RV-4F-Q/7F-Q/13F-Q/20F-Q Series Standard Specification Manual (CR750

RV-4F-Q/7F-Q/13F-Q/20F-Q Series Standard Specification Manual (CR750

Mitsubishi Industrial Robot

RV-4F-Q/7F-Q/13F-Q/20F-Q Series

Standard Specifications Manual

(

CR750-Q

Controller)

BFP-A8933-G

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

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.)

CAUTION

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.

CAUTION

Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration.

CAUTION

Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur.

CAUTION

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.

CAUTION

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.

WARNING

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.

WARNING

Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.

CAUTION

Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation.

WARNING

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.

CAUTION

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.

CAUTION

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.

CAUTION

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.

CAUTION

Never carry out modifications based on personal judgments, or use nondesignated maintenance parts.

Failure to observe this could lead to faults or failures.

WARNING

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.

■Revision history

Date of print Specifications No.

2012-10-09

2012-10-18

2012-11-20

BFP-A8933

BFP-A8933-A

BFP-A8933-B

2012-12-05

2013-01-17

2013-03-22

2013-04-04

2013-07-19

BFP-A8933-C

BFP-A8933-D

BFP-A8933-E

BFP-A8933-F

BFP-A8933-G

Details of revisions

・ First print.

・ The user's guide of KC mark was added.

・ "1.3 CE marking specifications" was added.

・ The statement about trademark registration was added.

・ The notes of "set the Optimization of overload detection level parameter OLTMX" were added. (Environmental temperature in the table of Standard specifications of robot)

・ 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 added.

・ ”Fig. 2-18: Outline dimensional drawing” was added.

・The terminal name to connect when using the three phase specification by the single phase power supply was added.

・ EC-Statement of Compliance was added.

・ Note of the external emergency stop were added (opens the connector terminal at factory shipping).

・ J1 axis operating range change (option) was added.

・ The connector name and pin assignment were added to Wiring and piping system diagram for hand.

・ The description of SH04 and SH05 of Internal wiring and piping specification types was added.

・ ”Table 2-23: Pin assign of hand input cable” and “Table 2-26: Pin assign of hand output cable” were added.

・ The specification description of CR750-MB was added.

・ The outside dimensions and operating ranges of RV-4F/4FL, RV-7F/7FL were changed.

・ The specification description of RV-7FLL, RV-13F and RV-20F were added.

・ 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.

・ The type name of “J1 axis operating range change” for RV-7F series was corrected.

(formerly: 1F-DH-04)

・ The diameter of A/B ports on the optional solenoid valve set for RV-13F/20F series were corrected. (formerly: φ4)

・ The values of "Allowable moment load" and "Allowable inertia" of RV-20F were corrected.

・ ”Table 2-4: Position of center of gravity for loads (for loads with comparatively small volume): RV-20F” was added.

・ The length of the machine cable of a RV-13F series standard configuration equipment was added.

・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated.

・ ”Table 2-28 : Pin assign of hand input cable” was corrected.

・ The variations of an optional hand curl tube for RV-13F/13FL/20F were added.

・ ”6.4 EMC installation guideline” was added.

・ Outside dimensions and operating range diagrams of RV-7FLL, RV-13F/20F and RV-13FL were changed.

・ The values of RV-4F series in "Table 2-5: Value of each counter-force" were corrected.

・ The outside dimension and shape of the optional solenoid valve set for RV-13F series was changed.

・ The color of wires of GR2 connector in "2.5.6 Wiring and piping system diagram for hand" was corrected.

・ The cautions of operating in a low temperature environment or after a prolonged stop in

6.3 Precautions for handling” were modified.

・ The caution about fumigation of wood packing was added to ”6.3 Precautions for handling”.

・ The caution about reduction gear of J1 to J3 axes of the RV-13F series was added.

・ The cable length of Forearm external wiring set/Base external wiring set were added.

■ Introduction

This series is a full-scale industrial vertical multi-joint type robot that is designed for use in machining processes and assembling. This series supports varied environments, offering a variety of specifications including clean specification, oil mist specification and long-arm specification.

However, to comply with the target application, a work system having a well-balanced robot arm, periph

eral devices or robot and hand section must be structured.

When creating these standard specifications, we have edited them so that the Mitsubishi robot's charac

teristics 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 9,

"2 Robot arm" , the specifications related to the controller

Page 77, "3 Controller" , and software functions

and a command list

Page 117, "4 Software"

separately.

This document has indicated the specification of the following types robot.

*RV-4F-Q/RV-4FL-Q (CR750-Q controller) series

Note) Indicates it as RV-4F series.

*RV-7F-Q/RV-7FL-Q (CR750-Q controller) series

Note) Indicates it as RV-7F series.

*RV-7FLL-Q (CR750-Q controller) series

*1)

*RV-13F-Q (CR750-Q controller) series

*1)

*RV-20F-Q (CR750-Q controller) series

*1)

Note) *1) Indicates it as "RV-13F series" for a general name of these robots.

・ 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

i

Contents

Page

1 General configuration .................................................................................................................................................................... 1-1

1.1 Structural equipment ............................................................................................................................................................. 1-1

1.1.1 Standard structural equipment .................................................................................................................................. 1-1

1.1.2 Special specifications .................................................................................................................................................... 1-1

1.1.3 Options ................................................................................................................................................................................. 1-1

1.1.4 Maintenance parts ........................................................................................................................................................... 1-1

1.2 Model type name of robot .................................................................................................................................................... 1-2

1.2.1 How to identify the robot model ................................................................................................................................ 1-2

1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-3

1.2.3 Internal wiring and piping specification types ...................................................................................................... 1-3

1.3 CE marking specifications .................................................................................................................................................... 1-4

1.4 Contents of the structural equipment ............................................................................................................................ 1-5

1.4.1 Robot arm ........................................................................................................................................................................... 1-5

1.4.2 Controller ............................................................................................................................................................................ 1-6

1.5 Contents of the Option equipment and special specification .............................................................................. 1-7

2 Robot arm ........................................................................................................................................................................................... 2-9

2.1 Standard specifications ........................................................................................................................................................ 2-9

2.1.1 Basic specifications ........................................................................................................................................................ 2-9

(1) RV-4F/7F series ......................................................................................................................................................... 2-9

(2) RV-13F series ............................................................................................................................................................ 2-13

2.1.2 The counter-force applied to the installation surface ................................................................................... 2-16

2.2 Definition of specifications ................................................................................................................................................ 2-17

2.2.1 Pose repeatability .......................................................................................................................................................... 2-17

2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-18

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-21

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-21

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-21

2.2.5 Collision detection ......................................................................................................................................................... 2-21

2.2.6 Protection specifications ............................................................................................................................................ 2-22

(1) Types of protection specifications .................................................................................................................... 2-22

(2) About the use with the bad environment ........................................................................................................ 2-22

2.2.7 Clean specifications ...................................................................................................................................................... 2-23

(1) Types of clean specifications ............................................................................................................................... 2-23

2.3 Names of each part of the robot .................................................................................................................................... 2-24

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-25

(1) RV-4F ............................................................................................................................................................................ 2-25

(2) RV-4FL .......................................................................................................................................................................... 2-27

(3) RV-7F ............................................................................................................................................................................ 2-29

(4) RV-7FL .......................................................................................................................................................................... 2-31

(5) RV-7FLL ....................................................................................................................................................................... 2-33

(6) RV-13F/20F ................................................................................................................................................................ 2-35

(7) RV-13FL ....................................................................................................................................................................... 2-37

2.5 Tooling ........................................................................................................................................................................................ 2-39

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-39

(1) Standard specification (with no internal wiring and piping) ..................................................................... 2-39

(2) Internal wiring and piping specification (SH01) ............................................................................................. 2-40

(3) Internal wiring and piping specification (SH02) ............................................................................................. 2-41

(4) Internal wiring and piping specification (SH03) ............................................................................................. 2-42

(5) Internal wiring and piping specification (SH04) ............................................................................................. 2-43

(6) Internal wiring and piping specification (SH05) ............................................................................................. 2-44

2.5.2 Internal air piping ............................................................................................................................................................ 2-45

(1) Standard type ............................................................................................................................................................. 2-45

(2) Clean type .................................................................................................................................................................... 2-45

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-45

2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-45

Contents

Page

2.5.5 Ethernet cable, option wiring cable ........................................................................................................................ 2-45

2.5.6 Wiring and piping system diagram for hand ......................................................................................................... 2-46

(1) Standard specification (with no internal wiring and piping) ..................................................................... 2-46

(2) Internal wiring and piping specification (SH01) ............................................................................................. 2-47

(3) Internal wiring and piping specification (SH02) ............................................................................................. 2-48

(4) Internal wiring and piping specification (SH03) ............................................................................................. 2-49

(5) Internal wiring and piping specification (SH04) ............................................................................................. 2-50

(6) Internal wiring and piping specification (SH05) ............................................................................................. 2-51

2.5.7 Electrical specifications of hand input/output .................................................................................................. 2-52

2.5.8 Air supply circuit example for the hand ............................................................................................................... 2-53

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-54

2.6.1 Shipping special specifications ................................................................................................................................. 2-54

(1) Machine cable ............................................................................................................................................................. 2-55

2.7 Options ....................................................................................................................................................................................... 2-56

(1) Machine cable extension ........................................................................................................................................ 2-57

(2) J1 axis operating range change ........................................................................................................................... 2-59

(3) Solenoid valve set ..................................................................................................................................................... 2-65

(4) Hand input cable ........................................................................................................................................................ 2-68

(5) Hand output cable ..................................................................................................................................................... 2-69

(6) Hand curl tube ............................................................................................................................................................ 2-70

(7) Forearm external wiring set/ Base external wiring set ............................................................................. 2-72

2.8 About Overhaul ...................................................................................................................................................................... 2-75

2.9 Maintenance parts ................................................................................................................................................................. 2-76

3 Controller .......................................................................................................................................................................................... 3-77

3.1 Standard specifications ...................................................................................................................................................... 3-77

3.2 Protection specifications and operating supply ....................................................................................................... 3-78

3.3 Names of each part .............................................................................................................................................................. 3-79

3.3.1 Names of each part of the robot CPU ................................................................................................................. 3-81

3.4 Outside dimensions/Installation dimensions .............................................................................................................. 3-82

3.4.1 Outside dimensions ....................................................................................................................................................... 3-82

(1) Outside dimensions of robot CPU unit ............................................................................................................ 3-83

(2) Battery unit outside dimension ........................................................................................................................... 3-84

3.4.2 Installation dimensions ................................................................................................................................................. 3-85

(1) Robot CPU Unit installation dimensions .......................................................................................................... 3-87

3.5 External input/output .......................................................................................................................................................... 3-88

3.5.1 Types .................................................................................................................................................................................. 3-88

3.6 Dedicated input/output ...................................................................................................................................................... 3-89

3.7 Emergency stop input and output etc. ......................................................................................................................... 3-92

3.7.1 Connection of the external emergency stop ...................................................................................................... 3-92

3.7.2 Special stop input (SKIP) ........................................................................................................................................... 3-97

3.7.3 Door switch function .................................................................................................................................................... 3-98

3.7.4 Enabling device function ............................................................................................................................................. 3-98

(1) When door is opening ............................................................................................................................................... 3-98

(2) When door is closing ................................................................................................................................................ 3-98

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-99

3.8 Additional Axis Function .................................................................................................................................................. 3-100

3.8.1 Wiring of the Additional Axis Interface .............................................................................................................. 3-100

3.9 Magnet contactor control connector output (AXMC) for addition axes ..................................................... 3-103

3.10 Options ................................................................................................................................................................................. 3-104

(1) Teaching pendant (T/B) ...................................................................................................................................... 3-105

(2) Controller protection box .................................................................................................................................... 3-108

(3) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-113

(4) Instruction Manual(bookbinding) ....................................................................................................................... 3-115

3.11 Maintenance parts ........................................................................................................................................................... 3-116

ii

Contents

Page

4 Software ......................................................................................................................................................................................... 4-117

4.1 List of commands ............................................................................................................................................................... 4-117

4.2 List of parameters .............................................................................................................................................................. 4-120

5 Instruction Manual ..................................................................................................................................................................... 5-122

5.1 The details of each instruction manuals ................................................................................................................... 5-122

6 Safety .............................................................................................................................................................................................. 6-123

6.1 Safety ...................................................................................................................................................................................... 6-123

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-123

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-124

6.1.3 Precautions for using robot .................................................................................................................................... 6-124

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-125

6.1.5 Safety measures for teaching ............................................................................................................................... 6-125

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-125

6.1.7 Examples of safety measures ................................................................................................................................ 6-126

(1) CR750 drive unit ..................................................................................................................................................... 6-126

(2) External emergency stop connection [supplementary explanation] ................................................. 6-131

6.2 Working environment ......................................................................................................................................................... 6-133

6.3 Precautions for handling .................................................................................................................................................. 6-133

6.4 EMC installation guideline ............................................................................................................................................... 6-135

6.4.1 Outlines ........................................................................................................................................................................... 6-135

6.4.2 EMC directive ............................................................................................................................................................... 6-135

6.4.3 EMC measures ............................................................................................................................................................. 6-136

6.4.4 Component parts for EMC measures ................................................................................................................. 6-136

(1) Ferrite core ............................................................................................................................................................... 6-136

(2) Line noise filter ....................................................................................................................................................... 6-136

7Appendix ........................................................................................................................................................................... Appendix-137

Appendix 1 : Specifications discussion material (RV-4F/7F series) ................................................. Appendix-137

Appendix 2 : Specifications discussion material (RV-7FLL) ................................................................. Appendix-138

Appendix 3 : Specifications discussion material (RV-13F/13FL) ....................................................... Appendix-139

Appendix 4 : Specifications discussion material (RV-20F) ................................................................... Appendix-140

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.

Structural equipment

1-1

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

RV - F L - Q -Sxx

(a) (b) (c) (d) (e) (f) (g)

(a). RV .............................................. Indicates the vertical multiple-joint robot.

Ex.)

RV: Vertical multiple-joint type.

RH: Horizontal multiple-joint type.

(b). ◇ ............................................... Indicates the maximum load.

Ex)

4: 4kg

7: 7kg

13: 13kg

20: 20kg

(c). F.................................................. Indicates the F series.

(d). L.................................................. Indicates long arm type.

Ex)

Omitted: Standard type

L or LL: Long arm type

(e). ●................................................ Indicates environment specification.

Ex)

Omitted: General specifications (IP40)

M: Oil mist specifications (IP67)

C: Clean specifications (ISO class3)

Note) RV-7FLL has only general environment specification.

(f). Q.................................................. Indicates the controller type.

Q: iQ Platform

(g). -Sxx........................................... Indicates a special model. In order, limit special specification.

Ex)

-SHxx: Indicates the internal wiring and piping specification.

-Sxx: Indicates a special model.

1-2

Model type name of robot

1General configuration

1.2.2 Combination of the robot arm and the controller

Table 1-1 : Combination of the robot arm and the controller

Robot arm

Type name

Note1)

Protection

Arm length

RV- □ F-Q

RV-20F-Q

RV- □ FL-Q

RV-7FLL-Q

RV- □ F-Q-SH

RV-20F-Q-SH

RV- □ FL-Q-SH

RV-7FLL-Q-SH

RV- □ FM-Q

RV-20FM-Q

RV- □ FLM-Q

RV- □ FC-Q

RV-20FC-Q

RV- □ FLC-Q

Standard specification

Protection specifica

tion

Note3)

Clean specification

Note4)

Standard arm

Long arm

Standard arm

Long arm

Standard arm

Long arm

Standard arm

Long arm

Internal wiring and piping

equipped

Note2)

-

Controller

CR750- □ VQ-1

Note1) The " □ " indicates the load mass."4" for 4kg, "7" for 7kg, "13" for 13kg. (" □ " of the controller type name is

"04", "07" or "13".)

Note2) The types of the internal wiring and piping specification models are shown in Page 3, "1.2.3 Internal wiring and pip

ing specification types" . This robot arm is a shipping special specification model. Check the delivery date.

Note3) This robot arm's protective structure is IP67. The protective structure of all the drive units is IP20 (open type). To protect a drive unit, use the optional controller protection box (IP54).

Note4) The protective structure of all the drive units is IP20 (open type). To use a drive unit in a clean environment, install the drive unit to a place that does not violate the cleanliness.

1.2.3 Internal wiring and piping specification types

The robot arm with in-wrist cables and piping is available. Before the robot arm is shipped from the factory, the tool cables/piping are built into the robot arm's wrist and pulled out from the side of the mechanical interface. This robot arm model eases wiring/piping tasks at the customer's side and improves the reliability against cable disconnections, etc. The following section shows the types. For wiring/piping system diagram for hand of each

models, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand" .

(The unlisted robot arms do not have internal cables/pipes. However, they can use the hand input signals and devices such as a visual sensor.)

Table 1-2 : Internal wiring and piping specification types

Robot-arm type

Note1)

RV- □ F-Q-SH**

RV- □ FL-Q-SH**

RV-7FLL-Q-SH**

RV-20F-Q-SH**

Piping

Wiring (cable for the connection to each equipment)

Hand input signal

Vision sensor camera

Force sensor unit

01

φ4x4

Note3)

8 points Not available

02

03

04

05

Not available

Not available

φ4x2

φ4x2

8 points

Not available

8 points

8 points

-

1

1

1

1

-

1

1

Base section external wiring set

Note2)

Not available

1F-HA01S-01

1F-HA02S-01

1F-HA01S-01

1F-HA01S-01

Note1) " □ " shows the load. 4kg: "4", 7kg: "7", 13kg: "13". The numeral in the table shows the applicable numeral to

"**" of the type.

Example) When internal wiring/piping specification is "01" in the standard arm and load is 4 kg, the type name is

RV-4F-Q-SH01.

Note2) The corresponding base external wiring set is attached.

Note3) It can use as a secondary piping of the solenoid-valve set option.

Model type name of robot

1-3

1General configuration

1.3 CE marking specifications

The robot shown in the

Table 1-3 is the CE Marking specification.

Table 1-3 : Robot models with CE marking specifications

Robot type Controller

RV- □ F-Q1-S15

RV- □ FL-Q1-S15

RV- □ FM-Q1-S15

RV- □ FLM-Q1-S15

RV- □ FC-Q1-S15

RV- □ FLC-Q1-S15

RV- □ F-Q1-SH15xx

RV- □ FL-Q1-SH15xx

RV-7FLL-Q1-S15

RV-20F-Q1-S15

RV-20FM-Q1-S15

RV-20FC-Q1-S15

CR750- □ VQ1-1-S15

CR750- □ VQ1-1-S15xx

CR750-07VLQ1-1-S15

CR750-20VQ1-1-S15

RV-20F-Q1-SH15xx CR750-20VQ1-1-S15xx

Note 1) " □ " shows the load. 4kg: "04", 7kg: "07", 13kg: "13".

Note 2) "xx" shows the number of the special specification.

External signal logic

Source type

Language setting

English (ENG)

1-4

CE marking specifications

1.4 Contents of the structural equipment

1.4.1 Robot arm

The list of structural equipment is shown in below.

Vertical six-axis multiplejointed type

(RV-4F-Q/4FL-Q、

RV-7F-Q/7FL-Q)

Vertical six-axis multiple-jointed type

(RV-13F-Q/13FL-Q,

RV-7FLL-Q/RV-20F-Q)

Machine cable

Fixed type: RV-4F/7F series..................... 5m

RV-13F series........................... 7m

Internal wiring and piping specification

The robot of the factory-shipments special specification which equipped the inside of the wrist with wiring and the piping, and was pulled out from the mechanical interface

Refer to Page 3, "1.2.3 Internal wiring and piping specification types"

for details.

Solenoid valve set

(Special hand output cable is attached)

<Sink type/Source type>

・ 1 set: 1F-VD01-**/1F-VD01E-**

・ 2 set: 1F-VD02-**/1F-VD02E-**

・ 3 set: 1F-VD03-**/1F-VD03E-**

・ 4 set: 1F-VD04-**/1F-VD04E-**

Note) "**" differs by robot arm.

Refer to Table

1-4

for details.

1F-VD04-02

1F-VD04-03

Hand output cable

・ 1F-GR35S-02

Hand input cable

・ 1F-HC35S-02

Either one

Hand curl tube

RV-4F/7F series, RV-7FLL

・ 1E-ST040*C (1 - 4 set)

RV-13F/13FL/20F

・ 1N-ST060*C (1 - 4 set)

Note) "*" differs by 1 - 4 set. Refer to Table 1-4

for details.

Fig.1-1 : Structural equipment (Robot arm)

Machine cable

(Fixed type: 2m)

・ 1S-02UCBL-01

Machine cable extension

Fixed type:

1S- □□ CBL-01

Flexed type:

1S- □□ LCBL-01

Note1) □□ refer the length.

Refer to Table 1-4

for details.

Note2) Extend by adding to the arm side of the standard accessory cable (for fix

ing).

Pulled out from robot arm

・ Forearm external wiring set/ Base external wiring set

*The figure is an example.

Forearm

Option attachment positions

Base

(Opposite side)

J1 axis operating range change

(Stopper parts)

・ RV-4F series: 1F-DH-03

・ RV-7F series: 1F-DH-04

・ RV-13F series: 1F-DH-05J1

* Installed by customer.

[Caution]

Standard configuration equipment

Special specifications

Option

Prepared by customer

Contents of the structural equipment

1-5

1

General configuration

1.4.2 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

・ RV-4F : CR750-04VQ-1

・ RV-7F : CR750-07VQ-1

・ RV-7FLL : CR750-07VLQ-1

・ RV-13F : CR750-13VQ-1

・ RV-20F : CR750-20VQ-1

Robot CPU unit

・ Q172DRCPU

*1)

Battery unit

Q170DBATC

*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

・ 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.

Controller protection box

・ CR750-MB

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

Note) The numbers in the boxes □□ refer the length.

□□ = 05 (5m), 20 (20m), 30 (30m).

Teaching pendant (T/B)

R32TB R56TB

Personal computer

Prepared by customer

Instruction Manual(bookbinding)

・ RV-4F-Q/7F-Q/13F-Q:

5F-RF01-PE01

1-6

Fig.1-2 : Structural equipment

RT ToolBox2/RT ToolBox2 mini

RT ToolBox2

・ 3D-11C-WINE(CD-ROM)

(MS-Windows2000/XP/Vista/7)

RT ToolBox2 mini

・ 3D-12C-WINE(CD-ROM)

(MS-Windows2000/XP/Vista/7)

[Caution]

Standard configuration equipment

Special specifications

Options

Prepared by customer

The photograph is the image figure.

1

General configuration

1.5 Contents of the Option equipment and special specification

A list of all Optional equipment and special specifications are shown below.

Table 1-4 : The list of Option equipment and special specification

Item Type Specifications

Internal wiring and piping specification

(robot arm)

RV- □ F-Q-SH01

RV- □ FL-Q-SH01

RV-7FLL-Q-SH01

RV-20F-Q-SH01

RV- □ F-Q-SH02

RV- □ FL-Q-SH02

RV-7FLL-Q-SH02

RV-20F-Q-SH02

RV- □ F-Q-SH03

RV- □ FL-Q-SH03

RV-7FLL-Q-SH03

RV-20F-Q-SH03

RV- □ F-Q-SH04

RV- □ FL-Q-SH04

RV-7FLL-Q-SH04

RV-20F-Q-SH04

Functions equipped inside of wrist:

Air-hose φ4 x 4, Eight hand input signals.

Functions equipped inside of wrist:

Eight hand input signals, connec tion cable for vision-sensor cam era, connection cable for force sensor unit.

Functions equipped inside of wrist:

Air-hose φ4 x 2, Eight hand input signals, connection cable for force sensor unit.

-

Functions equipped inside of wrist:

Connection cable for vision-sen

-

sor camera and force sensor unit.

RV- □ F-Q-SH05

RV- □ FL-Q-SH05

RV-7FLL-Q-SH05

RV-20F-Q-SH05

1F-DH-03

Functions equipped inside of wrist:

Air-hose φ4 x 2, Eight hand input signals, connection cable for vision-sensor camera.

J1 axis operating range change

1F-DH-04

1F-DH-05J1

Machine cable

(Replaced to shorter cable)

1S-02UCBL-01

Stopper part for RV-4F series:

Sets as the + side/- side each by the combination within 30, 73, 103 and 146.

Stopper part for RV-7F series:

Sets as the + side/- side each by the combination within 35, 77, 99 and 141.

Stopper part for RV-13F series:

Sets as the + side/- side each by the combination within 30, 73, 103 and 146.

For fixing

(Set of power and signal)

Extended machine cable

Solenoid valve set

1S- □□ CBL-01

1S- □□ LCBL-01

For fixing

(Set of power and signal)

For flexing

(Set of power and signal)

1F-VD01-02/VD01E-02 1 set (Sink type)/(Source type)

1F-VD02-02/VD02E-02 2 set (Sink type)/(Source type)

1F-VD03-02/VD03E-02 3 set (Sink type)/(Source type)

1F-VD04-02/VD04E-02 4 set (Sink type)/(Source type)

Hand input cable

Hand output cable

1F-VD01-03/VD01E-03 1 set (Sink type)/(Source type)

1F-VD02-03/VD02E-03 2 set (Sink type)/(Source type)

1F-VD03-03/VD03E-03 3 set (Sink type)/(Source type)

1F-VD04-03/VD04E-03 4 set (Sink type)/(Source type)

1F-HC35S-02

Robot side: connector.

Hand side: wire.

1F-GR35S-02

Robot side: connector.

Hand side: wire

Classification

Note1)

○ ・

Description

The connection with the force sensor unit uses the attached adapter cable in the force-sensor option.

Note) The corresponding base external wiring set is attached.

This must be installed and setting the parameter by the customer.

* Refer to

Page 59, "(2) J1 axis operating range change"

for details.

2m (A 2m cable is supplied instead of the supplied standard cable.)

5, 10, 15m

5, 10, 15m

The solenoid-valve set for the hand of the customer setup.

Use for RV-4F/7F series and RV-7FLL.

The solenoid-valve set for the hand of the customer setup.

Use for RV-13F/13FL and RV-20F.

The cable is connected to the sensor by the customer.

This cable can be used for the solenoid valve prepared by the customer.

Contents of the Option equipment and special specification

1-7

1

General configuration

Item

Hand curl tube

Forearm external wiring set

Type

1E-ST0402C

1E-ST0404C

1E-ST0406C

1E-ST0408C

1N-ST0602C

1N-ST0604C

1N-ST0606C

1N-ST0608C

1F-HB01S-01

1F-HB02S-01

Base external wiring set 1F-HA01S-01

1F-HA02S-01

Simple teaching pendant R32TB

R32TB-15

Highly efficient teaching pendant

R56TB

R56TB-15

Controller protection box

CR750-MB

Specifications

For solenoid valve 1set.: φ4x2

For solenoid valve 2set.: φ4x4

For solenoid valve 3set.: φ4x6

For solenoid valve 4set.: φ4x8

For solenoid valve 1set.: φ6x2

For solenoid valve 2set.: φ6x4

For solenoid valve 3set.: φ6x6

For solenoid valve 4set.: φ6x8

The following cables can be wired outside: hand input signals, force sensor and vision sensor.

The following cables can be wired outside: force sensor and vision-sensor.

The following cables can be wired outside: force sensor and vision-sensor.

The following cables can be wired outside: force sensor and vision-sensor.

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

IP54

CD-ROM

Classification

Note1)

Description

Curl type air tube

For RV-4F/7F series and RV-7FLL.

Curl type air tube

For RV-13F/13FL and RV-20F.

Pulls out from forearm lower part.

Pulls out from base side.

With 3-position enable switch IP65

The controller protection box is used to protect the controller from an oil mist or other operating environment.

MS-Windows2000/XP/Vista/7

(With the simulation function)

RT ToolBox2

(

Personal computer Sup

port software)

3D-11C-WINE

RT ToolBox2 mini

( Personal computer Sup

port software mini)

TU cable for robot

3D-12C-WINE

Robot CPU unit connection cable set

2Q-RC-CBL □□ M

2Q-TUCBL □ M

DISP cable for robot

2Q-DISPCBL □ M

EMI cable for robot 2Q-EMICBL □ M

SSCNET Ⅲ cable for robot MR-J3BUS □ M-A

MR-J3BUS30M-B

Instruction Manual 5F-RF01-PE01

CD-ROM

Cable length 05, 20, 30m

Cable length 05, 20, 30m

Cable length 05, 20, 30m

Cable length 05, 20, 30m

Cable length 05, 20m

Cable length 30m

RV-4F/7F/13F-Q (CR750 drive unit) series

Note1) ○ : option, □ : special specifications.

MS-Windows2000/XP/Vista/7

This option include TU, DISP, EMI and

SSCNET cables.

For communication between robot CPU and DU.

For communication between robot CPU and DU.

For a robot CPU emergency stop input.

For the servo communication between robot CPU and DU .

1-8

Contents of the Option equipment and special specification

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

(1) RV-4F/7F series

Table 2-1 : Standard specifications of robot (with no internal wiring and piping)

Item Unit Specifications

Type

Environment

Degree of freedom

Installation posture

Structure

Drive system

Position detection method

Motor capac

ity

Waist (J1)

Shoulder (J2)

Operating range

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

W

Degree

Speed of motion

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

Degree/s

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Maximum reach radius (P point)

Maximum resultant velocity

Note2) mm mm/sec

Load

Pose repeatability

Note3)

Cycle time

Note4)

Ambient temperature

Note5)

Mass

Wiring for user

Primary piping

Tool pneu

matic pipes

Secondary piping

Supply pressure kg(N) mm sec

℃ kg

Allowable moment load

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Wrist twist (J4) Allowable inertia

Wrist pitch (J5)

Wrist roll (J6)

Tool wiring Hand input/output

LAN cable

N ・ m kg ・ m

2

MPa

RV-4F

0 to 161

450

450

300

514.5

39

RV-4FL RV-7F

400

400

100

100

100

50

±240

±120

Omitted: Standard specification

C: Clean specification

M: Oil mist specification

6

On floor, hanging, (against wall

Note1)

)

Vertical, multiple-joint type

AC servo motor (brake provided on all axes)

Absolute encoder

750

750

400

100

100

50

±240

0 to 164

-115 to 125

0 to 156

±200

±120

±360

420

336

250

360

401

450

540

623

720

337

450

720

648.7

713.4

9,000

4

11,000

7

±0.02

0.36

0.32

0 to 40

41 65

6.66

6.66

3.90

0.20

16.2

16.2

6.86

0.45

0.20

0.45

0.10

Hand input eight

points / hand output eight

points

Equipped (eight cores) <100BASE-TX>

Equipped (24 cores) <Force sensor etc.>

φ6×2

φ4×8

0.54

RV-7FL

-110 to 130

0 to 162

288

321

360

907.7

0.35

67

Standard specifications

2-9

2Robot arm

Item

Protection specification

Note6)

Unit Specifications

Standard specification: IP20

Clean specification: ISO class 3

Note7)

Oil mist specification: IP67

Note8) Note9)

Light gray (Equivalent to Munsell: 0.6B7.6/0.2) Painting color

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.

Please give an order separately.

Note2) This is the value on the mechanical interface surface when all axes are combined.

Note3) The pose repeatability details are given in

Page 17, "2.2.1 Pose repeatability"

Note4) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position.

300

Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)

Note6) The protection specification details are given in Page 22, "2.2.6 Protection specifications"

.

Note7) The details of the clean specifications are described in Page 23, "2.2.7 Clean specifications"

.

Note8) The protection performance cannot be ensured with some oil characteristics. Contact the dealer.

Note9) 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.

2-10

Standard specifications

2Robot arm

Table 2-2 : Standard specifications of robot (with internal wiring and piping)

Item Unit Specifications

Type

Environment

Degree of freedom

Installation posture

Structure

Drive system

Position detection method

Motor capac

ity

Waist (J1)

Shoulder (J2)

Elbow (J3)

Operating range

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

W

Degree

Speed of motion

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Degree/s

Wrist pitch (J5)

Wrist roll (J6)

Maximum reach radius (P point)

Maximum resultant velocity

Note3) mm mm/sec

Load

Pose repeatability

Note4)

Cycle time

Note5)

Ambient temperature

Note6) kg(N) mm sec

Mass

Allowable moment load

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6) kg

N ・ m

Allowable inertia

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Tool wiring Hand input/output kg ・ m

2

LAN cable

Wiring for user

Promary piping

Tool pneu

matic pipes

Secondary piping

Supply pressure

Protection specification

Note8)

Painting color

MPa

RV-4F-SH

0 ~ 161

450

450

300

514.5

10,000

40

6.66

6.66

3.90

0.20

0.20

100

100

50

±240

±120

400

400

100

RV-4FL-SH RV-7F-SH

Standard specification

6

On floor, hanging, (against wall

Note1)

)

Vertical, multiple-joint type

AC servo motor (brake provided on all axes)

Absolute encoder

750

750

400

0 ~ 164

-115 ~ 125

0 ~ 156

100

100

50

±240

±200

±120

±200

Note2)

420

336

250

360

401

450

540

623

720

337

450

720

648.7

9,900

713.4

12,000

4 7

±0.02

0.36

0.32

0 to 40

42 66

16.2

16.2

6.86

0.45

0.45

0.10

Hand input eight

points / hand output eight

points

Equipped (eight cores) <100BASE-TX>

Equipped (24 cores) <Force sensor etc.>

φ6×2

φ4×4: forearm section

φ4×4: passes through in the wrist.

Note7)

0.54

Standard specification: IP40

Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

RV-7FL-SH

-110 ~ 130

0 ~ 162

288

321

360

907.7

11,700

0.35

68

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.

Please give an order separately.

Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.

Note3) This is the value on the mechanical interface surface when all axes are combined.

Note4) The pose repeatability details are given in

Page 17, "2.2.1 Pose repeatability"

Standard specifications

2-11

2Robot arm

Note5) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position.

300

Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)

Note7) The internal wiring and piping specification is φ4x4.

Note8) The protection specification details are given in Page 22, "2.2.6 Protection specifications"

.

2-12

Standard specifications

2Robot arm

Degree of freedom

Installation posture

Structure

Drive system

Position detection method

Motor capac

ity

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Operating range

Speed of motion

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Maximum reach radius (P point)

Maximum resultant velocity

Note2)

Load   Rating (Maximum)

Pose repeatability

Note3)

Cycle time

Note4)

Ambient temperature

Note5)

Mass

Allowable moment load

Allowable inertia

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

W

Degree

Degree/s kg ・ m

2 mm mm/sec kg mm sec

℃ kg

N ・ m

(2) RV-13F series

Table 2-3 : Standard specifications of robot (with no internal wiring and piping)

Item Unit Specifications

Type

Environment

RV-13F

290

234

312

1,094

10,450

0.53

120

RV-13FL RV-20F

Omitted: Standard specification

C: Clean specification

M: Oil mist specification

6

On floor, hanging (against wall

Note1)

)

Vertical, multiple-joint type

AC servo motor (brake provided on all axes)

Absolute encoder

1500

1500

750

400

200

100

±190

-90 to +150

-10 to +157.5

±200

±120

±360

375

375

720

234

164

219

1,388

9,700

125

360

1,094

4,200

110

110

110

124

12(13) 15(20)

RV-7FLL

Standard specifica

tion

100

50

234

164

219

375

450

720

1,503

15,300

±0.05

0.68

0.70

7(7)

±0.06

0.63

0 to 40

19.3

19.3

0.47

0.47

130

11

0.14

120

49

49

1.4

1.4

130

16.2

16.2

6.86

0.45

0.45

0.1

Standard specifications

2-13

2Robot arm

Item Unit Specifications

Tool wiring Hand input/output

Tool pneu

matic pipes

LAN cable

Wiring for user

Promary piping

Secondary piping

Supply pressure

Protection specification

Note6)

MPa

Hand input eight

points / hand output eight

points

Equipped (eight cores) <100BASE-TX>

Equipped (24 cores) <Force sensor etc.>

φ6×2

φ6×8

0.54

Standard specification: IP40

Clean specification: ISO class 3

Note7)

Oil mist specification: IP67

Note8) Note9)

Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

IP40

Painting color

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.

Please give an order separately.

Note2) This is the value on the mechanical interface surface when all axes are combined.

Note3) The pose repeatability details are given in

Page 17, "2.2.1 Pose repeatability"

Note4) The required time period to execute one cycle of the following operation pattern with 5kg load. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position.

300

Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed expla

nations of functions and operations for details.)

Note6) The protection specification details are given in

Page 22, "2.2.6 Protection specifications"

.

Note7) The details of the clean specifications are described in Page 23, "2.2.7 Clean specifications"

.

Note8) The protection performance cannot be ensured with some oil characteristics. Contact the dealer.

Note9) To use a controller in an oil mist environment, use the optional controller protection box and protect the controller from oil mists.

2-14

Standard specifications

2Robot arm

Table 2-4 : Standard specifications of robot (with internal wiring and piping)

Item Unit Specifications

Type

Environment

Degree of freedom

Installation posture

Structure

Drive system

Position detection method

Motor capac

ity

Waist (J1)

Shoulder (J2)

W

Operating range

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Degree

Speed of motion

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Maximum reach radius (P point)

Maximum resultant velocity

Note3)

Degree/s mm mm/sec

Load   Rating (Maximum)

Pose repeatability

Note4)

Cycle time

Note5)

Ambient temperature

Note6)

Mass

Allowable moment load

Allowable inertia

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Wrist twist (J4)

Tool wiring

Wrist pitch (J5)

Wrist roll (J6)

Hand input/output kg mm sec

℃ kg

N ・ m kg ・ m

2

LAN cable

Wiring for user

RV-13F-SH

290

234

312

1,094

10,450

0.53

120

375

375

720

RV-13FL-SH RV-20F-SH

Standard specification

6

On floor, hanging (against wall

Note1)

)

Vertical, multiple-joint type

AC servo motor (brake provided on all axes)

Absolute encoder

1500

1500

750

400

200

100

±190

-90 to +150

-10 to +157.5

±200

±120

±200

Note2)

234

164

219

1,388

9,700

125

360

1,094

4,200

110

110

110

124

12(13) 15(20)

±0.05

0.68

0.70

0-40

19.3

19.3

130 120

49

49

11

0.47

0.47

1.4

1.4

0.14

Hand input eight

points / hand output eight

points

Equipped (eight cores) <100BASE-TX>

Equipped (24 cores) <Force sensor etc.>

RV-7FLL-SH

100

50

130

16.2

16.2

6.86

0.45

0.45

0.1

450

720

1,503

15,300

234

164

219

375

7(7)

±0.06

0.63

Standard specifications

2-15

2Robot arm

Item Unit Specifications

Tool pneu

matic pipes

Promary piping

Secondary piping

Supply pressure

Protection specification

Note8)

Painting color

MPa

φ6×2

φ4×4

Note7)

0.54

Standard specification: IP40

Light gray (Equivalent to Munsell: 0.6B7.6/0.2)

Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.

Please give an order separately.

Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.

Note3) This is the value on the mechanical interface surface when all axes are combined.

Note4) The pose repeatability details are given in

Page 17, "2.2.1 Pose repeatability"

Note5) The required time period to execute one cycle of the following operation pattern with 5kg load. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position.

300

Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed expla

nations of functions and operations for details.)

Note7) The internal wiring and piping specification is φ4x4.

Note8) The protection specification details are given in

Page 22, "2.2.6 Protection specifications"

.

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 2-5 : Value of each counter-force

Value

Item Unit

RV-4F series RV-7F series RV-13F series

Falls moment: M

L

Torsion moment: M

T

Horizontal translation force:

F

H

Vertical translation force: F

V

N ・ m

N ・ m

N

N

410

400

700

1,200

900

900

1,000

1,700

2,060

2,060

1,750

2,900

2-16

Standard specifications

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 rela

tion 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 coor

dinate 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

2-17

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 fol

lowing 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 9, "2.1.1 Basic specifications"

.

(2)

Fig. 2-1

,

Fig. 2-2 , Fig. 2-3

and

Fig. 2-4

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.

(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 9, "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/deceler

ation, 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.

[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend

ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending speed.

1kg

200

220 for J5 axis

2kg

150

3kg

4kg

155

120

100

100

50

400

405

300

290

225

200

170

100 0

Fig.2-1 : Position of center of gravity for loads (for loads with comparatively small volume): RV-4F/4FL

2-18

2 Robot arm

1kg

600

600 430

500

J6軸回転中心 for J6 axis

400

2kg

3kg

4kg

5kg

6kg

7kg

310

240

300

355 280 255

200 100

300

310

220

100

200 for J5 axis

175

155

135

115

100

Fig.2-2 : Position of center of gravity for loads (for loads with comparatively small volume): RV-7F/7FL

3kg

275

300

215 160

200

6kg

9kg

12kg

100

300

J5軸回転中心 for J5 axis

210

200

150

120

100

90

600 500

J6軸回転中心 for J6 axis

390

400

Fig.2-3 : Position of center of gravity for loads (for loads with comparatively small volume): RV-13F/13FL

2-19

2 Robot arm

6kg

9kg

12kg

600

475

500

J6軸回転中心 for J6 axis

390

400

335

300

300

15kg

200 100

300

J5軸回転中心 for J5 axis

200

150

120

100

90

70

Fig.2-4 : Position of center of gravity for loads (for loads with comparatively small volume): RV-20F

2-20

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 such a case, change the setting value to the +20% range.

If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism ele

ments 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".

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) Lower the robot's operating speed by approximately 5% from high speed using the Ovrd command.

2) Change and move the teaching points of the robot.

3) Change the hand mass and hand inertia.

2.2.5 Collision detection

This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, however initial setting is in invalid condition.

The enable/disable of this function can be changed by parameter: COL and command: ColChk, this function is effective for protect 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 condi

tion, 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.

2-21

2 Robot arm

2.2.6 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 2-6 .

Even oil mist environment can be used in addition to the general environment.

Table 2-6 : Protection specifications and applicable fields

Type

Protection specifications

(IEC Standards value)

Classification

General environ

ment specifications

RV-4F-Q/4FL-Q

RV-7F-Q/7FL-Q

RV-7FLL-Q

RV-13F-Q/13FL-Q

RV-20F-Q

RV-4FM-Q/4FLM-Q

RV-7FM-Q/7FLM-Q

RV-13FM-Q/13FLM-Q

RV-20FM-Q

IP40

IP67

Oil mist specifica

tions

Applicable field

General assembly

Slightly dusty environment

Machine tool (cutting)

Machine shop with heavy oil mist

Dusty work shop

Remarks

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 2-6

.

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 IP40

The protection standard for approach in the dangerous spot in the tool. It indicates the protective structure that the proximity probe 2.5mm in diameter must not advance.

・ The IEC IP67

Protection against water infiltration as specified in IP67 indicates a protective structure that is not harmfully affected, even if the test device dives underwater for the 30 minutes. The diving depth is shown below. When the height of the test device is less than 850 mm, the position of the lowest part is 1 m from the water sur

face.

When the height of the test device is 850 mm or more, the position of the highest part is 150 mm from the water surface.

(2) About the use with the bad environment

The robot arm with protection specification (oil mist specification) is made by order. This robot has protection methods that conform to IEC's IP67 standards (splashproof type). Recommended usage conditions.

1) The robot is designed for use in combination with machining device.

2) To ensure IP67 over the warranty period and further, the inside of the robot arm needs to be pressurized.

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 2-7 : Specification of the dry air for pressurization

Item Dew point Pressure

Specification The atmospheric pressure dew point is -

20 degree or less.

0.01MPa 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 compatibil

ity with the protection specification is verified through our operability evaluation) or where the robot body

2-22

2 Robot arm may be directly splashed with water, oil or dust in quantities larger than stated in the protection specifica

tion.

4) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.

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 133, "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 2-7 .

2.2.7 Clean specifications

(1) Types of clean specifications

The robot arm with clean specification is made by order. Please check the delivery schedule.

Table 2-8 : Clean specifications

Type Degree of cleanliness

RV-4FC-Q/4FLC-Q

RV-7FC-Q/7FLC-Q

RV-13FC-Q/13FLC-Q

RV-20FC-Q

ISO class3

Internal suction

Concentrated suction with vacuum generating valve.

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.

■ 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. 2-20 ) When using the robot, connect this coupling with the vacuum generating valve (Refer to

Table 2-9

) 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 2-9 : Specifications of vacuum generation valve (Confirmed in our company)

Type Maker

Air pressure

Note1)

Quantity

MEDT 14 KONEGAI CORPORATION ・ Vacuum rate: 90.0 L/min(ANR) 1

Note1) It is the vacuum pump maker's written specification.

b) When using the vacuum pump

Assure the vacuum flow rate of more than 30 L/min. And, secure the exhaust course from the pump not to affect the power supply and the cleanness for the vacuum pumps.

2-23

2 Robot arm

2.3 Names of each part of the robot

Note) Although the figure is RV-4F, and RV-7F/13F series is also the same.

Fig.2-5 : Names of each part of the robot

2-24

Names of each part of the robot

2 Robot arm

2.4 Outside dimensions ・ Operating range diagram

(1) RV-4F

Notes

Rev. A

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) Ensure the maintenance space to take out the cover.

3. *3) The screw should go in to a depth of 7.5mm to 8mm.

4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.

5. *5) The size of the internal wiring and piping specification model (-SHxx).

6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification.

Standard specification

Clean/oil mist specification

-SH** specification

-SH** specification

Clean/oil mist specification

Clean/oil mist specification

-SH** specification

Approx. 100

*2)

Maintenance space

Minimum

Cable connection space

(Installation surface)

Standard specification

Clean/oil mist specification

4-φ9 installation hole

-SH** specification

depth 8

4-M5 screw depth 8

*3)

φ20H7 d epth 6

View A: Detail of mechanical interface View B bottom view drawing: Detail of installation dimension

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.2-6 : Outside dimensions: RV-4F

Outside dimensions ・ Operating range diagram

2-25

2 Robot arm

Rev. A

Notes

1. *1) Rear face operation limit: When the J axis angle is -35 ° <= J1 <= +115°, the J2 axis operation is limited to -113° <=

J2 <= +120 °.

2. The following figure shows a robot at the position of:

J1=0

°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

Operating range of each axis:

P-point path

J6 (-SH** specification): ±200°

When Internal wiring and piping specification

(-SH**)

Flange downward limit line

Control point

(R point)

Control point of

"-SH**" specification (R point)

P-point path

P-point

The area which

P point cannot be moved

Top view

The area which P point cannot be moved

*3)

(240 from the installation surface)

*1)

Rear-face/side-face operating area

The area which P point cannot be moved

The boundary of the singularpoint of flange downward

The area which P point cannot be moved

Side view

Fig.2-7 : Operating range diagram: RV-4F

2-26

Outside dimensions ・ Operating range diagram

The area which P point cannot be moved

2 Robot arm

(2) RV-4FL

Notes

Rev. A

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) Ensure the maintenance space to take out the cover.

3. *3) The screw should go in to a depth of 7.5mm to 8mm.

4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.

5. *5) The size of the internal wiring and piping specification model (-SHxx).

6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification.

Standard specification

Clean/oil mist specification

-SH** specification

-SH** specification

Clean/oil mist specification

Clean/oil mist specification

-SH** specification

Approx. 100

*2)

Maintenance space

Minimum

Cable connection space

Standard specification

Clean/oil mist specification

-SH** specification

4-φ9 installation hole

(Installation surface)

depth 8

4-M5 screw depth 8

*3)

φ20H7 d epth 6

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

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.2-8 : Outside dimensions: RV-4FL

Outside dimensions ・ Operating range diagram

2-27

2 Robot arm

Rev. A

Notes

1. *1) Rear face operation limit: When the J axis angle is -35

° <= J1 <= +110°, the J2 axis operation is limited to -114° <=

J2 <= +120 °.

2. The following figure shows a robot at the position of:

J1=0 °, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

P-point path

P-point

The area which P point cannot be moved

When Internal wiring and piping specification

(-SH**)

Flange downward limit line

Control point

(R point)

Control point of

"-SH**" specification (R point)

P-point path

P-point

The boundary of the singularpoint of flange downward

The area which

P point cannot be moved

Side view

Fig.2-9 : Operating range diagram: RV-4FL

2-28

Outside dimensions ・ Operating range diagram

Operating range of each axis:

J6 (-SH** specification): ±200°

Top view

*1)

Rear-face operating area

The area which P point cannot be moved

*3)

(240 from the installation surface)

The area which P point cannot be moved

The area which P point cannot be moved

2 Robot arm

(3) RV-7F

Notes

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) Ensure the maintenance space to take out the cover.

3. *3) The screw should go in to a depth of 7.5mm to 8mm.

4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.

Rev. A

5. *5) The size of the internal wiring and piping specification model (-SHxx).

6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification.

Standard specification

Clean/oil mist specification

-SH** specification

-SH** specification

Clean/oil mist specification

Clean/oil mist specification

-SH** specification

Approx. 100

*2)

Maintenance space

Minimum

Cable connection space

(Installation surface)

Standard specification

Clean/oil mist specification

4-φ9 installation hole

-SH** specification

depth 8

4-M5 screw depth 8

*3)

φ20H7 d epth 6

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

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.2-10 : Outside dimensions: RV-7F

Outside dimensions ・ Operating range diagram

2-29

2 Robot arm

Rev. A

Notes

1. The following figure shows a robot at the position of:

J1=0

°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

2. *1) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

P-point path

P-point

The area which P point cannot be moved

When Internal wiring and piping specification

(-SH**)

Flange downward limit line

Control point

(R point)

Control point of

"-SH**" specification (R point)

P-point path

P-point

Operating range of each axis:

J6 (-SH** specification): ±200°

Top view

The area which P point cannot be moved

*1)

(271 from the installation surface)

The area which P point cannot be moved

The boundary of the singularpoint of flange downward

The area which P point cannot be moved

Fig.2-11 : Operating range diagram: RV-7F

Side view

2-30

Outside dimensions ・ Operating range diagram

The area which P point cannot be moved

2 Robot arm

(4) RV-7FL

Notes

Rev. A

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) Ensure the maintenance space to take out the cover.

3. *3) The screw should go in to a depth of 7.5mm to 8mm.

4. *4) Screw hole (M4 depth 8) for securing the user cables/piping.

5. *5) The size of the internal wiring and piping specification model (-SHxx).

6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification.

Standard specification

Clean/oil mist specification

-SH** specification

-SH** specification

Clean/oil mist specification

Clean/oil mist specification

-SH** specification

Approx. 100

*2)

Maintenance space

Minimum

Cable connection space

(Installation surface)

Standard specification

Clean/oil mist specification

4-φ9 installation hole

-SH** specification

depth 8

4-M5 screw depth 8

*3)

φ20H7 d epth 6

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

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.2-12 : Outside dimensions: RV-7FL

Outside dimensions ・ Operating range diagram

2-31

2 Robot arm

Notes

Rev. A

1. The following figure shows a robot at the position of:

J1=0

°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

2. *1) Front face operation limit: When the J1 axis angle is +145

° <= J1 <= +215° or -145° <= J1 <= -215°, the J2 axis operation is limited to -110 ° <= J2 <= +120°.

3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

P-point path

P-point

The area which P point cannot be moved

When Internal wiring and piping specification

(-SH**)

Flange downward limit line

Control point (R point)

Control point of "-SH**" specification (R point)

P-point path P-point

Top view

The area which P point cannot be moved

The boundary of the singularpoint of flange downward

*1)

Front-face/side-face operating area

Fig.2-13 : Operating range diagram: RV-7FL

Side view

The area which P point cannot be moved

2-32

Outside dimensions ・ Operating range diagram

Operating range of each axis:

J6 (-SH** specification): ±200°

The area which P point cannot be moved

*2)

(271 from the installation surface)

The area which P point cannot be moved

2 Robot arm

(5) RV-7FLL

Notes

Rev. A

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) The screw should go in to a depth of 7.5mm to 8mm.

3. *3) Screw hole (M4 depth 8) for securing the user cables/piping.

4. *4) The size of the internal wiring and piping specification model (-SHxx).

5. *5) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification.

Standard specification

Clean/oil mist specification

-SH** specification

(The holes are on opposite sides.)

-SH** specification

Clean/oil mist specification

Clean/oil mist specification

-SH** specification

Min.

reamer

(Installation surface)

4-φ14 installation hole

depth 8

4-M5 screw depth 8

*2)

φ20H7 d epth 6

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

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.2-14 : Outside dimensions: RV-7FLL

Outside dimensions ・ Operating range diagram

2-33

2 Robot arm

Notes

Rev. *

1. The following figure shows a robot at the position of:

J1=0

°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

2. *1) Front face operation limit: When the J1 axis angle is +120

° <= J1 or J1 <= -120°, the J2 axis operation is limited to -

90 ° <= J2 <= +130°.

3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

P-point

P-point path (- side)

P-point path (+ side)

Operating range of each axis:

J6 (-SH** specification): ±200°

Top view

Flange downward limit line

P-point

Control point (R point)

The area which P point cannot be moved

*2)

Top view

Front-face/side-face operating area

*1)

Fig.2-15 : Operating range diagram: RV-7FLL

The area which P point cannot be moved

*1)

2-34

Outside dimensions ・ Operating range diagram

Side view

(6) RV-13F/20F

Notes

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) The screw should go in to a depth of 9mm to 10mm.

3. *3) Screw hole (M4 depth 8) for securing the user cables/piping.

4. *4) The size of the internal wiring and piping specification model (-SHxx).

2 Robot arm

Rev. A

-SHxx specification

-SHxx specification

-SHxx specification

(The holes are on opposite sides.)

(The holes are on opposite sides.)

Min.

rimer

(Installation surface)

4-φ14 installation hole

depth 8

4-M6 screw depth 10

*2)

depth 10

depth 6

(-SHxx specification)

depth 6.5

depth 8

(-SHxx specification)

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

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.2-16 : Outside dimensions: RV-13F/20F

Outside dimensions ・ Operating range diagram

2-35

2 Robot arm

Notes

Rev. A

1. The following figure shows a robot at the position of:

J1=0

°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

2. *1) Front face operation limit: When the J1 axis angle is +120

° <= J1 or J1 <= -130°, the J2 axis operation is limited to

-90 ° <= J2 <= +130°.

3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

P-point

P-point path (- side)

P-point path (+ side)

(-SHxx specification)

Flange downward limit line

P-point

R-point

(control point)

R-point

(control point)

(-SHxx specification)

Top view

Operating range of each axis:

J6 (-SHxx specification): ±200°

The area which P point cannot be moved

Top view

Front-face/side-face operating area

Side view

Fig.2-17 : Operating range diagram: RV-13F/20F

The area which P point cannot be moved

2-36

Outside dimensions ・ Operating range diagram

(7) RV-13FL

Notes

1. *1) Ensure the cable connection space to connect machine cables.

2. *2) The screw should go in to a depth of 9mm to 10mm.

3. *3) Screw hole (M4 depth 8) for securing the user cables/piping.

4. *4) The size of the internal wiring and piping specification model (-SHxx).

2 Robot arm

Rev. A

-SHxx specification

-SHxx specification

-SHxx specification

(The holes are on opposite sides.)

(The holes are on opposite sides.)

Min.

4-φ14 installation hole rimer

(Installation surface)

depth 8

4-M6 screw depth 10

*2)

depth 10

depth 6

(-SHxx specification)

depth 6.5

depth 8

(-SHxx specification)

View A: Detail of mechanical interface

View B bottom view drawing: Detail of installation dimension

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.2-18 : Outside dimensions: RV-13FL

Outside dimensions ・ Operating range diagram

2-37

2 Robot arm

Notes Rev. *

1. The following figure shows a robot at the position of:

J1=0

°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°

2. *1) Front face operation limit: When the J1 axis angle is +130

° <= J1 or J1 <= -140°, the J2 axis operation is limited to

-90 ° <= J2 <= +130°.

3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping, but it can be released by parameter MELTEXS.

P-point

P-point path (+ side)

P-point path (- side)

Operating range of each axis:

J6 (-SHxx specification): ±200°

Top view

(-SHxx specification)

Flange downward limit line

P-point

R-point

(control point)

R-point

(control point)

(-SHxx specification)

The area which P point cannot be moved

Top view

Front-face/side-face operating area

Side view

Fig.2-19 : Operating range diagram: RV-13FL

2-38

Outside dimensions ・ Operating range diagram

The area which P point cannot be moved

*2)

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.

(1) Standard specification (with no internal wiring and piping)

Hand output signal connector (GR1, GR2)

Note 1)

Mechanical interface

P

R

OP1

OP3

OP2

OP4

GR1

GR2

LAN

<A>

Fore arm

*1) Descriptions of cable connectors

OP1: Connector for option signals

(hand input signals HC1 to HC8)

OP2: Connector for option signals

OP3: Connector for option power supply

(power supply for hand input signals)

OP4: Connector for option power supply

LAN: Connector for Ethernet options

* For details, refer to

Page 46, "2.5.6 Wiring and piping system diagram for hand" .

Base

Fig.2-20 : Wiring and piping for hand

Primary piping pneumatic hose (AIR IN, RETURN)

Upper arm

Pull out the cables/ piping

When using the Hand input cable or the Hand output cable (option), the cables can be pulled out from the underneath of the forearm (shown as <A> in the figure).

When using the Forearm external wiring set or the

Base external wiring set (option), the cables/piping can be pulled out from the underneath of the forearm and the side of the base area. (For the pullout position, refer to

Page 72, "(7) Forearm external wiring set/ Base external wiring set"

.

The shipping special specification model, which the cables/piping equipped into its wrist and pulled out from the mechanical interface, is also available.

The details on the wiring and piping specification can be found on

Page 46, "2.5.6 Wiring and piping system diagram for hand" .

OP1

OP3

OP2

OP4

LAN

}

Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN)

φ8 coupling

(Only for oil mist specification (AIR PURGE) or clean specification (VACUUM))

Tooling

2-39

2 Robot arm

(2) Internal wiring and piping specification (SH01)

Mechanical interface

Note1)

Secondary piping pneumatic hose

(four φ4 hoses)

Fore arm

Hand input signal cable connector (HC)

Note1)

Mechanical interface (Front view)

Hand input cable

(HC)

*3) depth 8 depth 8

screw

*1)

Air hoses

*2)

Installation position of the solenoid valve option

Hand output signal connector

(GR1, GR2)

Primary piping pneumatic hose

(AIR IN, RETURN)

P

R

GR1

GR2

OP1

OP3

OP2

OP4

LAN

Upper arm

Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN) depth 6

}

Cable outlet

*4)

*1) The screws should go in to a depth of 7.5mm to 8mm.

*2) Four air tubes have numbered marking tube. Those lengths from the cable outlet are 300 mm.

*3) Refer to

Fig. 2-27 for pin assignment of the hand input cable (HC).

*4) The hand input cable and two air tubes are fixed on the surface of mechanical interface. And, all cables and hoses are fixed also in the cable outlet section.

Base

* For details, refer to

Page 46, "2.5.6 Wiring and piping system diagram for hand" .

Fig.2-21 : Wiring and piping for hand (SH01)

OP1

OP3

OP2

OP4

LAN

2-40

Tooling

2 Robot arm

(3) Internal wiring and piping specification (SH02)

Hand input signal cable connector (HC)

Mechanical interface

Note1)

Fore arm

Force sensor unit

(E ・ F1)

Vision sensor (LAN)

(Ethernet)

Note1)

Mechanical interface (Front view)

Hand input cable

(HC)

Force sensor unit (E ・ F1) depth 8

screw

*1) depth 8

Vision sensor (LAN)

(Ethernet)

P

R

GR1

GR2

OP1

OP3

OP2

OP4

LAN

Hand output signal connector

(GR1, GR2)

Primary piping pneumatic hose

(AIR IN, RETURN)

Upper arm depth 6

Cable outlet

*2)

*1) The screws should go in to a depth of 7.5mm to 8mm.

*2) The hand input cable and two air tubes are fixed on the surface of mechanical interface. And, all cables and hoses are fixed also in the cable outlet section.

Base

* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand"

.

Fig.2-22 : Wiring and piping for hand (SH02)

Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN)

OP1

OP3

OP2

OP4

LAN

}

RIO

E・F1

LAN

Tooling

2-41

2 Robot arm

(4) Internal wiring and piping specification (SH03)

Mechanical interface

Note1)

Reserved (E ・ F1)

Force sensor unit

(E ・ F2)

Fore arm

Vision sensor (LAN)

(Ethernet)

Note1)

Mechanical interface (Front view)

Reserved

(E ・ F1)

Force sensor unit

(E ・ F2) depth 8

screw

*1) depth 8

Vision sensor (LAN)

(Ethernet)

P

R

GR1

GR2

OP1

OP3

OP2

OP4

LAN

Hand output signal connector

(GR1, GR2)

Primary piping pneumatic hose

(AIR IN, RETURN)

Upper arm depth 6

Cable outlet

*2)

*1) The screws should go in to a depth of 7.5mm to 8mm.

*2) The hand input cable and two air tubes are fixed on the surface of mechanical interface. And, all cables and hoses are fixed also in the cable outlet section.

Base

* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand"

.

Fig.2-23 : Wiring and piping for hand (SH03)

Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN)

OP1

OP3

OP2

OP4

LAN

}

RIO

E・F1

E・F2

LAN

2-42

Tooling

2 Robot arm

(5) Internal wiring and piping specification (SH04)

Mechanical interface

Note1)

Secondary piping pneumatic hose

(two φ4 hoses)

Hand input signal cable connector (HC)

Force sensor unit

(E ・ F2)

Note1)

Mechanical interface (Front view)

Hand input cable

*3)

(HC) depth 8

Fore arm

Force sensor unit

(E ・ F2)

screw depth 8

*1)

Air hoses

*2)

P

R

GR1

GR2

OP1

OP3

OP2

OP4

LAN

Hand output signal connector

(GR1, GR2)

Primary piping pneumatic hose

(AIR IN, RETURN)

Upper arm depth 6

Cable outlet

*4)

*1) The screws should go in to a depth of 7.5mm to 8mm.

*2) Two air tubes have numbered marking tube. Those lengths from the cable outlet are 300 mm.

*3) Refer to Fig. 2-30

for pin assignment of the hand input cable (HC).

*4) The hand input cable and force sensor cable are fixed on the surface of mechanical interface. And, all cables and hoses are fixed also in the cable outlet section.

Base

* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand"

.

Fig.2-24 : Wiring and piping for hand (SH04)

Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN)

OP1

OP3

OP2

OP4

LAN

}

RIO

E・F2

Tooling

2-43

2 Robot arm

(6) Internal wiring and piping specification (SH05)

Mechanical interface

Note1)

Secondary piping pneumatic hose

(two φ4 hoses)

Hand input signal cable connector (HC)

Fore arm

Vision sensor (LAN)

(Ethernet)

Note1)

Mechanical interface (Front view)

Hand input cable

*3)

(HC) depth 8

Vision sensor

(LAN)

screw

*1) depth 8

Air hoses

*2)

P

R

GR1

GR2

OP1

OP3

OP2

OP4

LAN

Hand output signal connector

(GR1, GR2)

Primary piping pneumatic hose

(AIR IN, RETURN)

Upper arm depth 6

Cable outlet

*4)

*1) The screws should go in to a depth of 7.5mm to 8mm.

*2) Two air tubes have numbered marking tube. Those lengths from the cable outlet are 300 mm.

*3) Refer to Fig. 2-31

for pin assignment of the hand input cable (HC).

*4) The hand input cable and force sensor cable are fixed on the surface of mechanical interface. And, all cables and hoses are fixed also in the cable outlet section.

Base

* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand"

.

Fig.2-25 : Wiring and piping for hand (SH05)

Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN)

OP1

OP3

OP2

OP4

LAN

}

RIO

LAN

2-44

Tooling

2 Robot arm

2.5.2 Internal air piping

(1) Standard type

1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the shoulder cover. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air exhaust.

2) The optional solenoid is provided with a maximum of eight couplings for the air hose. The diameter of the couplings are shown below.

1F-VD0*-02 (Sink type)/1F-VD0*E-02 (Source type): φ4

1F-VD0*-03 (Sink type)/1F-VD0*E-03 (Source type): φ6

3) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.

4) Refer to Page 65, "(3) Solenoid valve set"

for details on the electronic valve set (optional).

5) 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 22, "2.2.6 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 23, "2.2.7 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 inside of the forearm. (AWG#24(0.2mm

2

) x 2 cores: 8 cables) The cable terminals have connector bridges for eight hand outputs.The connector names are GR1 and GR2.

To extend the wiring to the outside of the arm, a separate cable (optional "hand output cable 1F-GR35S-

02" ) is required.

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 inside of the forearm.

(AWG#24(0.2mm

2

) for eight points) The cable terminals have connector bridges for eight hand inputs. The connector names are OP1 and OP3.

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, a separate cable (optional "hand input cable "1F-HC35C-

02") is required.

2.5.5 Ethernet cable, option wiring cable

Ethernet cables, eight option signal cables, and four power supply cables internally run from the robot’s base section up to the forearm area.

These cables can be also pulled out from the underneath of the forearm or from the side of the base area by using options. (Options "Forearm external wiring set" and "Base external wiring set".)

Table 2-10 : Ethernet cable specification

Communication speed

Size

Item

Externality of insulator

Specification

100BASE-TX

AWG #26 (0.13mm

2

) x four pair (total eight cores)

Approx. 0.98 mm

Tooling

2-45

2 Robot arm

2.5.6 Wiring and piping system diagram for hand

Shows the wiring and piping configuration for a standard-equipped hand.

(1) Standard specification (with no internal wiring and piping)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

Pull out the cables

Note1)

OP3

OP1

OP2

OP4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

白橙

白緑

白青

白茶

Solenoid

セット

(オプション)

A1

A2

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

B1

B2

B3

B4

A1

A2

A3

A4

<TXRXH>

<TXRXL>

AIR IN

RETURN

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

Note1) The forearm side has the structural which can pull out the hand output cable and the hand input cable (respectively option cable) as standard.

Fig.2-26 : Wiring and piping system diagram for hand and example the solenoid valve installation

2-46

Tooling

2 Robot arm

(2) Internal wiring and piping specification (SH01)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

Note1) The pin assignment of hand input signal connector.

A6

B1

B2

B3

A1

A2

A3

A4

B4

B6

<HC1>

<HC2>

<HC3>

<HC4>

<24V>

<HC5>

<HC6>

<HC7>

<HC8>

<24G(RG)>

Connector

Manufacturer:

Tyco Electronics AMP

Robot arm side:

1-1827864-6

Customer-prepared side:

1-1903130-6

Mechanical interface

1 2 3 4

Air tube (φ4x4)

Note1)

HC

Hand input signals

OP3

OP1

OP2

OP4

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

白緑

白青

白茶

Solenoid

セット

(オプション)

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

A1

A2

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

B1

B2

B3

B4

A1

A2

A3

A4

<TXRXH>

<TXRXL>

AIR IN

RETURN

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

Fig.2-27 : Wiring and piping system diagram for hand and example the solenoid valve installation: SH01

Tooling

2-47

2 Robot arm

(3) Internal wiring and piping specification (SH02)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

Note2) The pin assignment of hand input signal connector.

A1

A2

A3

A4

A6

B1

B2

B3

B4

B6

Connector

<HC1>

<HC2>

<HC3>

<HC4>

<24V>

<HC5>

<HC6>

<HC7>

<HC8>

<24G(RG)>

Manufacturer:

Tyco Electronics AMP

Robot arm side:

1-1827864-6

Customer-prepared side:

1-1903130-6

Mechanical interface

OP3

OP1

OP2

OP4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

白橙

白緑

白青

LAN

Vision-sensor camera. (Ethernet)

E ・ F1

Force sensor

Note1)

HC

Hand input signals

Note2)

Solenoid valve set

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-28 : Wiring and piping system diagram for hand and example the solenoid valve installation: SH02

A1

A2

A3

A4

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

B1

B2

B3

B4

A1

A2

A3

A4

Option (attached):

1F-HA01S-01

RIO

<TXRXH>

<TXRXL>

<+24G(RG)>

<+24V>

Reserved

E ・ F1

Connects with force sensor interface

Note1)

LAN

Connects with the vision-sensor controller

AIR IN

RETURN

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

2-48

Tooling

2 Robot arm

(4) Internal wiring and piping specification (SH03)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

Mechanical interface

OP3

OP1

OP2

OP4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

白橙

白青

白茶

LAN

Vision-sensor camera. (Ethernet)

E ・ F2

Force sensor

Note1)

E ・ F1

Reserved

Solenoid valve set

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-29 : Wiring and piping system diagram for hand and example the solenoid valve installation:SH03

A1

A2

A3

A4

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

B1

B2

B3

B4

A1

A2

A3

A4

Option (attached):

1F-HA01S-01

RIO

<TXRXH>

<TXRXL>

<+24G(RG)>

<+24V>

Reserved

E ・ F1

Reserved

E ・ F2

Connects with force sensor interface

Note1)

LAN

Connects with the vision-sensor controller

AIR IN

RETURN

Tooling

2-49

2 Robot arm

(5) Internal wiring and piping specification (SH04)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

Note2) The pin assignment of hand input signal connector.

A6

B1

B2

B3

A1

A2

A3

A4

B4

B6

Connector

<HC1>

<HC2>

<HC3>

<HC4>

<24V>

<HC5>

<HC6>

<HC7>

<HC8>

<24G(RG)>

Manufacturer:

Tyco Electronics AMP

Robot arm side:

1-1827864-6

Customer-prepared side:

1-1903130-6

Mechanical interface

OP3

OP1

OP2

OP4

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

白橙

白緑

白青

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

A11

A12

A13

A14

B11

B12

B13

B14

A1

A2

A3

A4

A9

A10

B9

B10

B1

B2

B3

B4

A1

A2

A3

A4

Option (attached):

1F-HA01S-01

RIO

<TXRXH>

<TXRXL>

<+24G(RG)>

<+24V>

Reserved

E ・ F2

Connects with force sensor interface

Note1)

AIR IN

1 2

Air tube (φ4x2)

Solenoid

セット

(オプション)

RETURN

E ・ F2

Force sensor

Note1)

HC

Hand input signals

Note2)

Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

Fig.2-30 : Wiring and piping system diagram for hand and example the solenoid valve installation:SH04

2-50

Tooling

2 Robot arm

(6) Internal wiring and piping specification (SH05)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

Note1) The pin assignment of hand input signal connector.

A6

B1

B2

B3

A1

A2

A3

A4

B4

B6

<HC1>

<HC2>

<HC3>

<HC4>

<24V>

<HC5>

<HC6>

<HC7>

<HC8>

<24G(RG)>

Connector

Manufacturer:

Tyco Electronics AMP

Robot arm side:

1-1827864-6

Customer-prepared side:

1-1903130-6

Mechanical interface

OP3

OP1

OP2

OP4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

白橙

白緑

白青

白茶

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

A1

A2

A3

A4

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

B1

B2

B3

B4

A1

A2

A3

A4

Option (attached):

1F-HA01S-01

RIO

<TXRXH>

<TXRXL>

<+24G(RG)>

<+24V>

Reserved

LAN

Connects with vision sensor controller

AIR IN

RETURN

1 2

Air tube (φ4x2)

Solenoid

セット

(オプション)

LAN

Vision-sensor camera.

(Ethernet)

HC

Hand input signals

Note1)

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

Fig.2-31 : Wiring and piping system diagram for hand and example the solenoid valve installation:SH05

Tooling

2-51

2 Robot arm

2.5.7 Electrical specifications of hand input/output

Table 2-11 : Electrical specifications of input circuit

Item Specifications

Type

No. of input points

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

DC input

8

Photo-coupler insulation

24VDC approx. 7mA

DC10.2 to 26.4V (ripple rate within 5%)

8VDC or more/2mA or more

OFF voltage/OFF current

Input resistance

Response time

4VDC or less/1mA or less

Approx. 3.3kΩ

OFF-ON 10ms or less (DC24V)

ON-OFF 10ms or less (DC24V)

<Sink type>

Internal circuit

+24V

+24V

820

3.3K

HCn*

24GND

<Source type>

+24V

3.3K

820

+24V

HCn*

24GND

* HCn = HC1 to HC8

Table 2-12 : Electrical specifications of output circuit

Item Specification

Type

No. of output points

Insulation method

Rated load voltage

Transistor output

8

Photo coupler insulation

DC24V

Rated load voltage range

Max. current load

DC21.6 to 26.4VDC

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

ON-OFF

2ms or less (hardware response time)

2 ms or less (resistance load) (hardware response time)

Protects Protects the over-current (0.9A)

Internal circuit

<Sink type>

+24V(COM)

(Initial power supply)

GRn

*

過電流

保護機能

24GND

<Source type>

過電流

保護機能

+24V

GRn

*

24GND(COM)

* GRn = GR1 to GR8

2-52

Tooling

2 Robot arm

2.5.8 Air supply circuit example for the hand

Fig. 2-32 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. 2-32

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 dam

aged.

(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

To the AIR IN (Robot arm)

(MAX0.54MPa)

Pneumatic source

(Clean)

0.7MPa less

Filter Regurater

Fig.2-32 : Air supply circuit example for the hand

2-53

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.

2-54

Shipping special specifications, options, and maintenance parts

2 Robot arm

(1) Machine cable

■ Order type: ● Fixed type .........1S-02UCBL-1 (2m)

■ Outline

This cable is exchanged for the machine cable that was supplied as standard to shorten the distance between the controller and the robot arm.

■ Configuration

Table 2-13 : Configuration equipment and types

Part name Type

Fixed Set of signal and power cables

Motor signal cable

Motor power cable

1S-02UCBL-01

BKO-FA0741H02

BKO-FA0739H02

Note1) Mass indicates one set.

Note2) A standard machine cable (for fixed type) is not attached.

Qty.

1 set

(1 cable)

(1 cable)

Mass(kg)

Note1)

3.4

-

-

2m

Remarks

Note2)

[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the machine cable that was supplied as standard is not reclaimed.

Shipping special specifications, options, and maintenance parts

2-55

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.

2-56

Options

2 Robot arm

(1) Machine cable extension

■ Order type: ● Fixed type

● Flexed type

1S- □□ CBL-01

1S- □□ LCBL-01 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. This cable is extended to the machine cable attached as standard.

A fixed type and flexible type are available.

The extended method is discriminated as follows.

Fixed type/Flexed type:

・ Adds to 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 2-14 : Configuration equipment and types

Part name

Type

Note1)

Fixed Set of signal and power cables 1S- □□ CBL-01

Motor signal cable

Motor power cable

1S- □□ CBL(S)-01

1S- □□ CBL(P)-01

Flexed Set of signal and power cables 1S- □□ LCBL-01

Motor signal cable

Motor power cable

Nylon clamp

1S- □□ LCBL(S)-01

1S- □□ LCBL(P)-01

NK-14N

Nylon clamp

Silicon rubber

NK-18N

Note1) The numbers in the boxes □□ refer the length.

Note2) Mass indicates one set.

Qty.

Fixed

1 set

(1 cable)

(1 cable)

-

-

-

-

-

-

Flexed

-

-

-

1 set

(1 cable)

(1 cable)

2 pcs.

2 pcs.

4 pcs.

Mass(kg)

Note2)

6.7(5m)

12(10m)

17(15m)

Remarks

5m, 10m, or 15m each

7(5m)

13(10m)

17(15m)

-

-

-

5m, 10m, or 15m each for motor signal cable for motor power cable

■ 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 2-15 .

Table 2-15 : Conditions for the flexed type cables

Item Specifications

Minimum flexed radius

Cableveyor, etc., occupation rate

Maximum movement speed

Guidance of life count

Environmental proof

Cable configuration Motor signal cable

Motor power cable

100R or more

50% or less

2,000mm/s or less

7.5 million times

Oil-proof specification sheath

(for silicon grease, cable sliding lubricant type) IP54

φ6 x 5, φ8.5 x 1 and φ1.7 x 1

φ8.9 x 2 and φ6.5 x 8

[Caution] The guidance of life count may greatly differ according to the usage state (items related to

Table 2-15

and to the amount of silicon grease applied in the cableveyor.

Options

2-57

2 Robot arm

■ Cable configuration

The configuration of the flexible cable is shown in

Table 2-16

. Refer to this table when selecting the cableveyor.

Table 2-16 : Cable configuration (Flexed type)

Item

Motor signal cable

1S- □□ LCBL(S)-01

No. of cores

Finish dimensions

No.of cables used

AWG#24(0.2mm

2

)-4P AWG#24(0.2mm

2

)-7P AWG#18(0.75mm

2

)

Approx. φ6mm

5 cables

Approx. φ8.5mm

1 cable

Approx. φ1.7mm

1 cable

No. in total 7 cables

Note) The square in the cable name indicates the cable length.

Motor power cable

1D- □□ LCBL(P)-01

AWG#17(1.25mm

2

)-4C AWG#19(0.75mm

2

)-4C

Approx. φ8.9mm

2 cable

10 cables

Approx. φ6.5mm

8 cable

2-58

Options

2 Robot arm

(2) J1 axis operating range change

■ Order type RV-4F series: 1F-DH-03

RV-7F series: 1F-DH-04

RV-13F series: 1F-DH-05J1

■ 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

(1) RV-4F series (1F-DH-03)

Table 2-17 : Configuration devices (RV-4F series)

No.

Part name Qty.

<5>

<6>

<7>

<8>

<1>

<2>

<3>

<4>

Stopper plate

Fixing block A

Fixing block B

Fixing block C

Variable stopper block

Screw (M10x20)

Screw (M6x25)

Screw (M6x20)

2

16

2

2

1

1

2

2

Mass (kg)

1.1

Remarks

One piece each for + side/- side

One piece each for + side/- side

+ side

- side

One piece each for + side/- side

Use for mechanical stopper screw A and B

For fixing

For fixing

- (minus) side

<4>

<3>

<1>

<2>

<5>

+ (plus) side

Install each parts to the upper arm lower part with attached screw.

Options

2-59

2 Robot arm

Table 2-18 : Changeable angle (RV-4F series)

Item

+ (plus) side

Variable stopper block angle

Variable stopper block position

Note1)

Mechanical stopper screw A

Note2)

Parameter (MEJAR) setting value

- (minus) side

Variable stopper block angle

Variable stopper block position

Note1)

Mechanical stopper screw B

Note2)

Parameter (MEJAR) setting value

Standard

+240

-

-

-

+240

-240

-

-

-

-240

Changeable angle (combination of + side/- side) (Unit: Degree)

+30

+33

(a)

+30

-30

-33

(d)

-30

Use

Use

+73

+76

(b)

+73

-73

-76

(c)

-73

+103

+106

(a)

+146

+149

(b)

+103

-103

-106

(d)

Disuse

Note3)

+146

-146

-149

(c)

-103

Disuse

Note3)

-146

Note1) Symbol: “(a)” - “(d)” are related with the symbol of Page 62 "Fig. 2-33: Installation image of J1axis operating range change option (RV-4F/7F series)"

.

Note2) In the table, it means that “Disuse” does not install the screw, and “Use” does install the screw.

Note3) Mechanical stopper screw which is either one of the two is always necessary. For this reason, the combination enclosed by the thick line of the square in the table (both of + (plus) side and - (minus) side are 103 or 146) cannot be used.

Example) It cannot be used that set +146 as the plus side and set -103 as the minus side simultaneously. The other combination can be set up.

1) The changeable angle of RV-4F series is shown in Table 2-18 . The changeable angle shown in Table 2-18

indicates the operation range by the software. The limit by the mechanical stopper is positioned three degrees outward from that angle, so take care when designing the layout.

2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition

shown in Table 2-18 .

3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate

"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation of Functions and Operations" for details.

2-60

Options

2 Robot arm

(2) RV-7F series (1F-DH-04)

Table 2-19 : Configuration devices

No.

Part name

<5>

<6>

<7>

<8>

<1>

<2>

<3>

<4>

Stopper plate

Fixing block A

Fixing block B

Fixing block C

Variable stopper block

Screw (M12x25)

Screw (M8x25)

Screw (M8x20)

- (minus) side

<5>

<2>

Qty.

14

4

2

2

1

1

2

2

<4>

Mass (kg)

1.1

Remarks

One piece each for + side/- side

One piece each for + side/- side

+ side

- side

One piece each for + side/- side

Use for mechanical stopper screw A and B

For fixing

For fixing

<3>

<1>

+ (plus) side

Install each parts to the upper arm lower part with attached screw.

Table 2-20 : Changeable angle (RV-7F series)

Item Standard Changeable angle (combination of + side/- side) (Unit: Degree)

+ (plus) side

Variable stopper block angle

Variable stopper block position

Note1)

Mechanical stopper screw A

Note2)

Parameter (MEJAR) setting value

- (minus) side

Variable stopper block angle

Variable stopper block position

Note1)

Mechanical stopper screw B

Note2)

Parameter (MEJAR) setting value

+240

-

-

-

+240

-240

-

-

-

-240

+35

+38

(a)

+35

-35

-38

(d)

Use

Use

+77

+80

(b)

+77

-77

-80

(c)

+99

+102

(a)

+141

+144

(b)

+99

Disuse

Note3)

+141

-99

-102

(d)

-141

-144

(c)

-99

Disuse

Note3)

-141 -35 -77

Note1) Symbol: “(a)” - “(d)” are related with the symbol of Page 62 "Fig. 2-33: Installation image of J1axis oper

ating range change option (RV-4F/7F series)" .

Note2) In the table, it means that “Disuse” does not install the screw, and “Use” does install the screw.

Note3) Mechanical stopper screw which is either one of the two is always necessary. For this reason, the combination enclosed by the thick line of the square in the table (both of + (plus) side and - (minus) side are

99 or 141) cannot be used.

Example) It cannot be used that set +141 as the plus side and set -99 as the minus side simultaneously. The other combination can be set up.

1) The changeable angle of RV-7F series is shown in Table 2-20 . The changeable angle shown in Table 2-

20 indicates the operation range by the software. The limit by the mechanical stopper is positioned

three degrees outward from that angle, so take care when designing the layout.

2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition shown in

Table 2-20 .

Options

2-61

2 Robot arm

3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate

"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explana

tion of Functions and Operations" for details.

(3) Installation image (RV-4F/7F series)

RV-4F/7F series installation image

(Top-view of J1 axis)

(d)

(c)

- (minus) side

<5> The installation position of Variable stopper block

(a) - (d)

Mechanical stopper screw B

+ (plus) side

(b)

Mechanical stopper screw A

(a)

Fig.2-33 : Installation image of J1axis operating range change option (RV-4F/7F series)

[Example] In the RV-7F series, when limiting the +side to +35 degree, and the -side to -141 degree, install as following.

Variable stopper block: Installs in the position of (a), and the position of (c).

Mechanical stopper screw A: Install.

Mechanical stopper screw B: Do not install.

2-62

Options

2 Robot arm

(4) RV-13F series (1F-DH-05J1)

Table 2-21 : Configuration devices

No.

Part name

<1>

<2>

<3>

<4>

<5>

Stopper Block J1

Resin Stopper B

Screw (M12×20)

Screw (M10×40)

Screw (M4×12)

<1>

Stopper Block J1

Qty.

2

2

1

2

4

<2>

Resin Stopper B

Mass (kg)

0.3

Remarks

One piece each for + side/- side

Mechanical Stopper screw

For Stopper Block J1 fixing

For Resin Stopper B fixing

Install each parts to behind the J1 axis of robot arm with attached screw.

Table 2-22 : Changeable angle (RV-13F series)

Item Standard Changeable angle

+ (plus) side

Mechanical Stopper screw position

Note1)

Mechanical Stopper position

Parameter (MEJAR) setting value

+ (minus) side

Mechanical Stopper screw position

Note1)

Mechanical Stopper position

Parameter (MEJAR) setting value

+190

-

+193

+190

-190

-

-193

-190

+30

(A)

+32.5

+30

-30

(D)

-32.5

-30

+120

(B)

+122.5

+120

-120

(C)

-122.5

-120

Note1) Symbol: “(A)” - “(D)” in the Table 2-22 is related with the symbol of

"Fig. 2-34: Installation image of J1axis operating range change option (RV-13F series)" .

1) The changeable angle of RV-13F series is shown in

Table 2-22 . The changeable angle shown in Table 2-

22 indicates the operation range by the software. The limit by the mechanical stopper is positioned

three degrees outward from that angle, so take care when designing the layout.

2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition shown in

Table 2-22 .

3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate

"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explana

tion of Functions and Operations" for details.

Options

2-63

2 Robot arm

Installation image

(Top-view of J1 axis)

Mechanical Stopper screw B

Mechanical Stopper screw A

The installation position of Stopper

Block J1

(Back side)

Mechanical Stopper screw C

Mechanical Stopper screw D

Fig.2-34 : Installation image of J1axis operating range change option (RV-13F series)

[Example] In the RV-13F series, when limiting + side to +32.5 degree and - side to -122.5 degree, install the

Mechanical Stopper screw in the position of (A) and (C).

2-64

Options

2 Robot arm

(3) Solenoid valve set

■ Order type: One set: 1F-VD01-**(Sink type)/1F-VD01E-**(Source type)

Two sets: 1F-VD02-**(Sink type)/1F-VD02E-**(Source type)

Three sets: 1F-VD03-**(Sink type)/1F-VD03E-**(Source type)

Four sets: 1F-VD04-**(Sink type)/1F-VD04E-**(Source type)

Note) "-**" differs by robot arm.

・ RV-4F/7F series and RV-7FLL ..........”-02”

・ RV-13F/13FL and RV-20F ...................”-03”

■ Outline

1F-VD0*-02 1F-VD0*-03

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 electromagnetic set onto the robot, it comes equipped with a manifold, couplings, silencers, among other things.

■ Configuration

Table 2-23 : Configuration equipment

Part name

Type

Note1)

One set

Two

sets

Q'ty

Three sets

Four sets

Mass(kg)

Note2)

Remark

Solenoid valve set (1 set) 1F-VD01-**/

1F-VD01E-**

Solenoid valve set (2 sets) 1F-VD02-**/

1F-VD02E-**

Solenoid valve set (3 sets) 1F-VD03-**/

1F-VD03E-**

Solenoid valve set (4 sets) 1F-VD04-**/

1F-VD04E-**

1 pc.

1 pc.

1 pc.

1 pc.

0.3

0.4

0.4

0.5

Hand output cable is already connected.

Refer to Page 69, "(5) Hand output cable" .

1F-VD0*-01: Sink type

1F-VD0*E-01: Source type.

Coupling size of A/B-port (output side of sole

noid valve)

・ 1F-VD0*-02/1F-VD0*E-02 : Φ4

・ 1F-VD0*-03/1F-VD0*E-03 : Φ6

Note1) "-**" differs by robot arm. (Refer to " ■ Order type"above)

Note2) Mass indicates one set.

■ Specifications

Table 2-24 : Valve specifications

Item

Number of positions

Port

Valve function

Operating fluid

Operating method

Effective sectional area (CV value)

Oiling

Operating pressure range

Response time

Max. operating frequency

Ambient temperature

Specifications

2

5

Note1)

Double solenoid

Clean air

Note2)

Internal pilot method

1.1mm

2

(0.06)

Unnecessary

0.1 to 0.7MPa

22msec or less (at 0.5 MPa)

5Hz

-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)

CAUTION

The air to be provided must be clean, i.e., filtered with a mist separator or air filter. Failing to do so may lead to malfunctions.

Table 2-25 : Solenoid specifications

Item Specifications

Method

Coil rated voltage

Built-in fly-wheel diodes with surge protection

DC24V ±10%

Power consumption 0.55W

Voltage protection circuit with power surge protection Diode

Options

2-65

2 Robot arm

74.5

60

<6>

3.5

40 13.2

21 11.5

GR1

GR2

4-

φ

4.5

<2>

B

A

8

7

6

5

4

3

2

1

<7><8>

<1>

<3>

<4>

<5>

<Sink type>

Connector name

<GR1>

+24V (COM) A1

White

Reserve

A2

GR1

GR2

A3

A4

GR3

GR4

Reserve

Reserve

B1

B2

B3

B4

+24V (COM)

Reserve

GR5

GR6

<GR2>

A1

A2

A3

A4

White

GR7

GR8

Reserve

Reserve

B1

B2

B3

B4

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Part no.

<5>

<6>

<7>

<8>

<9>

<1>

<2>

<3>

<4>

Part name

Solenoid valve

Manifold block

Quick coupling

Housing

Quick coupling

Plug

Connector

Contact

Installation screw

10

41.5

6.8

SOL1A

<Source type>

Connector name

<GR1>

24V (RG) A1

White

Reserve

A2

GR1

GR2

A3

A4

SOL1B

SOL2A

SOL2B

SOL3A

GR3

GR4

Reserve

Reserve

B1

B2

B3

B4

24V (RG)

Reserve

GR5

GR6

<GR2>

A1

A2

A3

A4

White

SOL3B

SOL4A

GR7

GR8

Reserve

Reserve

B1

B2

B3

B4

SOL4B

<9>

1 sets

1

3

2

4

4

8

1

1

1

2 sets

1

5

2

4

4

8

1

2

1

3 sets

2

8

2

4

4

8

1

3

1

Fig.2-35 : Outline dimensional drawing (

1F-VD0*-02/1F-VD0*E-02

)

Red

Black

Red

Black

Red

Black

Red

Black

SOL1A

SOL1B

SOL2A

SOL2B

Red

Black

Red

Black

Red

Black

Red

Black

SOL3A

SOL3B

SOL4A

SOL4B

4 sets

2

4

2

10

4

8

1

4

1

Specifications

φ4

φ6

1-1318115-4

1318112-1

M4×12

2-66

Options

2 Robot arm

4-

φ

4.8

106.5

95 5

<3>

53.4

28.8

<9>

37.6

<10>

<11>

GR1

GR2

<5>

<6><7>

<2>

<1>

<4>

<Sink type>

Connector name

<GR1>

+24V (COM) A1

White

Reserve

A2

GR1

GR2

A3

A4

GR3

GR4

Reserve

Reserve

B1

B2

B3

B4

+24V (COM)

Reserve

GR5

GR6

<GR2>

A1

A2

A3

A4

White

GR7

GR8

Reserve

Reserve

B1

B2

B3

B4

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

63

15

27

<8>

SOL1A

<Source type>

Connector name

<GR1>

24V (RG) A1

White

Reserve

A2

GR1

GR2

A3

A4

SOL1B

SOL2A

SOL2B

SOL3A

GR3

GR4

Reserve

Reserve

B1

B2

B3

B4

24V (RG)

Reserve

GR5

GR6

<GR2>

A1

A2

A3

A4

White

SOL3B

SOL4A

GR7

GR8

Reserve

Reserve

B1

B2

B3

B4

SOL4B

Part no.

<5>

<6>

<7>

<8>

<1>

<2>

<3>

<4>

<9>

<10>

<11>

Part name

Solenoid valve

Manifold block

Quick coupling

Plate

Quick coupling

Connector

Contact

Installation screw

Extra low head cap screw

Sealing washer

Jam nut

1 sets

3

4

2

1

8

1

1

1

4

4

4

Fig.2-36 : Outline dimensional drawing (

1F-VD0*-03/1F-VD0*E-03

)

2 sets

5

4

2

1

8

1

2

1

4

4

4

3 sets

8

4

2

2

8

1

3

1

4

4

4

Red

Black

Red

Black

Red

Black

Red

Black

SOL1A

SOL1B

SOL2A

SOL2B

Red

Black

Red

Black

Red

Black

Red

Black

SOL3A

SOL3B

SOL4A

SOL4B

4 sets

10

4

2

2

8

1

4

1

4

4

4

Specifications

φ6

φ6

1-1318115-4

1318112-1

M4x12

M8x12

M8

Options

2-67

2 Robot arm

(4) Hand input cable

■ Order type: 1F-HC35S-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.

■ Configuration

Table 2-26 : Configuration equipment

Part name Type

Hand input cable 1F-HC35S-02

Note1) Mass indicates one set.

Qty.

1 cable

Mass (kg)

Note1)

0.2

Remarks

■ Specifications

Table 2-27 : Specifications

Item

Size x cable core

Total length

Specifications

AWG#24 (0.2 mm

2

)×10 cores

1,000 mm

Remarks

One-sided connector, one-sided cable bridging

Pin assign of the hand input cable is shown in Table 2-28 .

Table 2-28 : Pin assign of hand input cable

Color

Connector

Note1)

Pin number: names

Purple

Brown

Blue

Black

Red

White

Gray

Pink

OP1

A1: HC1

A2: HC2

A3: HC3

A4: HC4

B1: HC5

B2: HC6

B3: HC7

B4: HC8

Color

Yellow

Green

-

-

Connector

Note1)

OP3

Note1) The connector shows the connector name connected to the robot-arm side.

Pin number: names

A1: +24V

A2: +24G (RG)

Reserved

Reserved

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

2-68

Options

2 Robot arm

(5) Hand output cable

■ Order type: 1F-GR35S-02

■ 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.

■ Configuration

Table 2-29 : Configuration equipment

Part name

Hand output cable

Type

1F-GR35S-02

Note1) Mass indicates one set.

Qty.

1 cable

Mass (kg)

Note1)

0.1

■ Specifications

Table 2-30 : Specifications

Item

Size x Cable core

Total length

Specifications

AWG#24(0.2 mm

2

) x 10 cores

500 mm

Remarks

Remarks

One side connector and one side cable connection

Pin assign of the hand output cable is shown in

Table 2-31

.

Table 2-31 : Pin assign of hand output cable

Color Connector Pin number: names

Yellow

-

Purple

Brown

Blue

Black

-

-

GR1

A1: +24V

A2: Reserved

A3: GR1 (Hand output 1)

A4: GR2 (Hand output 2)

B1: GR3 (Hand output 3)

B2: GR4 (Hand output 4)

B3: Reserved

B4: Reserved

Color

Green

-

Red

White

Gray

Pink

-

-

Connector

GR2

Pin number: names

A1: +24V

A2: Reserved

A3: GR5 (Hand output 5)

A4: GR6 (Hand output 6)

B1: GR7 (Hand output 7)

B2: GR8 (Hand output 8)

B3: Reserved

B4: Reserved

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Options

2-69

2 Robot arm

(6) Hand curl tube

■ Order type: RV-4F/7F series, RV-7FLL ........... One set: 1E-ST0402C

Two sets: 1E-ST0404C

Three sets: 1E-ST0406C

Four sets: 1E-ST0408C

RV-13F/13FL/20F............................. One set: 1N-ST0602C

Two sets: 1N-ST0604C

Three sets: 1N-ST0606C

Four sets: 1N-ST0608C

■ Outline

The hand curl tube is a curl tube for the pneumatic hand.

■ Configuration

Table 2-32 : Configuration equipment

Part name

For RV-4F/7F series, RV-7FLL

Hans curl tube (One set: 2 pcs.)

Hans curl tube (Two sets: 4 pcs.)

Hans curl tube (Three sets: 6 pcs.)

Hans curl tube (Four sets: 8 pcs.)

For RV-13F/13FL/20F

Hans curl tube (One set: 2 pcs.)

Hans curl tube (Two sets: 4 pcs.)

Hans curl tube (Three sets: 6 pcs.)

Hans curl tube (Four sets: 8 pcs.)

Note1) Mass indicates one set.

Type

1E-ST0402C

1E-ST0404C

1E-ST0406C

1E-ST0408C

1N-ST0602C

1N-ST0604C

1N-ST0606C

1N-ST0608C

Qty.

1 pc.

1 pc.

1 pc.

1 pc.

1 pc.

1 pc.

1 pc.

1 pc.

Mass(kg)

Note1)

■ Specifications

Table 2-33 : Specifications

Item

Material

Size

Specifications

Urethane

1E-ST040*C : Outside diameterφ4× Inside diameterφ2.5

1N-ST060*C : Outside diameterφ6× Inside diameterφ4

0.1

0.1

0.1

0.1

0.1

0.1

0.1

0.1

Remarks

φ4 tube, 2pcs.

φ4 tube, 4pcs.

φ4 tube, 6pcs.

φ4 tube, 8pcs.

φ6 tube, 2pcs.

φ6 tube, 4pcs.

φ6 tube, 6pcs.

φ6 tube, 8pcs.

2-70

Options

2 Robot arm

RV-4F/7F series, RV-7FLL: 1E-ST040*C (φ4)

250

180

200

RV-13F/13FL/20F: 1N-ST060*C (φ6)

250

600

300

Fig.2-37 : Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Options

2-71

2 Robot arm

(7) Forearm external wiring set/ Base external wiring set

■ Order type

Forearm external wiring set:

1F-HB01S-01 (Hand input signals, force sensor and vision sensor)

1F-HB02S-01 (Force sensor and vision-sensor)

Base external wiring set:

1F-HA01S-01 (Force sensor and vision-sensor)

1F-HA02S-01 (Force sensor and vision-sensor)

Note) In the Internal wiring and piping specification, the corresponding base external wiring set is attached.

■ Outline

The Forearm external wiring set and the Base external wiring set are used to pull out the hand input signal cables and communication cables etc. from the underneath of the forearm and the side of the base.

This option consists of the cable clamp box and the cable for hand input signals or the cable for communication.

*The figure is an example.

Forearm

Option attachment positions

Base

(Opposite side)

1) Hand input cable

The hand input cable of the option (equivalent of 1F-HC35C-02) is installed.

Connect to the connectors OP1 and OP3 of the hand input cable, which is built into the forearm. Connect the user connection side of pulled-out cable to the tools etc, and input the signals.

2) Communication cable

Pulls out the cable which attached the connector for connecting with vision sensor etc.

The pulled out cables from the underneath of the forearm are connected with a vision sensor camera, or a force sensor. The pulled out cables from the side of the base are connected with a vision sensor controller, or a force sensor interface. (To connect to a force sensor, use the adaptor cable that is supplied in the force sensor option.)

■ Configuration

Table 2-34 : Configuration equipment

Part name Type Qty.

Remarks

Forearm external wiring set

Base external wiring set

1F-HB01S-01

1F-HB02S-01

1F-HA01S-01

1F-HA02S-01

Either one pc.

Either one pc.

■ Specification

The kind of cable which can be pulled out for each option is shown in Table 2-35

. Because to pull out the cable of the same purpose also as the forearm side and the base side, you should use the option in pair shown in "the pairing (recommendation)" of the table. And, each wiring system figure is shown after the following page.

Table 2-35 : Internal wiring and piping specification types

Pairing

(recommendation)

1

2

Option type

1F-HB01S-01 (Forearm)

1F-HA01S-01 (Base)

1F-HB02S-01 (Forearm)

1F-HA02S-01 (Base)

Cable length

(mm)

Note1)

1,000

500

1,000

500

Wiring (cable for the connection to each equipment)

Hand input signal

Note2) eight points

Not available

Not available

Not available

Vision sensor camera

1

1

1

1

Force sensor unit

Either one unit

Either one unit

1

1

Note1) The length from the cable clamp box to the connector.

Note2) Although the connector is attached to the customer wiring side of hand input cable, the connector can be cut, and con

-

nect to the tool of the customer preparation. The color and signal name of the wire are shown in Table 2-36 .

Table 2-36 : Color of the wire and signal name (hand input cable)

Color

Signal name

Connector

(HC)

Color

Signal name

Connector

(HC)

Color

Signal name

Connector

(HC)

Color

Signal name

Connector

(HC)

Violet

Red

Yellow

HC1

HC5

+24V

A1

B1

A6

Brown

White

HC2

HC6

Green +24G(RG)

A2

B2

B6

Blue

Gray

HC3

HC7

A3

B3

-

Black

Pink

HC4

HC8

A4

B4

2-72

Options

2 Robot arm

1) Wiring system diagram

(1F-H*01S-01: Hand input signals, force sensor and vision sensor)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

GR2

A1

A2

A3

A4

B1

B2

B3

B4

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

Black

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

Option

(Base):

1F-HA01S-01

Option

(Forearm):

1F-HB01S-01

Cable clamp

LAN

Vision-sensor camera.

(Ethernet)

E ・ F1

Force sensor

Note 1)

HC

Hand input signal

OP3

OP1

OP2

A1

A2

A3

A4

B1

B2

B3

B4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

OP4

LAN

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

B1

B2

白橙

白緑

白青

白茶

茶 valve set

(Option)

(オプション)

A1

A2

A3

A4

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

A1

A2

A3

A4

B1

B2

B3

B4

<TXRXH>

<TXRXL>

<+24(RG)>

<+24V>

AIR IN

RETURN

RIO

Reserved

E ・ F1

Connects with the force sensor interface

Note 1)

LAN

Connects with the vision-sensor controller

VACCUM : Clean specification

クリーン仕様(吸引)

Note 1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-38 : Wiring system diagram (1F-H*01S-01)

Options

2-73

2 Robot arm

2)Wiring system diagram

( 1F-H*02S-01: Force sensor and vision-sensor)

Hand output signal

Connect to the optional solenoid valve set directly

  or

Connect with customer's tool drive equipment (solenoid valve, etc), by the optional hand output cable.

GR1

A1

A2

A3

A4

B1

B2

B3

B4

<+24V(COM)>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

GR2

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

<+24V>

<+24G(RG)>

<HC 1>

  :

  :

<HC 8>

<TXRXH>

<TXRXL>

Option

(Base):

1F-HA02S-01

Option

(Fore arm):

1F-HB02S-01

Cable clamp

LAN

Vision-sensor camera.

(Ethernet)

E ・ F2

Force sensor

Note 1)

E ・ F1

Reserved

OP3

OP1

OP2

OP4

LAN

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

B1

B2

B1

B2

B3

B4

A1

A2

A3

A4

B1

B2

B3

B4

A1

A2

A3

A4

A1

A2

B1

B2

<+24V>

<+24G(RG)>

<+24V>

<+24G(RG)>

<HC1>

<HC2>

<HC3>

<HC4>

<HC5>

<HC6>

<HC7>

<HC8>

白橙

白緑

白青

白茶

Solenoid valve set

A1

A2

A3

A4

A9

A10

B9

B10

A11

A12

A13

A14

B11

B12

B13

B14

A15

A16

A17

A18

B15

B16

B17

B18

A19

A20

B19

B20

B1

B2

B3

B4

A1

A2

A3

A4

<TXRXH>

<TXRXL>

<+24(RG)>

<+24V>

AIR IN

RETURN

RIO

Reserved

E ・ F1

Reserved

E ・ F2

Connects with the force sensor interface

Note 1)

LAN

Connects with the vision-sensor controller

VACCUM : Clean specification

AIR PURGE: Oil-mist specification

のみ

Note 1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.

Fig.2-39 : Wiring system diagram (1F-H*02S-01)

2-74

Options

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 speci

fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin

ued 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. 2-40

.) For specific information about parts to be replaced and timing of overhaul, contact your local service representative.

If overhaul is not performed

Shipment

Predetermined time period

Periodic inspection

Over

haul

If overhaul is performed

Servo-on time

Fig.2-40 : Periodic inspection/overhaul periods

About Overhaul

2-75

2 Robot arm

2.9 Maintenance parts

The consumable parts used in the robot arm are shown in

Table 2-37

. 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 2-37 : Consumable part list

No.

Part name Type

Note1)

Usage place Qty.

Supplier

1

2

Grease

Lithium battery ER6

Reduction gears of each axis

Inside the CONBOX cover

As needed

3 pcs.

Mitsubishi Electric

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

2-76

Maintenance parts

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 81 "Fig. 3-2"

(Names of each part),

Page

83 "Fig. 3-4"

and Page 84 "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

Type

Number of control axis

Memory capacity

Programmed positions

No. of steps

Number of program

Robot language

Teaching method

External input and output

Input and output

Dedicated input/output

Hand open/close input/output

Emergency stop input

Door switch input

Enabling device input

Interface

Emergency stop output

Mode output

Robot error output

Addition axis synchronization

RS-422

Ethernet

Power source

Additional axis interface

Input voltage range

Power capacity

Power supply frequency

Outline dimensions

Note4)

Mass

Construction

Operating temperature range

Ambient humidity

Grounding

Paint color point point point point point point point point port port point step point

Channel

V kVA

Hz mm kg

%RH

Ω

Specification Remarks

CR750- □ VQ-1

CR750-07VLQ-1

" □ "in type name shows the load

(04, 07, 13 or 20) of robot arm.

CR750-07VLQ-1 controller is only for

RV-7FLL.

Simultaneously 6

13,000

26,000

256

MELFA-BASIC V

Pose teaching method, MDI method

Note1)

0/0

Assign to the multi-CPU shared device.

Multi-CPU shared device

Input 8192/Output 8192 (Max.)

8/8

1

Built-in

Dual line

1

1

1

1

Dual line

Dual line

Dual line

Dual line

1

1

1

1

1

Dual line

Dual line

Only for T/B

10BASE-T/100BASE-Tx

SSCNET III (Connects with MR-J3-

BS, MR-J4-B series)

RV-4F series:

Single phase AC180 to 253

RV-7F/13F series

Note2)

:

Three phase AC180 to 253, or

Single phase AC207 to 253

RV-4F series

RV-7F series

RV-13F series

: 1.0

: 2.0

: 3.0

50/60

430(W) x 425(D) x 174(H)

Approx. 18

Self-contained floor type, Opened type.

Installation vertically or horizontally

0 to 40

45 to 85

100 or less

Dark gray

Does not include rush current

Excluding protrusions

IP20

Note5)

Without dew drops

Note3)

100Ωor less (class D grounding)

Note6)

Equivalent to Munsell: 3.5PB3.2/0.8

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.

Standard specifications

3-77

3Controller

Note2) Both the three phase power supply and the single phase power supply can use this product according to voltage condi

tions.

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 volt

age. 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 82, "3.4 Outside dimensions/Installation dimensions" for details.

Note5) This controller is standard specification. (Refer to

Page 78, "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

Type

Interface Addition axis synchronization

Power source Power capacity (DC5V)

Outline dimension

Mass

Operating temperature range

Ambient humidity

Unit port

A mm kg

%RH

Specification

Q172DRCPU

1

1.25

98(W) x 27.4(D) x 119.3(H)

0.33

0 to 55

5 to 95

Remarks

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 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 133, "6.2 Working environment" for details on the working environment.

3-78

Protection specifications and operating supply

3.3 Names of each part

Drive unit (Front side)

<15> <16> <17> <3>

<18>

3 Controller

<6>

Drive unit (Rear side)

<4> <5>

<20>

Fan, Air suction

<7> <8> <9>

<10>

Attached cover

<19>

Exhaust downward

(Bottom)

<2> <1>

<1>: ACIN terminal

RV-4F series: Single phase

<11> <12> <13>

<14>

RV-7F/13F series: Single phase/Three phase

L1

L2: no-CE specifications

N: CE specifications

L1 L2 L3

<21>

<20>: The operation panel

<22>

<23>

Fig.3-1 : Names of drive unit parts (CR750)

<24> <25> <26> <27> <28> <29>

Names of each part

3-79

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 RV-4F series, connect the primary power supply to

L1 and L2 terminal.

When using the RV-7F/13F 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.

3-80

Names of each part

3 Controller

3.3.1 Names of each part of the robot CPU

Q172DRCPU

0

1 8

STOP

0

SW

8

RUN

2

CAUTION

EMI

⑥ ⑭

FRONT

BAT

MPG

ACFAIL

RIO

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.

Names of each part

3-81

3 Controller

3.4 Outside dimensions/Installation dimensions

3.4.1 Outside dimensions

Fig.3-3 : Outside dimensions of drive unit (CR750)

3-82

Outside dimensions/Installation dimensions

(1) Outside dimensions of robot CPU unit

3 Controller

Fig.3-4 : Outside dimensions of robot CPU

* The outside dimensions of connected battery is shown in Fig. 3-5 .

Outside dimensions/Installation dimensions

3-83

3 Controller

(2) Battery unit outside dimension

2-Φ5.5 hole

Fig.3-5 : Outside dimensions of battery unit

3-84

Outside dimensions/Installation dimensions

3.4.2 Installation dimensions

<Placed horizontally>

145mm

145mm

250mm 以 上

3 Controller

<Placed vertically>

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.

Outside dimensions/Installation dimensions

3-85

3 Controller

hole

hole

hole

(Controller fixation hole)

Fig.3-7 : Metal plate for fixation to placing vertically (Reference for CR750)

3-86

Outside dimensions/Installation dimensions

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

盤の天井、配線ダクト部分の位置

MELSEC

Q61P

PULL

POWER

Q03DCPU

RUN

ERR.

USER

BAT.

BOOT

Q 172D RCPU

0

1

STOP

0

RUN

2

SW

CAUTION

E M I

QX40

0 1 2 3 4 5 6 7

8 9 A B C D E F

QX40

0 1 2 3 4 5 6 7

8 9 A B C D E F

Q172DEX

SY.ENC

TREN

SY.ENC1

Q173DPX

PLS.A

PLS.B

2

3

PULSER

PULL

USB

RS-232

FR O N T

BA T

M PG

AC FAIL

RIO

Q172DEX Q173DPX

Q312DB

Fig.3-8 : Installation of robot CPU Unit

Outside dimensions/Installation dimensions

3-87

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 92, "3.7 Emergency stop input and output etc."

and on Page

126, "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).

3-88

External input/output

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 indi

cated 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

TEACHMD

ATTOPMD

ATEXTMD

RCREADY

Name

Input

None

None

None

None

Function

Note1)

Output

Level

L

Name

Teaching mode out

put signal

Automatic mode out

put signal

Remote mode output signal

Controller power ON complete signal

Automatic operation enabled output signal

Function

Outputs that the teaching mode is entered.

Outputs that the automatic mode is entered.

Outputs that the remote mode is entered.

Outputs that external input signals can be received.

Outputs the automatic operation enabled state.

AUTOENA Automatic opera

tion enabled input signal

START Start input signal

Allows automatic operation.

Starts all slots.

STOP

STOP2

Stop input signal

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.

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.

SLOTINIT Program reset input signal

Resets the wait state.

Resets the error state.

ERRRESET Error reset input signal

CYCLE Cycle stop input signal

Carries out cycle stop.

SRVOFF

SRVON

Servo ON enabled input signal

Servo ON input signal

Turns the servo OFF for all mech

anisms.

Turns the servo ON for all mecha

nisms.

IOENA

MELOCK

Operation rights input signal

Machine lock input signal

SAFEPOS Evasion point return input signal

OUTRESET General-purpose output signal reset

EMGERR

Requests the operation rights for the external signal control.

Sets/resets the machine lock state for all mechanisms.

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

S1START

:

S32START

Start input Starts each slot.

L

E

Operating output sig

nal

Wait output signal

Outputs that the slot is operating.

Outputs that the slot is temporarily stopped.

L

Wait output signal Outputs that the slot is temporarily stopped.

Notes) Specification is the same as the

STOP parameter.

E

E

E

L

E

L

E

E

E

E

Program selection enabled output signal

Error occurring out

put signal

In cycle stop opera

tion output signal

Servo ON enabled output signal

In servo ON output signal

Operation rights out

put signal

In machine lock out

put signal

In evasion point return output signal

Outputs that the slot is in the program selection enabled state.

Outputs that an error has occurred.

Outputs that the cycle stop is operat

ing.

Outputs servo-on disable status.

(Echo back)

Outputs the servo ON state.

Outputs the operation rights valid state for the external signal control.

Outputs the machine lock state.

Outputs that the evasion point return is taking place.

None

Emergency stop out

put signal

Outputs that an emergency stop has occurred.

In operation output

Outputs the operating state for each slot.

Dedicated input/output

3-89

3 Controller

Parameter name

Input

Name Function

S1STOP

:

S32STOP

PRGSEL

Stop input Stops each slot.

OVRDSEL

IODATA

Note2)

PRGOUT

Program selection input signal

Override selection input signal

Designates the setting value for the program No. with numeric value input signals.

Designates the setting value for the override with the numeric value input signals.

Numeric value input

(start No., end No.)

Used to designate the program name, override value., mechanism value.

Program No. out

put request

Requests output of the program name.

Note1)

Level

L

E

E

L

E

LINEOUT Line No. output request

OVRDOUT Override value out

put request

Requests output of the line No.

Requests the override output.

ERROUT

JOGENA

JOGM

JOG+

JOG-

Error No. output request

Jog valid input sig

nal

Jog mode input 2bit

Jog feed + side for

8-axes

Jog feed - side for

8-axes

Requests the error No. output.

Validates jog operation with the external signals

Designates the jog mode.

Requests the + side jog operation.

Requests the - side jog operation.

E

E

E

E

L

L

L

Name

In wait output

Output

Outputs that each slot is temporarily stopped.

None

None

None

None

Function

Numeric value output

(start No., end No.)

Used to output the program name, override value., mechanism No.

Program No. output signal

Line No. output signal

Override value out put signal

-

Error No. output sig nal

Jog valid output sig nal

Jog mode output 2bit

-

-

Outputs that the program name is being output to the numeric value out

put signal.

Outputs that the line No. is being out

put to the numeric value output signal.

Outputs that the override value is being output to the numeric value output sig

nal.

Outputs that the error No. is being out

put to the numeric value output signal.

Outputs that the jog operation with external signals is valid.

Outputs the current jog mode.

HNDCNTL1

:

HNDCNTL3

HNDSTS1

:

HNDSTS3

None

None

Mechanism 1 hand output signal status

:

Mechanism 3 hand output signal status

Mechanism 1 hand input signal status

:

Mechanism 3 hand input 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: 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.

HNDERR1

:

HNDERR3

Mechanism 1 hand error input signal

:

Mechanism 3 hand error input signal

Requests the hand error occur

rence.

L

Mechanism 1 hand error output signal

:

Mechanism 3 hand error output signal

Outputs that a hand error is occurring.

3-90

Dedicated input/output

3 Controller

Parameter name

AIRERR1

:

AIRERR3

M1PTEXC

Input

Name Function

Pneumatic pressure error 1 input signal

:

Pneumatic pressure error 3 input signal

Request the pneumatic pressure error occurrence.

None

:

M3PTEXC

USERAREA

Note3)

None

Note1)

Level

L

L

Name

Pneumatic pressure error 1 output signal.

:

Pneumatic pressure error 3 output signal.

Maintenance parts replacement time warning signal

Output

Function

Outputs that a pneumatic pressure error is occurring.

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.

Dedicated input/output

3-91

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 Name Function

Input

Input

Input

Input

Emergency stop

Special stop input

Door switch

Enabling device

Output Robot error output

Output Emergency stop output

Output Mode output

Output Magnet contactor control connector output for addi

tion axes

Applies the emergency stop. Dual emergency line

Applies the stop. (Refer to Page 97, "3.7.2 Special stop input (SKIP)" )

Servo-off. Dual line, normal close ( Page 98, "3.7.3 Door switch function"

)

Servo-off. Dual line, normal close ( Page 98, "3.7.4 Enabling device function"

)

Contactor is opening during error occurrence.

The point of contact opens under occurrence of emergency stop of external input signal, emergency stop of OP, emergency stop of T/B.

MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized

with the robot arm. ( Page 103, "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 126, "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 environ

ment 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.

3-92

Emergency stop input and output etc.

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 (syn

chronizes). 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).

フェライトコア

2回通し

Fig.3-9 : Emergency stop cable connection (CR750)

Emergency stop input and output etc.

3-93

3 Controller

CNUSR11

11

12

13

14

CNUSR12

11

12

13

14

CNUSR2

16

41

17

内部回路構成

OP -

非常停止

TB

非常停止

gency stop

Emergency stop output

+24V

RA

Relay

CNUSR11

1

2

3

4

5

6

*1)

*1)

24GND

+24V

RA

Relay

+24V

24GND

RA

Relay

24GND

+24V

7

8

9

10

Enabling device input

RA

Relay

CNUSR12

1

2

3

4

5

6

*1)

*1)

24GND +24V

RA

Relay

+24V

24GND

RA

Relay

24GND

7

8

9

10

Enabling device input

Please refer to the example of safety measures of "Standard Specifications Manual".

*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 126, "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.

3-94

Emergency stop input and output etc.

<CR750 drive unit>

CNUSR11/12 connector

3 Controller

CNUSR11

CNUSR12

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

Cable insert point

16

7mm

1

View A

Connecting cable

(AWG #26 ~ 16(0.14mm ~ 1.5mm

2

))

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 1.5mm

2

) 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 con

nector.

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 cor

respond 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.

Emergency stop input and output etc. 3-95

3 Controller

<CR750 drive unit>

CNUSR2 connector

Cover fixing screw (Two places)

Connector cover

CNUSR2

Plug

25

View A

Pin number of plug

1

Remove the connector cover

Connector for user wiring

50

Soldering

26

A

3mm

Connecting cable

(AWG #30 ~ 24(0.05mm

2

~ 0.2mm

2

))

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

0.2mm

2

).

1) Loosen the two fixing screws on the user wiring connector that accompanies the product, and remove the con

nector 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.

3-96

Emergency stop input and output etc.

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

No. of input point

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

OFF voltage/OFF current

Input resistance

Response time

OFF → ON

ON → OFF

Common method

External wire connection method

DC input

1

Photo-coupler insulation

DC24V

Approx. 11mA

DC 21.6 ~ 26.4V

(Ripple rate within 5%)

DC 8V or more / 2mA or more

DC 4V or less / 1mA or less

Approx. 2.2 k Ω

1ms or less

1ms or less

1 point per common

Connector

Internal circuit

330

2.2k

+24V(COM)

フェライトコア

Pass twice

* Connects with CNUSR2 connector with soldering.

Refer to Page 96 "Fig. 3-12: Method of wiring for external emergency stop connection (CR750 (CNUSR2))"

.

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con

troller 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)

Emergency stop input and output etc. 3-97

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 94 "Fig. 3-10: External emergency stop connection (CR750)"

and Page 126, "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!!

(Op.) (Ext.)

Open

Robot arm

(Example)

Turns OFF the servo

② Teaching

Safeguard

AUTO

MANUAL

AUTO

AUTOMATIC

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)

3-98

Emergency stop input and output etc.

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

2

3

4

Operation

1 Jog operation

Jog operation

Note2)

Brake release

Note3)

Automatic operation

Mode of controller

Manual

Manual

Manual

Automatic

T/B enable/ disable

Enable

Enable

Enable

Disable

T/B enable switch

ON

ON

ON

Enabling device input terminal

Door switch input terminal

Close(ON)

Open(OFF)

Close(ON)

Description

Close

(Door Close)

Close

(Door Close)

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

Open (Off), door switch input must be in a state of Close

Irrespective of the state of door switch input, enabling device input must be in a state of Close (On).

Door switch input must always be in a 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 79, "3.3 Names of each part"

・ T/B enable/disable:

......................................................................................Page 105, "(1) Teaching pendant (T/B)"

・ T/B enable switch:

.......................................................................................Page 105, "(1) Teaching pendant (T/B)"

・ Enabling device input terminal:

................................................. Page 126, "6.1.7 Examples of safety measures"

・ Door switch input terminal:

........................................................ Page 126, "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 bar

rier.

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 mat

ter.

T/B being manipulated

CAUTION

Door in

Open state

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.

Enabling device being manipulated

Fig.3-15 : Brake release operation

Emergency stop input and output etc. 3-99

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 CN2(Robot CPU)

Note1)

Details

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.

(Q172DRCPU)

Q172DRCPU

0 0

1 8

8

STOP RUN

2

CAUTION

EMI

SW

To CN1A

FRONT

BAT

MPG

ACFAIL

RIO

To CN2 connector

Fig.3-16 : Example of addition axis connection (CR750)

3-100

Additional Axis Function

To CN1B

To CN1A connector

To CN1B

(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)

3 Controller

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

Additional Axis Function 3-101

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

3-102

Additional Axis Function

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 of short circuit breaker (NV) built in the addition axis amplifier box.

2) Get the power supply for the MC synchronization from the sec

ondary terminal of short circuit breaker (NV) built in the drive unit.

NV

MC MC1 MC2

88

DC24V

NV

To the internal circuit

AXMC11

AXMC12

AXMC21

AXMC22

<走行軸(付加軸)アンプボックス>

AXMC11

AXMC12

AXMC21

AXMC22

コネクタ ピン番号

CNUSR2

CNUSR2

20

45

19

44

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。

<接点容量>

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 con

troller. (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

*Connects with CNUSR2 connector

with soldering. Refer to

Page 96 "Fig.

3-12: Method of wiring for external emergency stop connection (CR750

(CNUSR2))"

.

Fig.3-20 : AXMC terminal connector (CR750)

フェライトコア

Pass twice

Magnet contactor control connector output (AXMC) for addition axes 3-103

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.

3-104

3 Controller

(1) Teaching pendant (T/B)

■ Order type: R32TB :Cable length 7m

R32TB-15 :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 Type

Teaching pendant R32TB

R32TB-15

Note1) Mass indicates one set.

Qty.

Either one pc.

Mass (kg)

Note1)

1.7

2.8

Remarks

Cable length is 7m. Hand strap is attached.

Cable length is 15m. Hand strap is attached.

■ Specifications

Table 3-9 : Specifications

Items

Outline dimensions

Body color

Mass

Connection method

Interface

Display method

Operation section

Specifications

195(W) x 292(H) x 106(D) (refer to outline drawing)

Dark gray

Approx. 0.9kg (only arm, excluding cable)

Connection with drive unit and connector.

RS-422

LCD method: 24 characters x 8 lines, LCD illumination: with backlight

36 keys

Remarks

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) 3-105

3 Controller

195.2

133

LCD

Emergency stop

Operetion key

105.5

Enable/Disable switch

<Front>

Body

Cable (with connector)

<side>

Enable switch

<Back>

<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.

3-106

Teaching pendant (T/B)

3 Controller

■ Key layout and main functions

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 dis

able.

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 oper

ating 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 dis

played 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 num

ber or character

Fig.3-22 : Teaching pendant key layout and main functions

Teaching pendant (T/B) 3-107

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 Qty.

Controller protection box power supply wiring cable

CR750-MB 1

3

Grounding cable

Seal for the serial number copy

Protection seal clear

Cable tie

Screw for fixing of the controller mounting plate

Note1) Mass indicates one set.

T50L

M4x8

1

4

4

1

1

Mass (Kg)

Note1)

■ Specifications

Table 3-11 : Specifications

Item Unit

Outside dimension

Mass

Construction

Grounding

Paint color mm

Kg

Ω

Specifications

500(W)×725(D)×250(H)

22

Self-contained floor type

100 or less (class D grounding)

Dark gray

22

Remarks

Excluding protrusions

IP54

備考

For connection between the power supply relay terminal and controller inside this box

For connection between the grounding terminal and controller inside this box

(1) The robot must be grounded by the customer.

(2) The cable for primary power supply connection and the grounding cable are customer preparations.

3-108

Controller protection box

3 Controller

■ Outside dimension and controller setting position

Cable cover

Controller setting position

Drain hole

Rubber foot fixa

tion screw for placing vertically

(Four places)

Fig.3-23 : Outside dimension and controller setting position

Controller protection box 3-109

3 Controller

■ Names of each part

Mode key switch

Window

T/B connector

Mode change SW extension cable

T/B junction cable

Front side of the controller

Seal for the serial number copy

Protection seal clear

Controller

Front view

Fixing lever

Power supply relay terminal

(M4 screw)

Grounding terminal (M4 screw)

Cable cover

Cable tie

External emergency stop wiring (customer preparation)

Grounding cable

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

3-110

Controller protection box

3 Controller

■ Wiring system diagram

<Single phase: RV-4F series>

Controller protection box

Power supply cable

Grounding cable

(L1)

(L2)

Terminal

Power supply wiring

(L1)

(L2)

FG

ACIN

CN1

CN2

CNUSR

11/12

Controller

AC fan

Grounding cable

FG FG FG

Grounding terminal

<Single phase/Three phase: RV-7F/13F series>

Controller protection box

Terminal

Note1)

Power supply wiring

Power supply cable

Grounding cable

(L1)

(L2)

(L3)

(L1)

(L2)

(L3)

FG

ACIN

CN1

CN2

CNUSR

11/12

Controller

AC fan

FG FG FG

Grounding cable

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 3-111

3 Controller

■ Installation dimensions

<<Placed horizontally>

150mm or more

30mm or more

150mm or more

<Placed vertically>

150mm or more

30mm or more

150mm or more

150mm or more

150mm or more

Fig.3-26 : Installation dimensions

3-112

Controller protection box

3 Controller

(3) RT ToolBox2/RT ToolBox2 mini

■ Order type : ●

RT ToolBox2

*For windows CD-ROM

RT ToolBox2 mini

*For windows CD-ROM

■ Outline

: 3D-11C-WINE

: 3D-12C-WINE

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

Part name Type

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE

Note1) Mass indicates one set.

Medium

CD-ROM

CD-ROM

Mass (kg)

Note1)

0.2

0.2

Remarks

■ 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 dis

plays 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 lubri

cation 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 dis

placement. This function compensates the origin settings and position data by just reproducing several previ

ous 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 3-113

3 Controller

■ Functions

Table 3-13 : Functions

Function

Compatible model

Program editing functions

Editing functions

Simulation func

tion

Monitor func

tions

Maintenance function

Control func

tions

Debugging func

tions

Functional existence

Note1)

×

Details

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 compari

son, name change, protect)

・ Direct editing of program in controller

・ Confirmation of robot program operation (step execution, direct exe

cution)

・ 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-pur

pose input/output signals (forced output possible), dedicated input/ output signals, operation confirmation (operation range, current posi

tion, hand, etc.)

・ Operation monitor (working time statistics, production information, robot version)

・ Servo monitor (load)

・ Parameter setting

・ Batch, divided backup

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.

3-114

RT ToolBox2/RT ToolBox2 mini

3 Controller

(4) Instruction Manual(bookbinding)

■ Order type: ● 5F-RF01-PE01 ..............RV-4F-Q/7F-Q/13F-Q series

■ Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this product.

■ Configuration

Table 3-14 : Product configuration

Instruction Manual

Safety Manual

Name

Standard Specifications

Robot Arm Setup & Maintenance

Controller Setup, Basic Operation and Maintenance

Detailed Explanation of Functions and Operations

Troubleshooting

Additional axis function

Tracking Function Manual

Extended Function

Note1)

Mass indicates one set.

Type

RV-4F-Q/7F-Q/13F-Q:

5F-RF01-PE01

BFP-A8006

BFP-A8933

BFP-A8935

BFP-A8886

BFP-A8869

BFP-A8871

BFP-A8863

BFP-A8664

BFP-A8787

-

-

-

-

-

Mass (Kg)

Note1)

2.6

-

-

-

-

Specifications

The instructions manual set of RV-4F-Q series and

RV-7F-Q series and RV-13F-Q series.

Items relating to safety in handling the robot

Specification of the robot arm and controller

Installation method of the robot arm, jog operation, and maintenance and inspection procedures

Installation method of the controller, basic operation, and maintenance and inspection procedures

Functions of the controller and T/B, operation method, and explanation of MELFA-BASIC V

Causes of errors occurred and their countermeasures

Function of the additional axis, operation method.

Function of the Tracking, operation method.

Function of the Extended, operation method.

Instruction Manual(bookbinding) 3-115

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. Name Type

Note1)

1 Lithium battery Q6BAT

Qty.

1

Usage place

The battery unit con

nected to the robot CPU unit

Inside the filter cover

Supplier

Mitsubishi Electric

2 Filter 1

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

3-116

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 Input format (example)

Joint interpolation Moves to the designated position with joint interpolation.

Linear interpolation Moves to the designated position with linear interpolation.

Circular interpolation Moves along a designated arc (start point → passing point → start point

(end point)) with 3-dimensional circular interpolation (360 degrees).

Speed designation

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 interpola

tion.

Moves along a set arc (start point → end point) with 3-dimensional cir

cular interpolation.

Designates the speed for various interpolation operations with a per

centage (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 numeri

cal 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.

Operation

Position control

Float control

Pallet

Singular point pas sage

-

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

Sets the hand and work conditions for automatic adjustment of the acceleration/deceleration.

Adds a process unconditionally to the operation.

Loadset 1,1

Adds a process conditionally to the operation.

Designates smooth operation.

Wth

WthIf

Cnt 1,100,200

Performance of movement is upgraded corresponding to the application. MvTune 4

Designates the positioning completion conditions with a No. of pulses.

Fine 200

Designates the positioning completion conditions with a distance in a straight line

Designates the positioning completion conditions with a joint interpola

tion.

Fine 1, P

Fine 0.5, J, 2

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) Cmp Pos ,&B00000011

The robot arm rigidity is lowered and softened. (JOINT coordinate sys

tem)

Cmp Jnt ,&B00000011

The robot arm rigidity is lowered and softened. (TOOL coordinate sys

tem)

The robot arm rigidity is returned to the normal state.

Cmp Tool ,&B00000011

Cmp Off

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.

Servo OFF

Torq 4,10

Base P1

Tool P1

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 4-117

4Software

Type Class

Branching

Function

Branches unconditionally to the designated place.

Branches according to the designated conditions.

Input format (example)

GoTo 120

If M1=1 Then GoTo *L100

Else GoTo 20

End If

For M1=1 TO 10 Repeats until the designated end conditions are satisfied.

Repeats while the designated conditions are satisfied.

Branches corresponding to the designated expression value.

Executes program block corresponding to the designated expression value..

Next M1

While M1<10

WEnd

On M1 GoTo *La1, *Lb2, *Lc3

Select

Case 1

Break

Case 2

Collision detection

Subroutine

Interrupt

Wait

Stop

End

Hand open

Hand close

Assignment

Input

Output

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.

Defines the input/output variables.

Retrieves the general-purpose input signal.

Calls out the general-purpose output signal.

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 designa

tion

Selection

Start/stop

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

4-118

List of commands

4Software

Type Class

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 4-119

4Software

4.2 List of parameters

Show the main parameter in the Table 4-2

.

Table 4-2 : List of parameters

Parameter

Standard tool coordinates.

Standard base coordinates

XYZ operation range

JOINT operation range

Free plane limit

User-defined area

Automatic return setting

Buzzer ON/OFF

Jog setting

Jog speed limit value

Details

MEXTL

MEXBS

MEPAR

MEJAR

Set the default value for the tool data.

Unit: mm or deg.

Set the relation of the world coordinate system and robot coordinate system.

Unit: mm or deg.

Designate the overrun limit value for the world coordinate system.

Set the overrun limit value for each joint axis.

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.

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.

SFC1P

:

SFC8P

SFC1ME

:

SFC8ME

SFC1AT

:

SFC8AT

Designate which mechanism to use eight types of set free plane limits.

The mechanism No. to use is set with 1 to 3.

Set the validity of the eight types of set free plane limits.

(Valid 1/Valid 2/invalid = 1/-1/0)

AREA1CS

:

AREA32CS

AREA1P1

:

AREA32P1

AREA1P2

:

AREA32P2

AREA1ME

:

AREA32ME

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.

Specify the coordinate system of the user definition area *.

0: Base coordinate system (conventional compatibility)

1: Robot coordinate system

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.)

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.)

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..

RETPATH Set to restart the program after returning to the interrupt position when resuming operation after an interruption.

Designate whether to the turn buzzer ON or OFF.

BZR

JOGJSP

JOGPSP

Designate the joint jog and step operation speed.

(Set dimension H/L amount, max. override.)

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]

4-120

List of parameters

4Software

Hand type

Parameter Details

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

INB Change the dedicated input (stop) to either of normal open or normal close.

Stop input B contact desig

nation

User-designated origin

Program selection memory

Communication setting

Slot table

No. of multi-tasks

Multi CPU system setting

Select the function of singular point adjacent alarm

Display language.

USERORG Designate the user-designated origin position.

SLOTON Select the program selected previously when initializing the slot. The non-selected state will be entered when not set.

CBAU232

CLEN232

Set the baud rate.

Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

SLT1

:

SLT32

Make settings (program name, operation type, order of priority, etc.) for each slot during slot initialization.

TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)

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.

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".

LNG Change the language to display on the LCD display of teaching pendant.

List of parameters 4-121

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, sys

tem 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

Explains the procedures required to operate the robot arm (unpacking, transportation, installation, confirmation of operation), and the maintenance and inspection procedures.

Controller

Setup, Basic

Operation and

Maintenance

Detailed

Explanation of

Functions and

Operations

Troubleshooting

Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to auto

matic operation, and the maintenance and inspection procedures.

Explains details on the functions and operations such as each function and operation, com

mands used in the program, connection with the external input/output device, and parame

ters, etc.

Explains the causes and remedies to be taken when an error occurs. Explanations are given for each error No.

Additional axis function

Explains the specifications, functions and operations of the additional axis control.

Tracking Func

tion Manual

Explains the control function and specifications of conveyor tracking

Extended Func

tion Instruc

tion 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(CR750-

D/CR751-D controller).

5-122

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 Details Remarks

1 Overload protection func

tion

Activates when the total servo current time exceeds the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

2

3

4

Overcurrent diagnosis function

Encoder disconnection diagnosis function

Deflection over diagnosis function

Activates when an overcurrent flows to the motor circuit.

The drive circuit is shut off. The robot stops, and an alarm displays.

Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and an alarm displays.

Activates when an error occurs between the com

mand value and actual position, and the error exceeds the specified amount.

The drive circuit is shut off. The robot stops, and an alarm displays.

Activates when the AC power voltage drops below the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

5 AC power voltage drop diagnosis function

6 CPU error detection func

tion

7 Overrun prevention function

Software limit detection

Mechanical stopper

Activates when an error occurs in the CPU.

This is the limit provided by the software to enable operation only in the operation range.

This is the mechanical stopper provided outside the software.

The drive circuit is shut off. The robot stops, and an alarm displays.

The drive circuit is shut off. The robot stops, and an alarm displays.

The robot mechanically stops, and function 1 or 2 activates.

Table 6-2 : List of stop functions

Stop function

Operation panel

Teaching pendant

External input

Emergency stop

◯ ◯ ◯

Stop ◯ ◯ ◯

Details

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.

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.

Safety 6-123

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 emer

gency stop

Note1)

Door switch

Enabling device input

Stop Sequencer unit

Servo OFF

Automatic oper

ation enable

Emergency stop output

Connector

(CNUSR11/12)

In servo ON

Waiting

In alarm

Connection point

Connector

(CNUSR11/12)

Sequencer unit

Connector

(CNUSR2)

Parameter Functions Usage method

-

-

-

This servo power is shut off, and the robot stops immediately.

STOP The program execution is stopped, and the robot stops. The servo power is not shut off.

SRVOFF The servo power can be shut off.

Externally installed emergency stop switch.

Door switch on safety protection fence.

Stopping at high-level error occurrence.

The door switch of the safe protection fence

Enabling device.

The safety switch during teaching work

The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.

The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.

Door switch on safety protection fence AUTOENA Disables automatic operation when inac

tive.

-

SRVON

Outputs the input signal of external emergency stop or emergency stop switch of T/B turned on.

The servo power ON/OFF state is out

put.

STOP Outputs that the robot is temporarily stopped.

ERRRESET Outputs when an alarm occurs in the

robot.

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 shown and alerted with the display lamps.

The temporary stop state is shown and alerted with the display lamps.

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 126, "6.1.7 Exam

ples of safety measures"

for details.

And, refer to

Page 99, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Set

tings" 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 Com

mittee, etc., is recommended for safety training.

6-124

Safety

6Safety

(5) Daily inspection and periodic inspection

・ Always 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 oper

ation 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 oper

ation 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 6-125

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 cir

cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer

gency 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 131, "(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 suppres

sion 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 con

nect 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.

Drive unit

非常停止スイッチ

(2接点タイプ)

Power supply in the robot controller 24V

*1)

CNUSR11/CNUSR12

1

Peripheral equipment

OP Emergency

OP非常停止

*6)

RA

*4)

2

3

4

5

TB非常停止

ボタン

*3)

RA

RA

6

7

8

9

10

Enabling device

*5)

*7)

13

Internal emergency stop circuit

14

11

12

CNUSR2

16/17

41/42

}

}

}

*2)

*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.

*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 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)

6-126

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.

Drive unit

非常停止スイッチ

(2接点タイプ)

OP Emergency

OP非常停止

TB Emergency

TB非常停止

*3)

Power supply in the robot controller 24V

RA

*4)

RA

RA

CNUSR11/CNUSR12

*1)

1

2

3

4

5

6

7

8

9

10

Enabling device

*5)

Safety fence door

Peripheral equipment

Power supply in the Peripheral equipment 24V

*7)

13

14

}

Internal emergency stop circuit

11

12

CNUSR2

16/17

41/42

}

}

*2)

*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 6-127

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.

非常停止スイッチ

(2接点タイプ)

Peripheral equipment

Power sup ply 24V

-

OP Emergency

OP非常停止

*6)

TB Emergency

TB非常停止

*3)

Drive unit

Power supply in the robot controller 24V

RA

*4)

RA

RA

*1)

CNUSR11/CNUSR12

1

2

3

4

5

6

7

8

9

10

Enabling device

*5)

*7)

Internal emergency stop circuit

13

14

11

12

}

CNUSR2

*2)

16/17

41/42

}

*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 controller.

*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)

6-128

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

(2- contact type)

OP

Emer

gency stop button

*6)

*3)

TB

Emer

gency stop button

Drive unit #1

Power supply in the robot controller 24V

CNUSR11/CNUSR12

*1)

1

2

RA

*4)

RA

3

4

5

6

7

8

9

10

RA

Enabling device

*5)

*7)

13

14

Internal emergency stop circuit

11

12

}

*2)

CNUSR2

16/17

41/42

}

周辺装置

の非常停止

出力

ドアスイッチ出力

Safety fence

Power supply

24V

周辺装置内部

Circuit

OP

Emer

gency stop button

*6)

*3)

TB

Emer

gency stop button

Drive unit #2

Power supply in the robot controller 24V

CNUSR11/CNUSR12

*1)

1

2

3

RA

*4)

4

5

6

7

RA

8

9

10

RA

Enabling device

*5)

*7)

13

14

11

12

}

CNUSR2

*2)

16/17

41/42

}

周辺装置

の非常停止

出力

*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 6-129

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

OP

E-stop

TB

E-stop

CNUSR11

1

No connection

2

24V DC

3

4

5

6

0V DC

Emergency stop

非常停止出力

13

24V DC

14

例)オムロン社 G9SX-AD

G9SX-AD series *OMRON

No connection T11

T12

No connection

T21

T22

CNUSR12

1

No connection

2

24V DC

3

*2)

4

5

6

13

14

0V DC

24V DC

A1 A2

24V DC 0V DC

[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 con

nect 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)

6-130

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 (0.14mm

2

to 1.5mm

2

)

・ CR750 drive unit................................... CNUSR2 connector:

AWG #30 to #24 (0.05mm

2

to 0.2mm

2

)

Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect the equipment except for this range.

The electric-current value limitation when connecting the coils, such as the Relays (CR750 drive unit)

Internal fuse

非常停止スイッチ

(2接点タイプ)

OP

Emergency

Power supply in the robot controller

   24V

F2

F1

CNUSR11/12

Power supply24V

TB

Emergency stop button

ボタン

RA

4

5

6

1

2

3

RA

Note)

Relay

Rated-current is 100mA or less

RA

9

10

7

8

RA

イネーブリング

デバイス

13

14

11

12

}

}

Internal emergency

内部非常停止回路

CNUSR2

16/17

41/42

}

付加軸用コンタクタ

コントロール出力

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 which uses the external power source is shown in the 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)

*1) The minimum load electric current of the switch is more than 5mA/24V.

Safety 6-131

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

OP

非常停止

TB

TB

非常停止

24V

+

-

非常停止検出

リレー

OP

非常停止

検出 detection

TB

非常停止

検出

外部

非常停止

検出

0V

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.

6-132

Safety

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/s

2

or less during transpor

tation and 5m/s

2

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 all 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 accu

racy 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 wrist section could interfere with the base section. Take care to prevent interference during jog.

*1)

(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on the moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first start after being stored for one month or longer, lubricants may not be spread enough. Such condition may lower the posi

tioning accuracy, cause servo and overload alarms, and early wearing of the moving parts. To avoid such situ

ation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed).

Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or more for about 10 minutes. After that, speed up the operation gradually.

Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUCTION

MANUAL/Detailed explanations of functions and operations".)

(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.

*1) Jog operation refers to operating the robot manually using the teaching pendant.

Working environment 6-133

6Safety

(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 config

uration may break due to the fixed installation specifications. In this case, use "the machine cable extension

(for flexed)" factory shipment special specifications or options.

(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) The hanging installation jig can be borrowed from the maker. Order to dealer when need.

(10) 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.

(11) 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.

(12) 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 pro

gram data may be destroyed.

(13) If the J1, J2 and J3 axes collide with the mechanical stopper during the automatic operation of the robot, it is necessary to replace the resin part of the mechanical stopper unit. For the replacement of the resin parts, please contact Mitsubishi or Mitsubishi's dealer.

If the resin part is not replaced, the mechanism unit and the speed reducer may be damaged significantly when the axes collide with the mechanical stopper next or subsequent time.

(14) 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.

(15) The J1 to J3 axes of the RV-13F series generate loud noise during high-speed operation because of their reduction gear structure, but it does not affect the robot's function, performance, and a life.

(16) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.

(17) 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.

(18) 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.

(19) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for trans

border transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mit

subishi 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: Mis

cellaneous 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 compa

nies may request an indication that the batteries are not dangerous goods be included on the invoice. For ship

ping requirement details, please contact your transportation company.

(20) 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.

(21) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis

infecting and protecting wooden packaging from insects, they cause malfunction when entering our products.

Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod

ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

6-134

Precautions for handling

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 environ

ment 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 dis

turbance noise from the outside.

Each contents are shown below.

Item Name Contents

Testing technicalstandard number

Emission

(EMI)

Immunity

(EMS)

Radiative noise disturbance

Electrical-conduction noise disturbance

Electrostatic discharge immunity test

Radiated, radio-frequency, electromagnetic field immunity test susceptibility test

Electrical fast transient burst immunity test

Immunity to conducted distrurbances induced radio-frequency fields

The electromagnetic noise etc. which are emitted to environs.

The electromagnetism noise etc. which flow out of the power-supply line.

The noise from the electrified human body.

The electromagnetism noise from the transceiver, the broadcasting station, etc.

The relay noise or the electromagnetism noise etc. which are caused in power-supply ON/OFF.

The electromagnetism noise etc. which flow in through the power source wire and the grounding wire.

Power frequency magnetic field immunity test

Voltage dips, short interruptions and voltage variations immunity test

Surge immunity test

The electromagnetism noise with a power supply frequency of 50/60 Hz etc.

The noise in the variation of the source voltage of the power dispatching, etc.

The electromagnetism noise by the thunderbolt, etc.

EN61000-6-2 : 2005

EN61000-6-4 : 2007

EN62061:2005(Annex E)

EMC installation guideline 6-135

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)

Type

A B C D

Diameter of the adaptation cable

[max] (mm)

E04SR401938

E04SR301334

61

39

38

34

19

13

40

30

19.0

13.0

Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD.

Type

A

Outside dimension (mm)

B C D

Diameter of the adaptation cable

[max] (mm)

TFT-274015S 43.8

27.4

20.7

φ26.5

(2) Line noise filter

Type : FR-BLF (Mitsubishi Electric Corp.)

6-136

EMC installation guideline

7Appendix

7 Appendix

Appendix 1 : Specifications discussion material (RV-4F/7F series)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

□ RV-4F-Q □ RV-4FL-Q

Type

Note1)

□ RV-7F-Q □ RV-7FL-Q

Note1) Refer to the Page 2, "1.2 Model type name of robot"

for the details of the robot arm type name.

■ Purchased mode

Robot arm

Machine cable

Controller

Item Standard specifications

Oil mist specification (IP67) General environment specification (IP40)

Clean specification

(ISO class3)

Internal wiring and piping specification

Note1)

General environment specification (IP40)

Equipped to the forearm

Robot CPU unit connecting cable set

Note2)

□ 5m fixed type

□ 10m

Shipping special specifications

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ -SH01 □ -SH02 □ -SH03

□ -SH04 □ -SH05

□ 2m fixed type: 1S-02UCBL-01

□ Not provided

□ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The corresponding base external wiring set is attached.

Note2) 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)

Item

J1 axis operating range change

Type

1F-DH-03

Provision, and specifications when provided.

For RV-4F series: □ Not provided □ Provided

Machine cable extension

Solenoid valve set

1F-DH-04

1S- □□ CBL-01

1S- □□ LCBL-01

1F-VD0 □ -02

1F-VD0 □ E-02

Hand input cable

Hand output cable

Hand curl tube

Forearm external wiring set

1F-HC35S-02

1F-GR35S-02

1E-ST040 □ C

1F-HB0 □ S-01

Base external wiring set

Simple teaching pendant

1F-HA0 □ S-01

R32TB- □□

Highly efficient teaching pendant R56TB- □□

Controller protection box CR750-MB

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE

For RV-7F series: □ Not provided □ Provided

Fixed type:

□ Not provide □ 5m □ 10m □ 15m

Flexed type: □ Not provide □ 5m □ 10m □ 15m

□ Not provide

1F-VD0 □ -02 (Sink type): □ 1set □ 2set □ 3set □ 4set

1F-VD0 □ E-02 (Source type): □ 1set □ 2set □ 3set □ 4set

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ 1set □ 2set □ 3set □ 4set

□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01

□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01

□ Not provided □ 7m □ 15m

□ Not provided □ 7m □ 15m

□ Not provided □ Provided

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

Network vision sensor

Instructions manual

4D-2CG5***-PKG

5F-RF01-PE01

□ Not provided □ Provided

□ 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 ( )

Workpiece mass ( ) g Hand mass ( ) g

Atmosphere □ General environment □ Clean

□ Oil mist:

Confirm oil proof □ request (Oil name: )/ □ not request

Note1)

□ Other ( )

Remarks

Note1) Refer to

Page 22, "2.2.6 Protection specifications"

about oil resistance.

Specifications discussion material (RV-4F/7F series) Appendix-137

7Appendix

Appendix 2 : Specifications discussion material (RV-7FLL)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

Type

Note1)

■ RV-7FLL-Q (General environment specification (IP40))

Note1) Refer to the Page 2, "1.2 Model type name of robot"

for the details of the robot arm type name.

■ Purchased mode

Robot arm

Item

Internal wiring and piping specification

Note1)

Standard specifications

Equipped to the forearm

Shipping special specifications

□ Not provided □ -SH01 □ -SH02 □ -SH03

□ -SH04 □ -SH05

Machine cable

Controller Robot CPU unit connecting cable set

Note2)

□ 7m fixed type

□ 10m

□ 2m fixed type: 1S-02UCBL-01

□ Not provided

□ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The corresponding base external wiring set is attached.

Note2) 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)

Item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-05J1

Machine cable extension 1S- □□ CBL-01

Solenoid valve set

1S- □□ LCBL-01

1F-VD0 □ -02

1F-VD0 □ E-02

Hand input cable

Hand output cable

Hand curl tube

Forearm external wiring set

1F-HC35S-02

1F-GR35S-02

1E-ST040 □ C

1F-HB0 □ S-01

Base external wiring set

Simple teaching pendant

1F-HA0 □ S-01

R32TB- □□

Highly efficient teaching pendant R56TB- □□

Controller protection box CR750-MB

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE

□ Not provided □ Provided

Fixed type:

□ Not provide □ 5m □ 10m □ 15m

Flexed type: □ Not provide □ 5m □ 10m □ 15m

□ Not provide

1F-VD0 □ -02 (Sink type): □ 1set □ 2set □ 3set □ 4set

1F-VD0 □ E-02 (Source type): □ 1set □ 2set □ 3set □ 4set

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ 1set □ 2set □ 3set □ 4set

□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01

□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01

□ Not provided □ 7m □ 15m

□ Not provided □ 7m □ 15m

□ Not provided □ Provided

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

Network vision sensor

Instructions manual

4D-2CG5***-PKG

5F-RF01-PE01

□ Not provided □ Provided

□ 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 ( )

Remarks

Appendix-138

Specifications discussion material (RV-7FLL)

7Appendix

Appendix 3 : Specifications discussion material (RV-13F/13FL)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

□ RV-13F-Q

Type

Note1)

□ RV-13FL-Q

Note1) Refer to the Page 2, "1.2 Model type name of robot"

for the details of the robot arm type name.

■ Purchased mode

Robot arm

Machine cable

Controller

Item Standard specifications

Oil mist specification (IP67) General environment specification (IP40)

Clean specification

(ISO class3)

Internal wiring and piping specification

Note1)

General environment specification (IP40)

Equipped to the forearm

Robot CPU unit connecting cable set

Note2)

□ 7m fixed type

□ 10m

Shipping special specifications

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ -SH01 □ -SH02 □ -SH03

□ -SH04 □ -SH05

□ 2m fixed type: 1S-02UCBL-01

□ Not provided

□ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The corresponding base external wiring set is attached.

Note2) 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)

Item

J1 axis operating range change

Machine cable extension

Type

1F-DH-05J1

1S- □□ CBL-01

Provision, and specifications when provided.

□ Not provided □ Provided

Fixed type:

□ Not provide □ 5m □ 10m □ 15m

Solenoid valve set

1S- □□ LCBL-01

1F-VD0 □ -03

1F-VD0 □ E-03

Hand input cable

Hand output cable

Hand curl tube

Forearm external wiring set

1F-HC35S-02

1F-GR35S-02

1N-ST060 □ C

1F-HB0 □ S-01

Base external wiring set

Simple teaching pendant

1F-HA0 □ S-01

R32TB- □□

Highly efficient teaching pendant R56TB- □□

Controller protection box CR750-MB

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE

Flexed type:

□ Not provide □ 5m □ 10m □ 15m

□ Not provide

1F-VD0 □ -03 (Sink type): □ 1set □ 2set □ 3set □ 4set

1F-VD0 □ E-03 (Source type): □ 1set □ 2set □ 3set □ 4set

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ 1set □ 2set □ 3set □ 4set

□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01

□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01

□ Not provided □ 7m □ 15m

□ Not provided □ 7m □ 15m

□ Not provided □ Provided

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

Network vision sensor

Instructions manual

4D-2CG5***-PKG

5F-RF01-PE01

□ Not provided □ Provided

□ 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 ( )

Workpiece mass ( ) g Hand mass ( ) g

Atmosphere □ General environment □ Clean

□ Oil mist:

Confirm oil proof □ request (Oil name: )/ □ not request

Note1)

□ Other ( )

Remarks

Note1) Refer to

Page 22, "2.2.6 Protection specifications"

about oil resistance.

Specifications discussion material (RV-13F/13FL) Appendix-139

7Appendix

Appendix 4 : Specifications discussion material (RV-20F)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

Type

Note1)

■ RV-20F-Q

Note1) Refer to the Page 2, "1.2 Model type name of robot"

for the details of the robot arm type name.

■ Purchased mode

Robot arm

Machine cable

Controller

Item Standard specifications

Oil mist specification (IP67) General environment specification (IP40)

Clean specification

(ISO class3)

Internal wiring and piping specification

Note1)

General environment specification (IP40)

Equipped to the forearm

Robot CPU unit connecting cable set

Note2)

□ 7m fixed type

□ 10m

Shipping special specifications

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ -SH01 □ -SH02 □ -SH03

□ -SH04 □ -SH05

□ 2m fixed type: 1S-02UCBL-01

□ Not provided

□ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The corresponding base external wiring set is attached.

Note2) 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)

Item Type

J1 axis operating range change 1F-DH-05J1

Machine cable extension 1S- □□ CBL-01

Provision, and specifications when provided.

□ Not provided □ Provided

Fixed type:

□ Not provide □ 5m □ 10m □ 15m

Solenoid valve set

1S- □□ LCBL-01

1F-VD0 □ -03

1F-VD0 □ E-03

Hand input cable

Hand output cable

Hand curl tube

Forearm external wiring set

1F-HC35S-02

1F-GR35S-02

1N-ST060 □ C

1F-HB0 □ S-01

Base external wiring set

Simple teaching pendant

1F-HA0 □ S-01

R32TB- □□

Highly efficient teaching pendant R56TB- □□

Controller protection box CR750-MB

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE

Flexed type:

□ Not provide □ 5m □ 10m □ 15m

□ Not provide

1F-VD0 □ -03 (Sink type): □ 1set □ 2set □ 3set □ 4set

1F-VD0 □ E-03 (Source type): □ 1set □ 2set □ 3set □ 4set

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ 1set □ 2set □ 3set □ 4set

□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01

□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01

□ Not provided □ 7m □ 15m

□ Not provided □ 7m □ 15m

□ Not provided □ Provided

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

Network vision sensor

Instructions manual

4D-2CG5***-PKG

5F-RF01-PE01

□ Not provided □ Provided

□ 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 ( )

Workpiece mass ( ) g Hand mass ( ) g

Atmosphere □ General environment □ Clean

□ Oil mist:

Confirm oil proof □ request (Oil name: )/ □ not request

Note1)

□ Other ( )

Remarks

Note1) Refer to

Page 22, "2.2.6 Protection specifications" about oil resistance.

Appendix-140

Specifications discussion material (RV-20F)

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

Jun., 2013 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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