our company.
(15) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting
is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis
which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes
about once every day the 30 degree or more, or the 20mm or more.
(16) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for transborder transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mitsubishi industrial robots contain less than 1 g of lithium and are not classified as dangerous goods. However, if
the quantity of lithium batteries exceeds 24 batteries for storage, etc., they will be classified as Class 9: Miscellaneous dangerous substances and articles. Shipping less than 24 batteries is recommended to avoid having
to carry out transport safety measures as the customer’s consignor. Note that some transportation companies may request an indication that the batteries are not dangerous goods be included on the invoice. For shipping requirement details, please contact your transportation company.
(17) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.
(18) Collision detection function is valid condition for both of automatic and jog operation at shipping.
So, the robot stops immediately if the robot's tool or arm interferes with a peripheral device, minimizing damage. Therefore, please use in the valid condition.
Precautions for handling 6-158
6Safety
6.4 EMC installation guideline
6.4.1 Outlines
The EMC directive is coerced from January 1, 1996, and it is necessary to attach the CE mark which shows that
the product is in conformity to directive.
Since the industrial robot is the component of the automation system, it considers that the EMC directive is not
the target product of the direct. However, because it is one of the main components, introduces the method and
components of the measures for conforming the automation system to the EMC directive.
And also we are carrying out the qualification test about the conformity of the EMC directive under the environment based on the contents of this document. However, the noise level is changed by the kind of equipment to be
used, the layout, the construction of the controlling board, the course of wiring, etc. Therefore, please confirm by
the customer eventually.
6.4.2 EMC directive
The Mitsubishi Electric industrial robot follows the European EMC directive. This technical standard regulates the
following two items.
(1) Emission (EMI : Electromagnetic Interference) ............. The capacity not to generate the disturbance noise
which has a bad influence outside.
(2) Immunity (EMS : Electromagnetic Susceptibility)......... The capacity which does not malfunction for the disturbance noise from the outside.
Each contents are shown below.
Item
Emission
(EMI)
Immunity
(EMS)
Name
Contents
Radiative noise disturbance
The electromagnetic noise etc. which are emitted to
environs.
Electrical-conduction noise disturbance
The electromagnetism noise etc. which flow out of
the power-supply line.
Electrostatic discharge immunity test
The noise from the electrified human body.
Radiated, radio-frequency, electromagnetic
field immunity test susceptibility test
The electromagnetism noise from the transceiver,
the broadcasting station, etc.
Electrical fast transient burst immunity
test
The relay noise or the electromagnetism noise etc.
which are caused in power-supply ON/OFF.
Immunity to conducted distrurbances
induced radio-frequency fields
The electromagnetism noise etc. which flow in
through the power source wire and the grounding
wire.
Power frequency magnetic field immunity
test
The electromagnetism noise with a power supply
frequency of 50/60 Hz etc.
Voltage dips, short interruptions and
voltage variations immunity test
The noise in the variation of the source voltage of
the power dispatching, etc.
Surge immunity test
The electromagnetism noise by the thunderbolt, etc.
6-159 EMC installation guideline
Testing technicalstandard number
EN61000-6-2 : 2005
EN61000-6-4 : 2007
EN62061:2005(Annex E)
6Safety
6.4.3 EMC measures
There are mainly following items in the EMC measures.
(1) Store into the sealed metal board.
(2) Grounding all the conductor that have floated electrically (makes the impedance low).
(3) Wiring so that the power source wire and signal wire are separated.
(4) Use the shield cable for the cable which wired outside of the metal board.
(5) Install the noise filter.
To suppress the noise emitted out of the board, be careful of the following item.
(1) Ensure grounding of the equipment.
(2) Use the shield cable.
(3) Separate the metal board electrically. Narrows the distance/hole.
The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency
of cable and the distance of metal board, so it should be careful.
6.4.4 Component parts for EMC measures
(1) Ferrite core
The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable.
This has the effect in the common-mode noise. The measures against the noise are made not influential in the
quality of the signal.
There are the following as an example.
Maker: SEIWA ELECTRIC MFG. Co.,Ltd.
Outside dimension (mm)
A
B
C
D
Diameter of the
adaptation cable
[max] (mm)
E04SR401938
61
38
19
40
19.0
E04SR301334
39
34
13
30
13.0
Type
Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD.
Outside dimension (mm)
C
D
Diameter of the
adaptation cable
[max] (mm)
20.7
-
φ26.5
Type
TFT-274015S
A
B
43.8
27.4
(2) Line noise filter
Type : FR-BLF (Mitsubishi Electric Corp.)
EMC installation guideline 6-160
7Appendix
7 Appendix
Appendix 1 : Specifications discussion material (RH-6FH series)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Item
Type
General specification
RH-6FH □□△△ -Q
Arm length
Stroke
□ 350 □ 450 □ 550
□ 200 □ 340
Clean specification
RH-6FH □□△△ C-Q
□ 350 □ 450 □ 550
□ 200 □ 340
Oil mist specification
RH-6FH □□△△ M-Q
□ 350 □ 450 □ 550
□ 200 □ 340
Standard specification
(IP54) Note1)
RH-6FH □□△△ -Q1-S15
□ 350 □ 450 □ 550
□ 200 □ 340
Clean specification
RH-6FH □□△△ C-Q1-S15
□ 350 □ 450 □ 550
□ 200 □ 340
Controller
CR750-06HQ-1
CE marking specification
CR750-06HQ1-1-S15
Note1) When you wish to have bellows, contact our dealer.
■ Shipping special specifications (Settings can be made only at time of shipment)
Item
Standard specification
Special shipping specifications
Robot arm
Machine cable
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Controller
Robot CPU unit connecting cable set Note1)
□ 10m
□ Not provided □ 5m
□ 20m
□ 30m: 2Q-RC-CBL □□ M
Note1) The four type cables shown in below are contained. (Each cable length is the same.)
1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,
4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)
■ Options (Installable after shipment)
Robot arm
Item
J1 axis operating range change
Machine cable extension
Provision, and specifications when provided.
□ Not provided □ Provided
1S- □□ CBL-01
Fixed type (extension type): □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type (extension type): □ Not provide □ 5m □ 10m □ 15m
1S- □□ LUCBL-01
Flexed type (direct type): □ Not provide □ 5m □ 10m □ 15m
Solenoid valve set
1F-VD0 □ -01
1F-VD0 □ E-01
□ Not provide
1F-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable
1F-HC35C-01
□ Not provided □ Provided
Hand output cable
1F-GR60S-01
□ Not provided □ Provided
Hand curl tube
1E-ST0408C-300
□ Not provided □ Provided
External Wiring/Piping box
1F-UT-BOX
□ Not provided □ Provided
1F-HS408S-01
□ Not provided □ Provided (For 200mm stroke)
Internal Wiring/Piping for hand
Controller
Type
1F-DH-01
1F-HS408S-02
□ Not provided □ Provided (For 340mm stroke)
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant R56TB- □□
□ Not provided □ 7m
□ 15m
Simple teaching pendant
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-RB01-PE01
□ Not provided □ Provided (
) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
) pcs. □ Backup batteries Q6BAT (
) pcs.
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
)
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass (
) g Hand mass (
)g
Confirm oil proof □ request (Oil name:
)/ □ not request Note1)
□ Dusts (Please take measures such as a jacket.),
□ Chemicals (Please consult), □ Other (
)
Remarks
Note1) Refer to Page 25, "2.2.7 Protection specifications" about oil resistance.
Appendix-161 Specifications discussion material (RH-6FH series)
7Appendix
Appendix 2 : Specifications discussion material (RH-12FH series)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Arm length
Stroke
General specification
Item
RH-12FH □□△△ -Q
Type
□ 550 □ 700 □ 850
□ 350 □ 450
Controller
Clean specification
RH-12FH □□△△ C-Q
□ 550 □ 700 □ 850
□ 350 □ 450
Oil mist specification
RH-12FH □□△△ M-Q
□ 550 □ 700 □ 850
□ 350 □ 450
CR750-12HQ-1
■ Shipping special specifications (Settings can be made only at time of shipment)
Item
Standard specification
Special shipping specifications
Robot arm
Machine cable
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Controller
Robot CPU unit connecting cable set Note1)
□ 10m
□ Not provided □ 5m
□ 20m
□ 30m: 2Q-RC-CBL □□ M
Note1) The four type cables shown in below are contained. (Each cable length is the same.)
1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,
4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)
■ Options (Installable after shipment)
Robot arm
item
Type
1F-DH-02
□ Not provided □ Provided
Machine cable extension
1S- □□ CBL-01
Fixed type: □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type: □ Not provide □ 5m □ 10m □ 15m
1S-VD0 □ -01
1S-VD0 □ E-01
□ Not provide
1S-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set
1S-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set
Solenoid valve set
Hand input cable
1F-HC35C-02
□ Not provided □ Provided
Hand output cable
1F-GR60S-01
□ Not provided □ Provided
Hand curl tube
1N-ST0608C-01
□ Not provided □ Provided
External Wiring/Piping box
1F-UT-BOX-01
□ Not provided □ Provided
Internal Wiring/Piping for hand
Controller
Provision, and specifications when provided.
J1 axis operating range change
1F-HS604S-01
□ Not provided □ Provided (For 350mm stroke)
1F-HS604S-02
□ Not provided □ Provided (For 450mm stroke)
Simple teaching pendant
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant
R56TB- □□
□ Not provided □ 7m
□ 15m
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-RB01-PE01
□ Not provided □ Provided (
) sets
) pcs. □ Backup batteries Q6BAT (
) pcs.
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
Workpiece mass (
) g Hand mass (
)
Atmosphere □ General environment, □ Clean
□ Oil mist:
)g
Confirm oil proof □ request (Oil name:
)/ □ not requestNote1)
□ Dusts (Please take measures such as a jacket.),
□ Chemicals (Please consult), □ Other (
)
Remarks
Note1) Refer to Page 25, "2.2.7 Protection specifications" about oil resistance.
Specifications discussion material (RH-12FH series) Appendix-162
7Appendix
Appendix 3 : Specifications discussion material (RH-20FH series)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Item
Type
Arm length
Stroke
□ 850 □ 1000
□ 350 □ 450
Controller
General specification
RH-20FH □□△△ -Q
Clean specification
RH-20FH □□△△ C-Q
□ 850 □ 1000
□ 350 □ 450
Oil mist specification
RH-20FH □□△△ M-Q
□ 850 □ 1000
□ 350 □ 450
CR750-20HQ-1
■ Shipping special specifications (Settings can be made only at time of shipment)
Item
Standard specification
Special shipping specifications
Robot arm
Machine cable
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Controller
Robot CPU unit connecting cable set Note1)
□ 10m
□ Not provided □ 5m
□ 20m
□ 30m: 2Q-RC-CBL □□ M
Note1) The four type cables shown in below are contained. (Each cable length is the same.)
1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,
4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)
■ Options (Installable after shipment)
Robot arm
item
Type
J1 axis operating range change
□ Not provided □ Provided
1S- □□ CBL-01
Fixed type: □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type: □ Not provide □ 5m □ 10m □ 15m
Solenoid valve set
1S-VD0 □ -01
1S-VD0 □ E-01
□ Not provide
1S-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set
1S-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable
1F-HC35C-02
□ Not provided □ Provided
Hand output cable
1F-GR60S-01
□ Not provided □ Provided
Machine cable extension
Hand curl tube
1N-ST0608C-01
□ Not provided □ Provided
External Wiring/Piping box
1F-UT-BOX-01
□ Not provided □ Provided
Internal Wiring/Piping for hand
Controller
Provision, and specifications when provided.
1F-DH-02
1F-HS604S-01
□ Not provided □ Provided (For 350mm stroke)
1F-HS604S-02
□ Not provided □ Provided (For 450mm stroke)
Simple teaching pendant
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant
R56TB- □□
□ Not provided □ 7m
□ 15m
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-RB01-PE01
□ Not provided □ Provided (
) sets
) pcs. □ Backup batteries Q6BAT (
) pcs.
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
Workpiece mass (
) g Hand mass (
)
Atmosphere □ General environment, □ Clean
□ Oil mist:
)g
Confirm oil proof □ request (Oil name:
)/ □ not requestNote1)
□ Dusts (Please take measures such as a jacket.),
□ Chemicals (Please consult), □ Other (
)
Remarks
Note1) Refer to Page 25, "2.2.7 Protection specifications" about oil resistance.
Appendix-163 Specifications discussion material (RH-20FH series)
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN
Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany
Mar., 2013 MEE Printed in Japan on recycled paper.
Specifications are subject to change without notice.
MITSUBISHI ELECTRIC
HEADQUARTERS
EUROPEAN REPRESENTATIVES
EUROPEAN REPRESENTATIVES
MITSUBISHI ELECTRIC EUROPE B.V.
EUROPE
German Branch
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Fax: +49 (0)2102 / 486-1120
MITSUBISHIELECTRICEUROPEB.V.-org.sl. CZECHREP.
Czech Branch
Avenir Business Park, Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
Fax: +420 (0)251-551-471
MITSUBISHI ELECTRIC EUROPE B.V.
FRANCE
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
Fax: +33 (0)1 / 55 68 57 57
MITSUBISHI ELECTRIC EUROPE B.V.
IRELAND
Irish Branch
Westgate Business Park, Ballymount
IRL-Dublin 24
Phone: +353 (0)1 4198800
Fax: +353 (0)1 4198890
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Italian Branch
Viale Colleoni 7
I-20864 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312
MITSUBISHI ELECTRIC EUROPE B.V.
POLAND
Poland Branch
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Fax: +48 (0)12 / 630 47 01
MITSUBISHI ELECTRIC EUROPE B.V.
RUSSIA
52, bld. 3 Kosmodamianskaya nab 8 floor
RU-115054 Мoscow
Phone: +7 495 721-2070
Fax: +7 495 721-2071
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Spanish Branch
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Fax: +34 935891579
MITSUBISHI ELECTRIC EUROPE B.V.
UK
UK Branch
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Fax: +44 (0)1707 / 27 86 95
MITSUBISHI ELECTRIC CORPORATION
JAPAN
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 622 160 60
Fax: +81 3 622 160 75
MITSUBISHI ELECTRIC AUTOMATION, Inc.
USA
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phone: +1 847 478 21 00
Fax: +1 847 478 22 53
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Fax: +43 (0)2252 / 488 60
Koning & Hartman b.v.
BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Fax: +32 (0)2 / 257 02 49
INEA RBT d.o.o.
BOSNIA AND HERZEGOVINA
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
Fax: +387 (0)33 / 524 539
AKHNATON
BULGARIA
4, Andrei Ljapchev Blvd., PO Box 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6000
Fax: +359 (0)2 / 97 44 06 1
AutoCont C.S. s.r.o.
CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Fax: +420 595 691 199
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Fax: +45 (0)46 / 75 56 26
Beijer Electronics OY
FINLAND
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207 / 463 540
Fax: +358 (0)207 / 463 541
UTECO
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
Fax: +30 211 / 1206 999
AXICONT AUTOMATIKA Kft.
HUNGARY
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1 / 412-0882
Fax: +36 1 / 412-0883
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta- Paola PLA 1702
Phone: +356 (0)21 / 697 816
Fax: +356 (0)21 / 697 817
HIFLEX AUTOM.TECHNIEK B.V.
NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Fax: +31 (0)180 – 44 23 55
Koning & Hartman b.v.
NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Fax: +31 (0)20 / 587 76 05
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Fax: +47 (0)32 / 84 85 77
Fonseca S.A.
PORTUGAL
R. João Francisco do Casal 87/89
PT - 3801-997 Aveiro, Esgueira
Phone: +351 (0)234 / 303 900
Fax: +351 (0)234 / 303 910
SIRIUS TRADING & SERVICES SRL
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
Fax: +40 (0)21 / 430 40 02
INEA RBT d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 615 401
Fax: +381 (0)26 / 615 401
SIMAP s.r.o.
SLOVAKIA
Jána Derku 1671
SK-911 01 Trencín
Phone: +421 (0)32 743 04 72
Fax: +421 (0)32 743 75 20
PROCONT, spol. s r.o. Prešov
SLOVAKIA
Kúpelná 1/A
SK-080 01 Prešov
Phone: +421 (0)51 7580 611
Fax: +421 (0)51 7580 650
INEA RBT d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8116
Fax: +386 (0)1 / 513 8170
Beijer Electronics Automation AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Fax: +46 (0)40 / 93 23 01
Robotronic AG
SWITZERLAND
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (0)52 / 267 02 00
Fax: +41 (0)52 / 267 02 01
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukarı Dudullu-Ümraniye-İSTANBUL
Phone: +90 (0)216 526 39 90
Fax: +90 (0)216 526 3995
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Fax: +380 (0)44 / 494-33-66
MIDDLE EAST REPRESENTATIVE
I.C. SYSTEMS LTD.
23 Al-Saad-Al-Alee St.
EG-Sarayat, Maadi, Cairo
Phone: +20 (0) 2 / 235 98 548
Fax: +20 (0) 2 / 235 96 625
ILAN & GAVISH Ltd.
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Fax: +972 (0)3 / 924 0761
EGYPT
ISRAEL
AFRICAN REPRESENTATIVE
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: + 27 (0)11 / 977 0770
Fax: + 27 (0)11 / 977 0761
SOUTH AFRICA
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 /// [email protected] /// www.mitsubishi-automation.com
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