RH-6FH-Q/12FH-Q/20FH-Q Series Special Specifications Manual (CR750

RH-6FH-Q/12FH-Q/20FH-Q Series Special Specifications Manual (CR750

Mitsubishi Industrial Robot

RH-6FH-Q/12FH-Q/20FH-Q Series

Special Specifications Manual

(CR750-Q Controller)

BFP-A8882-K

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.

CAUTION

Be careful of interference with peripheral equipment.

Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged.

Take care also of the following items.

(1)The robot's locus of movement may change with specified speed.

Especially as for the corner section, short cut distance may change. Therefore, when beginning automatic operation, moves at low speed at first, and you should gather speed slowly with being careful of interference with peripheral equipment.

Short cut

Arch movement (example)

(2)It can be confirmed whether the specified position exist in the defined area by using the instruction command "Zone". It can utilize as one of the methods for collision evasion. Refer to the

"detailed description of the instructions manual/function, and operation" of the separate volume for the details of the instruction command.

■Revision history

Date of print Specifications No.

2012-06-05

2012-06-11

BFP-A8882

BFP-A8882-A

2012-06-14

2012-06-21

2012-07-19

2012-07-31

2012-09-03

2012-10-09

2012-10-18

2012-11-20

2012-12-05

BFP-A8882-B

BFP-A8882-C

BFP-A8882-D

BFP-A8882-E

BFP-A8882-F

BFP-A8882-G

BFP-A8882-H

BFP-A8882-J

BFP-A8882-K

Details of revisions

・ First print.

・ The specification (the suction flow rate, the vacuum generator quantity) of inside suction for clean type of RH-12FH/20FH was changed.

・ The note about the load center-of-gravity position of RH-20FH was added, and the related graph of the offset length and the maximum-speed was corrected.

・ The specification and dimension of duct was added.

・ The upper limit of load center-of-gravity position was added.

・The quantity of the coupling for the internal suction of RH-12FH / 20FH clean specification was changed.

・The graph of "Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration

Speed" was corrected. (error in writing)

・ EC-Statement of Compliance was replaced. (RH-3FH-Q and RH-6FH-Q were added)

・ The input voltage range (1-phase: AC207 to 253V) was added to RH-12FH/20FH series.

・The error in writing of the connector name and the example of the connection in "3.8.1 Wiring of the Additional Axis Interface" was corrected. ("ExtOPT" was mistake)

・ The connector name of hand input signal/output signal of "Fig.2-48: Wiring and piping for hand" was corrected.

・ The outside dimension (moving position of the 340mm stroke type) of RH-6FH series clean/ oil mist specification were corrected.

・ The power supply capacity of RH-6FH/12FH/20FH was corrected.

・ The attachments of optional Internal Wiring/Piping set for hand were corrected.

・ The notes were added to "Fig 3-17: Example of EMC noise filter installation".

・ The lithium battery (ER6) was added to The United Nations’Recommendations on the

Transport of Dangerous Goods.

・ The notes about installation of the controller and the robot arm were added. (neither direct rays nor the heat of lighting)

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

・ The statement about trademark registration was added.

・ The center distance of Pilot hole of Installation surface was added. (RH-6FH)

・ The die center distance of Pilot hole of Installation surface was added and changed. (RH-

12FH/20FH)

・ The notes about the input-output connected to the controller were added. (do not ground the + side of 24V power supply prepared by customer)

・ ”Declaration of Incorporation” was updated.

・ The metal plate which fixes "Hand internal wiring and piping set (option)" was changed to attachment of the robot arm in standard.

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

・ EC-Statement of Compliance was updated.

■ Introduction

This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the customer's need to achieve a compact manufacturing facility capable of highly flexible production, as necessitated by the diffusion of high-density product groups and the shorter product life cycles that have become common-place in recent years.

However, to comply with the target application, a work system having a well-balanced robot arm, peripheral devices or robot and hand section must be structured.

When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics and specifications can be easily understood by users considering the implementation of robots.

However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.

Mitsubishi hopes that you will consider these standard specifications and use our robots.

Note that in this specification document the specifications related to the robot arm is described Page 10,

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

Page 99, "3 Controller" , and software functions

and a command list

Page 135, "4 Software"

separately.

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

*RH-6FH (CR750-Q controller) series

*RH-12FH (CR750-Q controller) series

*RH-20FH (CR750-Q controller) series

・ About CE Marking in the automization system

The Guidelines of the measures against EMC in the automization system manufactured by the customer is shown in

Page 153, "6.4 EMC installation guideline" .

Please refer to it and carry out the measures against EMC of the automization system of the customer.

・ No part of this manual may be reproduced by any means or in any form, without prior consent from

Mitsubishi.

・ The contents of this manual are subject to change without notice.

・ The specifications values are based on Mitsubishi standard testing methods.

・ The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed." or "alarm may occur".

Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

・ This specifications is original.

・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries.

・ The ETHERNET is a registered trademark of the Xerox Corp.

・All other company names and production names in this document are the trademarks or registered trademarks of their respective owners.

Copyright(C) 2012 MITSUBISHI ELECTRIC CORPORATION

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

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

1.4 Indirect export .......................................................................................................................................................................... 1-4

1.5 Instruction manuals ................................................................................................................................................................ 1-4

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

1.6.1 Robot arm ........................................................................................................................................................................... 1-5

1.6.2 Controller ............................................................................................................................................................................ 1-7

1.7 Contents of the Option equipment and special specification .............................................................................. 1-8

2 Robot arm ......................................................................................................................................................................................... 2-10

2.1 Standard specifications ...................................................................................................................................................... 2-10

2.1.1 Basic specifications ...................................................................................................................................................... 2-10

(1) RH-6FH series ............................................................................................................................................................ 2-10

(2) RH-12FH series ......................................................................................................................................................... 2-12

(3) RH-20FH series ......................................................................................................................................................... 2-14

2.1.2 The counter-force applied to the installation surface ................................................................................... 2-15

2.2 Definition of specifications ................................................................................................................................................ 2-16

2.2.1 Pose repeatability .......................................................................................................................................................... 2-16

2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-17

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-19

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-19

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-19

2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................ 2-20

(1) Relationship Between Mass Capacity and Speed ....................................................................................... 2-20

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........... 2-21

(3) Relation between offset length and the maximum speed ......................................................................... 2-23

(4) Time to reach the position repeatability ......................................................................................................... 2-24

2.2.6 Collision detection ......................................................................................................................................................... 2-24

2.2.7 Protection specifications ............................................................................................................................................ 2-25

(1) Types of protection specifications .................................................................................................................... 2-25

(2) About the use with the bad environment ........................................................................................................ 2-26

2.2.8 Clean specifications ...................................................................................................................................................... 2-27

(1) Types of clean specifications ............................................................................................................................... 2-27

2.3 Names of each part of the robot .................................................................................................................................... 2-29

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-30

2.4.1 Outside dimensions ・ Operating range diagram (RH-6FH series) ............................................................. 2-30

(1) Standard Specification ............................................................................................................................................ 2-30

(2) Clean Specification and oil mist specification .............................................................................................. 2-36

2.4.2 Outside dimensions ・ Operating range diagram (RH-12FH series) .......................................................... 2-42

(1) Standard Specification ............................................................................................................................................ 2-42

(2) Clean Specification and oil mist specification .............................................................................................. 2-48

2.4.3 Outside dimensions ・ Operating range diagram (RH-20FH series) .......................................................... 2-54

(1) Standard Specification ............................................................................................................................................ 2-54

(2) Clean Specification and oil mist specification .............................................................................................. 2-58

2.4.4 Mechanical interface and Installation surface ................................................................................................... 2-62

(1) Mechanical interface and Installation surface of RH-6FH series ......................................................... 2-62

(2) Mechanical interface and Installation surface of RH-12FH series ...................................................... 2-63

(3) Mechanical interface and Installation surface of RH-20FH series ...................................................... 2-64

i

ii

Contents

Page

2.4.5 Change the operating range ...................................................................................................................................... 2-65

(1) Operating range changeable angle ..................................................................................................................... 2-65

(2) The change method of the operating range ................................................................................................... 2-66

2.5 Tooling ........................................................................................................................................................................................ 2-67

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-67

2.5.2 Internal air piping ............................................................................................................................................................ 2-68

(1) Standard type/Oil mist specifications .............................................................................................................. 2-68

(2) Clean type .................................................................................................................................................................... 2-68

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-68

2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-68

2.5.5 Ethernet cable ................................................................................................................................................................. 2-68

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) ....................... 2-69

(1) RH-6FH series ............................................................................................................................................................ 2-69

(2) RH-12FH/20FH series ............................................................................................................................................ 2-70

(3) Example of wiring and piping <1> ........................................................................................................................ 2-71

(4) Wiring and piping example <2> ............................................................................................................................. 2-72

(5) Precautions for the clean specification ........................................................................................................... 2-72

2.5.7 Wiring and piping system diagram for hand ......................................................................................................... 2-73

2.5.8 Electrical specifications of hand input/output .................................................................................................. 2-75

2.5.9 Air supply circuit example for the hand ............................................................................................................... 2-76

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-77

2.6.1 Shipping special specifications ................................................................................................................................. 2-77

(1) Machine cable ............................................................................................................................................................. 2-78

2.7 Options ....................................................................................................................................................................................... 2-79

(1) Machine cable extension ........................................................................................................................................ 2-80

(2) Changes J1 axis operating range ....................................................................................................................... 2-83

(3) Solenoid valve set ..................................................................................................................................................... 2-84

(4) Hand input cable ........................................................................................................................................................ 2-88

(5) Hand output cable ..................................................................................................................................................... 2-90

(6) Hand curl tube ............................................................................................................................................................ 2-91

(7) Internal Wiring/Piping set for hand .................................................................................................................... 2-92

(8) External Wiring/Piping box .................................................................................................................................... 2-94

2.8 About Overhaul ...................................................................................................................................................................... 2-97

2.9 Maintenance parts ................................................................................................................................................................. 2-98

3 Controller .......................................................................................................................................................................................... 3-99

3.1 Standard specifications ...................................................................................................................................................... 3-99

3.2 Protection specifications and operating supply .................................................................................................... 3-100

3.3 Names of each part ........................................................................................................................................................... 3-101

3.3.1 Names of each part of the robot CPU .............................................................................................................. 3-103

3.4 Outside dimensions/Installation dimensions ........................................................................................................... 3-104

3.4.1 Outside dimensions .................................................................................................................................................... 3-104

(1) Outside dimensions of robot CPU unit ......................................................................................................... 3-105

(2) Battery unit outside dimension ........................................................................................................................ 3-106

3.4.2 Installation dimensions .............................................................................................................................................. 3-107

(1) Robot CPU Unit installation dimensions ....................................................................................................... 3-109

3.5 External input/output ....................................................................................................................................................... 3-110

3.5.1 Types ............................................................................................................................................................................... 3-110

3.6 Dedicated input/output ................................................................................................................................................... 3-111

3.7 Emergency stop input and output etc. ...................................................................................................................... 3-114

3.7.1 Connection of the external emergency stop ................................................................................................... 3-114

3.7.2 Special stop input (SKIP) ........................................................................................................................................ 3-119

3.7.3 Door switch function ................................................................................................................................................. 3-120

3.7.4 Enabling device function .......................................................................................................................................... 3-120

(1) When door is opening ............................................................................................................................................ 3-120

(2) When door is closing ............................................................................................................................................. 3-120

Contents

Page

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings ........... 3-121

3.8 Additional Axis Function .................................................................................................................................................. 3-122

3.8.1 Wiring of the Additional Axis Interface .............................................................................................................. 3-122

3.9 Magnet contactor control connector output (AXMC) for addition axes ..................................................... 3-125

3.10 Options ................................................................................................................................................................................. 3-127

(1) Teaching pendant (T/B) ...................................................................................................................................... 3-128

(2) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-131

(3) Instruction Manual(bookbinding) ....................................................................................................................... 3-133

3.11 Maintenance parts ........................................................................................................................................................... 3-134

4 Software ......................................................................................................................................................................................... 4-135

4.1 List of commands ............................................................................................................................................................... 4-135

4.2 List of parameters .............................................................................................................................................................. 4-138

5 Instruction Manual ..................................................................................................................................................................... 5-140

5.1 The details of each instruction manuals ................................................................................................................... 5-140

6 Safety .............................................................................................................................................................................................. 6-141

6.1 Safety ...................................................................................................................................................................................... 6-141

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-141

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-142

6.1.3 Precautions for using robot .................................................................................................................................... 6-142

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-143

6.1.5 Safety measures for teaching ............................................................................................................................... 6-143

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-143

6.1.7 Examples of safety measures ................................................................................................................................ 6-144

(1) CR750 drive unit ..................................................................................................................................................... 6-144

(2) External emergency stop connection [supplementary explanation] ................................................. 6-149

6.2 Working environment ......................................................................................................................................................... 6-151

6.3 Precautions for handling .................................................................................................................................................. 6-151

6.4 EMC installation guideline ............................................................................................................................................... 6-153

6.4.1 Outlines ........................................................................................................................................................................... 6-153

6.4.2 EMC directive ............................................................................................................................................................... 6-153

6.4.3 EMC measures ............................................................................................................................................................. 6-154

6.4.4 Component parts for EMC measures ................................................................................................................. 6-154

(1) Ferrite core ............................................................................................................................................................... 6-154

(2) Line noise filter ....................................................................................................................................................... 6-154

7Appendix ........................................................................................................................................................................... Appendix-155

Appendix 1 : Specifications discussion material (RH-6FH series) ..................................................... Appendix-155

Appendix 2 : Specifications discussion material (RH-12FH series) ................................................... Appendix-156

Appendix 3 : Specifications discussion material (RH-20FH series) ................................................... Appendix-157

iii

1General configuration

1 General configuration

1.1 Structural equipment

Structural equipment consists of the following types.

1.1.1 Standard structural equipment

The following items are enclosed as a standard.

(1) Robot arm

(2) Controller (CPU unit + Drive unit)

(3) The connecting cable for the CPU unit and the drive unit

(4) Machine cable

(5) Robot arm installation bolts

(6) Safety manual, CD-ROM (Instruction manual)

(7) Guarantee card

1.1.2 Special specifications

For the special specifications, some standard configuration equipment and specifications have to be changed before factory shipping. Confirm the delivery date and specify the special specifications at the order.

1.1.3 Options

User can install options after their delivery.

1.1.4 Maintenance parts

Materials and parts for the maintenance use.

1-1

Structural equipment

1General configuration

1.2 Model type name of robot

This robot has arranged the type name corresponding to load mass, arm length, and environment specification.

Details are shown below, please select the robot suitable for the customer's use.

1.2.1 How to identify the robot model

RH - ◇◇ FH □□ △△ - Q - SMxx

(a) (b) (c) (d) (e) (f) (g) (h) ( i ) ( j )

(a).

RH ..............................................Indicates the horizontal multiple-joint robot.

Ex.)

RV: Vertical multiple-joint type.

RH: Horizontal multiple-joint type.

(b). ◇◇

.........................................Indicates the maximum load.

Ex.)

6: 6kg

12: 12kg

20: 20kg

(c). FH

..............................................Indicates the FH series.

(d).

□□ ..........................................Indicates the arm length.

Ex.)

35: 350mm

45: 450mm

55: 550mm

70: 700mm

85: 850mm

100: 1000mm

(e).

△△ ..........................................Indicates the vertical stroke length.

Ex.)

20: 200mm stroke

34: 340mm stroke

35: 350mm stroke

45: 450mm stroke

(f).

○ ................................................Indicates environment specification.

Ex.)

Omitted: General specifications

C: Clean specifications

M: Oil mist specifications

(g).

●................................................Indicates the controller series.

Ex.)

Omitted: CR750 controller

(h).

Q.................................................Indicates the controller type.

Q: iQ Platform

(i).

▲.................................................Technical standard of Conformity.

Ex.)

Omitted: No conformity of technical standard.

1: Conforms to the CE Marking

(j).

- S M xx........................... Indicates a special model. In order, limit special specification.

[1] [2]

[1] S: Indicates a special model.

[2] M: Indicates a specification with protection specification controller. (The controller protection box is attached.)

Model type name of robot

1-2

1General configuration

1.2.2 Combination of the robot arm and the controller

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

Protection specification

Robot arm

Arm length

(mm)

J3-axis stroke

(mm)

Controller

Note1)

RH-6FH series

General-purpose environment

Clean specifications

Oil mist specifications

RH-6FH3520-Q

RH-6FH4520-Q

RH-6FH5520-Q

RH-6FH3534-Q

RH-6FH4534-Q

RH-6FH5534-Q

RH-6FH3520C-Q

RH-6FH4520C-Q

RH-6FH5520C-Q

RH-6FH3534C-Q

RH-6FH4534C-Q

RH-6FH5534C-Q

RH-6FH3520M-Q

RH-6FH4520M-Q

RH-6FH5520M-Q

RH-6FH3534M-Q

RH-6FH4534M-Q

RH-6FH5534M-Q

550

350

450

550

350

450

550

350

450

550

350

450

550

350

450

550

350

450

200

340

200

340

200

340

CR750-06HQ-1

RH-12FH series

General-purpose environment

Clean specifications

Oil mist specifications

RH-12FH5535-Q

RH-12FH7035-Q

RH-12FH8535-Q

RH-12FH5545-Q

RH-12FH7045-Q

RH-12FH8545-Q

RH-12FH5535C-Q

RH-12FH7035C-Q

RH-12FH8535C-Q

RH-12FH5545C-Q

RH-12FH7045C-Q

RH-12FH8545C-Q

RH-12FH5535M-Q

RH-12FH7035M-Q

RH-12FH8535M-Q

RH-12FH5545M-Q

RH-12FH7045M-Q

RH-12FH8545M-Q

850

550

700

850

550

700

850

550

700

850

550

700

850

550

700

850

550

700

350

450

350

450

350

450

CR750-12HQ-1

RH-20FH series

General-purpose environment

Clean specifications

Oil mist specifications

RH-20FH8535-Q

RH-20FH10035-Q

RH-20FH8545-Q

RH-20FH10045-Q

RH-20FH8535C-Q

RH-20FH10035C-Q

RH-20FH8545C-Q

RH-20FH10045C-Q

RH-20FH8535M-Q

RH-20FH10035M-Q

RH-20FH8545M-Q

RH-20FH10045M-Q

850

1000

850

1000

850

1000

850

1000

850

1000

850

1000

350

450

350

450

350

450

CR750-20HQ-1

Note1) When you use by adverse environment, please use the controller protection box (CR750-MB).

1-3

Model type name of robot

1General configuration

1.3 CE marking specifications

The robot shown in the Table 1-2

is the CE Marking specification.

Table 1-2 : Robot models with CE marking specifications

Robot type

Note1)

Controller

RH-6FHxxyy-Q1-S15

Note2)

RH-6FHxxyyC-Q1-S15

Note4)

CR750-06HQ1-1-S15

Note3)

External signal logic

Source type

Language setting

English (ENG)

Note1) The "xx" indicate the arm length, "yy"indicate J3-axis stroke.

Note2) This robot's protection specification is IP54. Although bellows are not installed at the shaft, please give the dealer an order if needed. As long as there is no special description, refers to the details of RH-6FHxxyyM (oil-mist specification).

Note3) The specification and the handling method of the controller are the same as standard type controller CR750-06HD-1.

Note4) This robot is the clean specification. As long as there is no special description, refers to the contents of RH-6FHxxyyC

(clean specification).

1.4 Indirect export

The display in English is available by setting parameter LNG as "ENG."

1.5 Instruction manuals

The instruction manuals supplied in CD-ROM, except for the Safety Manual. This CD-ROM (electronic manual) includes instruction manuals in both Japanese and English versions.

CE marking specifications

1-4

1.6 Contents of the structural equipment

1.6.1 Robot arm

The list of structural equipment is shown in below.

RH-6FH series

Horizontal four-axis multiple-jointed type

(RH-6FH series)

Machine cable

(Standard product:

5m attachment)

* Refer to

Page 10, "2.1 Standard specifications" for details on the specifications.

Solenoid valve set

・ 1F-VD0*-01 (Sink type)

・ 1F-VD0*E-01 (Source type)

(*: 1 to 4 = 1 set to 4 set)

*With hand output cable.

Hand output cable

・ 1F-GR60S-01 (4sets)

Machine cable

(Fix type : 2m)

・ 1S-02UCBL-01

Machine cable extension

・ Fix type: 1S- □□ CBL-01 (extension type)

・ Flex type: 1S- □□ LCBL-01 (extension type)

1S- □□ LUCBL-01 (direct type)

Note1) □□ refer the length. Refer to Table 1-3

for details.

Changes J1 axis operating range

・ 1F-DH-01

Internal Wiring/Piping set for hand

・ 1F-HS408S-01 (200mm stroke)

・ 1F-HS408S-02 (340mm stroke)

Pneumatic hand customer-manufactured parts

This option

External Wiring/Piping box

・ 1F-UT-BOX

Pull out Wiring/Piping

This option

Hand input cable

・ 1F-HC35C-01

Hand curl tube

・ 1E-ST0408C-300

[Caution]

Standard configuration equipment

Special specifications

Fig.1-1 : Structural equipment (RH-6FH series)

1-5

Contents of the structural equipment

Option

Prepared by customer

RH-12FH/20FH series

Horizontal four-axis multiple-jointed type

(RH-12FH/20FH series)

* Refer to

Page 10, "2.1 Standard specifications" for details on the specifications.

Solenoid valve set

・ 1S-VD0*-01 (Sink type)

・ 1S-VD0*E-01 (Source type)

(*: 1 to 4 = 1 set to 4 set)

* With hand output cable.

Hand output cable

・ 1F-GR60S-01 (4sets)

Hand input cable

・ 1F-HC35C-02

Machine cable

(Standard product:

5m attachment)

Machine cable

(Fix type : 2m)

・ 1S-02UCBL-01

Machine cable extension

Fix type:1S- □□ CBL-01

Flex type:1S- □□ LCBL-01

Note1) □□ refer the length. Refer to Table 1-3

for details.

Note2) Connect the extension cables to the arm side of the standard cable to extend.

Changes J1 axis operating range

・ 1F-DH-02

Internal Wiring/Piping set for hand

・ 1F-HS604S-01(350mm stroke)

・ 1F-HS604S-02(450mm stroke)

Pneumatic hand customer-manufactured parts

This option

External Wiring/Piping box

・ 1F-UT-BOX-01

Pull out Wiring/Piping

This option

Hand curl tube

・ 1N-ST0608C-01

[Caution]

Standard configuration equipment

Special specifications

Fig.1-2 : Structural equipment (RH-12FH/20FH series)

Option

Prepared by customer

Contents of the structural equipment

1-6

1

General configuration

1.6.2 Controller

The devices shown below can be installed on the controller.

The controllers that can be connected differ depending on the specification of the robot. (Refer to Page 2, "1.2

Model type name of robot" .)

Drive unit

・ RH-6FH: DU750-06HQ-1

・ RH-12FH: DU750-12HQ-1

・ RH-20FH: DU750-20HQ-1

Robot CPU unit

・ Q172DRCPU

*1)

Battery unit

・ Q170DBATC

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

*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-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

RT ToolBox2/RT ToolBox2 mini

RT ToolBox2

・ 3D-11C-WINJ(CD-ROM)

(MS-Windows2000/XP/Vista/7)

RT ToolBox2 mini

・ 3D-12C-WINJ(CD-ROM)

(MS-Windows2000/XP/Vista/7)

Instruction Manual(bookbinding)

・ 5F-RB01-PE01

[Caution]

Standard configuration equipment

Special specifications

1-7

Fig.1-3 : Structural equipment

Options

Prepared by customer

1

General configuration

1.7 Contents of the Option equipment and special specification

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

Table 1-3 : The list of Option equipment and special specification

Item

Stopper for changing the operating range (J1 axis)

1F-DH-01

1F-DH-02

Type Specifications

The stopper parts for J1 axis

The stopper parts for J1 axis

Machine cable

(Replaced to shorter cable)

1S-02UCBL-01 For fixing

(Set of power and signal)

Extended machine cable

Solenoid valve set

1S- □□ CBL-01

1S- □□ LCBL-01

1S- □□ LUCBL-01

For fixing (Set of power and signal)

Extension type

For flexing (Set of power and signal)

Extension type

For flexing (Set of power and signal)

Direct type

1F-VD01-01/VD01E-01 1 set (Sink type)/(Source type)

1F-VD02-01/VD02E-01 2 set (Sink type)/(Source type)

1F-VD03-01/VD03E-01 3 set (Sink type)/(Source type)

1F-VD04-01/VD04E-01 4 set (Sink type)/(Source type)

Hand input cable

1S-VD01-01/VD01E-01 1 set (Sink type)/(Source type)

1S-VD02-01/VD02E-01 2 set (Sink type)/(Source type)

1S-VD03-01/VD03E-01 3 set (Sink type)/(Source type)

1S-VD04-01/VD04E-01 4 set (Sink type)/(Source type)

1F-HC35C-01 Robot side: connector.

Hand side: wire.

Hand output cable

Hand curl tube

1F-HC35C-02

1F-GR60S-01

1E-ST0408C-300

1N-ST0608C-01

External Wiring/Piping box 1F-UT-BOX

1F-UT-BOX-01

Internal Wiring/Piping set for hand

1F-HS408S-01

1F-HS408S-02

1F-HS604S-01

1F-HS604S-02

Simple teaching pendant R32TB

R32TB-15

Highly efficient teaching pendant

R56TB

R56TB-15

Controller protection box

CR750-MB

Robot side: connector.

Hand side: wire.

Robot side: connector

Hand side: wire

For solenoid valve 4set.:Φ4x8

For solenoid valve 4set.:Φ6x4

For solenoid valve 4set.:Φ4x8

For solenoid valve 4set.:Φ4x8

Hand input (eight points) + φ4 eight hoses

Hand input (eight points) + φ4 eight hoses

Hand input (eight points) + φ6 four hoses

Hand input (eight points) + φ6 four hoses

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

IP54

Classification

Note1)

○・ □

Description

This must be installed by the customer.

For RH-6FH series

This must be installed by the customer.

For RH-12FH/20FH series

2m

(A 2m cable is supplied instead of the

5m cable that is supplied as standard)

5、 10、 15m

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

For RH-6FH series.

1F-VD0*-01: Sink type

1F-VD0*E-01: Source type

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

For RH-12FH/20FH series.

1S-VD0*-01: Sink type

1S-VD0*E-01: Source type

The cable is connected to the sensor by the customer.

Attaches the cable clamp (drip proof type) For RH-6FH series

The cable is connected to the sensor by the customer.

Attaches the cable clamp (drip proof type) For RH-12FH/20FH series

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

Curl type air tube

For RH-6FH series

Curl type air tube

For RH-12FH/20FH series

Box which pulls out the Wire/Piping

(Hand I/O cable, Hand curl tube)

For RH-6FH series

Box which pulls out the Wire/Piping

(Hand I/O cable, Hand curl tube)

For RH-12FH/20FH series

Wiring/Piping to pass in the shaft

For RH-6FH series (200mm stroke)

Wiring/Piping to pass in the shaft

For RH-6FH series (340mm stroke)

Wiring/Piping to pass in the shaft

For RH-12FH/20FH series (350mm stroke)

Wiring/Piping to pass in the shaft

For RH-12FH/20FH series (450mm stroke)

With 3-position enable switch IP65

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

Note2)

Contents of the Option equipment and special specification

1-8

1

General configuration

Item Type

RT ToolBox2

(

Personal computer Support software)

RT ToolBox2 mini

(

Personal computer Support software mini)

3D-11C-WINE

3D-12C-WINE

Robot CPU unit connection cable set

2Q-RC-CBL □□ M

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-J3BUS □ M-A

MR-J3BUS30M-B

Instruction Manual 5F-RB01-PE01

CD-ROM

CD-ROM

Specifications

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

RH-6FH/12FH/20FH-Q series

Classification

Note1)

Description

MS-Windows2000/XP/Vista/7

(With the simulation function)

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 .

Note1) ○ : option, □ : special specifications.

Note2) This is provided as standard for the specification with the controller protection box.

1-9

Contents of the Option equipment and special specification

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

(1) RH-6FH series

Table 2-1 : Standard specifications of robot arm

Item Unit

Type

Note1)

Environment

Installation posture

Degree of freedom

Structure

Drive system

Position detection method

Motor capacity J1

J2

J3 (Z)

J4 (θaxis)

Brake

Arm length № 1 arm

№ 2 arm

Max.reach radius( № 1+ № 2)

Operating range J1

J2

J3 (Z) mm

Speed of motion

Note3)

J4 (θaxis)

J1

J2

J3 (Z) deg deg/s deg/s mm/s

Maximum horizontal composite speed

Note4)

J4 (θaxis) deg/s mm/s

Cycle time

Note5) sec

Load

Z axis pressing force

Note6)

Rating

Maximum

Maximum kg

(N)

N mm mm mm deg deg

Specifications

RH-6FH3520/3534

RH-6FH3520C/3534C

RH-6FH3520M/3534M

125

350

RH-6FH4520/4534

RH-6FH4520C/4534C

RH-6FH4520M/4534M

Blank: Standard specification

C: Clean specification

M: Oil mist specification

Note2)

On floor

4

Horizontal, multiple-joint type

AC servo motor

Absolute encoder

750

400

200

100

J1, J2, J4: no brake, J3: with brake

225

225

450

±170

±145

RH-6FH**20/**20C/**20M: 200 (+133 to +333)

RH-6FH**34: 340 (-7 to +333)

RH-6FH**34C/**34M: 340 (-43 to +297)

±360

400

670

2,400

2,500

RH-6FH5520/5534

RH-6FH5520C/5534C

RH-6FH5520M/5534M

325

550

6,900 7,600

0.29

3

6

165

8,300

Allowable inertia Rating

Maximum

Pose repeatability

Note7)

X-Y direction

J3 (Z)

J4 (θaxis)

Ambient temperature

Mass

Tool wiring

Tool pneumatic pipes

Supply pressure

Protection specification

Note10)

Painting color kg ・ m

2 mm mm deg

℃ k

MPa

±0.010

0.01

0.12

±0.010

±0.012

±0.010

±0.004

0 to 40

36

37

・ Input 8 points/Output 8 points, (total 20 cores)

・ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

・ Ethernet cable   one cable (100BASE-TX, eight cores)

Note8)

Primary: φ6 x two hoses, Secondary: φ4 x eight hoses

Note9)

0.5±10%

Standard specification: IP20

Clean specification: ISO class 3

Note11)

Oil mist specification: IP65

Note12) Note13)

CE Marking specification: IP54

Note13) Note14)

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

Standard specifications

2-10

2Robot arm

Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist specification. The type in which operating range of J3 axis (Z) is 200mm and 340mm are shown together.

Note2) The oil-mist specification of CE specification is the standards.

Note3) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

Note4) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

Note5) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of

2kg.

・ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

300

Note6) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the

J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note7) The pose repeatability details are given in

Page 16, "2.2.1 Pose repeatability"

.

Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.

Note9) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown on

Page 84, "(3) Solenoid valve set" .

Note10) The protection specification details are given in Page 25, "2.2.7 Protection specifications" .

Note11) The details of the clean specifications are described in

Page 27, "2.2.8 Clean specifications" . Protection of the

cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction is

30-50 L/min. A φ8 joint is prepared at the base rear part for suction.

The protection specification details are given in

Page 25, "2.2.7 Protection specifications"

.

Note12) Direct jet flow to the bellows section is not included.

Note13) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the operation environment. A robot equipped with the controller protection box as standard is available.

Note14) Please contact dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. (IP54 of the CE specifications prevent direct jet to the shaft.) Mounting a bellows to the shaft tip makes the protection degree compliant with IP65. However, avoid direct jet to the bellows. For the method to mount the bellows, consult with the dealer.

2-11

Standard specifications

2Robot arm

(2) RH-12FH series

Table 2-2 : Standard specifications of robot arm

Item Unit

Type

Note1)

Environment

Installation posture

Degree of freedom

Structure

Drive system

Position detection method

Motor capacity J1

J2

J3 (Z)

J4 (θaxis)

Brake

Arm length № 1 arm

№ 2 arm

Max.reach radius( № 1+ № 2)

Operating range J1

J2

J3 (Z) mm

Speed of motion

Note2)

J4 (θaxis)

J1

J2

J3 (Z) deg deg/s deg/s mm/s

Maximum horizontal composite speed

Note3)

J4 (θaxis) deg/s mm/s

Cycle time

Note4) sec

Load

Z axis pressing force

Note5)

Rating

Maximum

Maximum kg

(N)

N mm mm mm deg deg

Specifications

RH-12FH5535/5545

RH-12FH5535C/5545C

RH-12FH5535M/5545M

225

550

RH-12FH7035/7045

RH-12FH7035C/7045C

RH-12FH7035M/7045M

Blank: Standard specification

C: Clean specification

M: Oil mist specification

On floor

4

Horizontal, multiple-joint type

AC servo motor

Absolute encoder

750

750

400

200

J1, J2, J4: no brake, J3: with brake

375

325

700

±170

±145

RH-12FH**35/**35C/**35M: 350 (-10 ~ +340)

RH-12FH**45/**45C/**45M: 450 (-110 ~ +340)

±360

420

450

2,800

2,400

RH-12FH8535/8545

RH-12FH8535C/8545C

RH-12FH8535M/8545M

525

850

±153

280

11,435

12,535 11,350

0.30

3

12

200

Allowable inertia

Rating

Maximum

Pose repeatability

Note6)

X-Y direction

J3 (Z)

J4 (θaxis)

Ambient temperature

Mass

Tool wiring

Tool pneumatic pipes

Supply pressure

Protection specification

Note9) kg ・ m

2 mm mm deg

℃ kg

MPa

±0.012

0.025

0.3

±0.015

±0.010

±0.005

0 to 40

67 65 69

・ Input 8 points/Output 8 points, (total 20 cores)

・ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

・ Ethernet cable   one cable (100BASE-TX, eight cores)

Note7)

Primary: φ6 x two hoses, Secondary: φ4 x eight hoses

Note8)

0.5±10%

Standard specification: IP20

Clean specification: ISO class 3

Note10)

Oil mist specification: IP65

Note11) Note12)

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

Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist specification. The type in which operating range of J3 axis (Z) is 350mm and 450mm are shown together.

Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

Standard specifications

2-12

2Robot arm

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of

2kg.

・ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

300

Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the

J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note6) The pose repeatability details are given in

Page 16, "2.2.1 Pose repeatability"

.

Note7) The 8-wire cable designated for LAN wiring can also be used for backup wiring.

Note8) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown on

Page 84, "(3) Solenoid valve set" .

Note9) The protection specification details are given in

Page 25, "2.2.7 Protection specifications"

.

Note10) The details of the clean specifications are described in

Page 27, "2.2.8 Clean specifications" . Protection of the

cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction is

60-140 L/min. A φ8 joint is prepared at the base rear part for suction.

Note11) Direct jet flow to the bellows section is not included.

Note12) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the operation environment. A robot equipped with the controller protection box as standard is available.

2-13

Standard specifications

2Robot arm

(3) RH-20FH series

Table 2-3 : Standard specifications of robot arm

Item Unit

Type

Note1)

Environment

Installation posture

Degree of freedom

Structure

Drive system

Position detection method

Motor capacity J1

J2

J3 (Z)

J4 (θaxis)

Brake

Arm length № 1 arm

№ 2 arm

Max.reach radius( № 1+ № 2)

Operating range J1

J2

J3 (Z) mm mm mm deg deg

W mm

Speed of motion

Note2)

J4 (θaxis)

J1

J2

J3 (Z) deg deg/s deg/s mm/s

Maximum horizontal composite speed

Note3)

J4 (θaxis) deg/s mm/s

Cycle time

Note4) sec

Load

Z axis pressing force

Note5)

Rating

Maximum

Maximum kg

(N)

N

Specifications

RH-20FH8535/8545

RH-20FH8535C/8545C

RH-20FH8535M/8545M

RH-20FH10035/10045

RH-20FH10035C/10045C

RH-20FH10035M/10045M

Blank: Standard specification

C: Clean specification

M: Oil mist specification

On floor

4

Horizontal, multiple-joint type

AC servo motor

Absolute encoder

750

750

400

200

J1, J2, J4: no brake, J3: with brake

525

325

850

475

1,000

±170

±153

RH-20FH**35/**35C/**35M: 350 (-10 ~ +340)

RH-20FH**45/**45C/**45M: 450 (-110 ~ +340)

±360

280

450

2,400

1,700

11,372

0.30

5

20

230

13,283

0.36

Allowable inertia

Rating

Maximum

Pose repeatability

Note7)

X-Y direction

J3 (Z)

J4 (θaxis)

Ambient temperature

Mass

Tool wiring

Tool pneumatic pipes

Supply pressure

Protection specification

Note10) kg ・ m

2 mm mm deg

℃ kg

MPa

±0.015

0.065

1.05

Note6)

±0.020

±0.010

±0.005

0 to 40

75 77

・ Input 8 points/Output 8 points, (total 20 cores)

・ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

・ Ethernet cable   one cable (100BASE-TX, eight cores)

Note8)

Primary: φ6 x two hoses, Secondary: φ4 x eight hoses

Note9)

0.5±10%

Standard specification: IP20

Clean specification: ISO class 3

Note11)

Oil mist specification: IP65

Note12) Note13)

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

Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist specification. The type in which operating range of J3 axis (Z) is 350mm and 450mm are shown together.

Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1,

J2, and J4. The control point is the position offset by the rated inertia from the flange.

Standard specifications

2-14

2Robot arm

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg.

・ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

300

Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note6) When offset hand is used, the adjustment of moving speed and acceleration/deceleration speeds may be the Required.

Refers to it, because the details is shown in Page 17, "2.2.2 Rated load (mass capacity)"

.

Note7) The pose repeatability details are given in

Page 16, "2.2.1 Pose repeatability"

.

Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.

Note9) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electro-

magnetic valve (optional) are shown on Page 84, "(3) Solenoid valve set"

.

Note10) The protection specification details are given in Page 25, "2.2.7 Protection specifications" .

Note11) The details of the clean specifications are described in

Page 27, "2.2.8 Clean specifications" . Protection of the

cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction is 60-140 L/min. A φ8 joint is prepared at the base rear part for suction.

Note12) Direct jet flow to the bellows section is not included.

Note13) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the operation environment. A robot equipped with the controller protection box as standard is available.

2.1.2 The counter-force applied to the installation surface

The counter-force applied to the installation surface for the strength design of the robot installation surface is shown.

Table 2-4 : Value of each counter-force

Unit Value Item

RH-6FH series

Falls moment: M

L

Torsion moment: M

T

Horizontal translation force: F

H

Vertical translation force: F

V

RH-12FH/20FH 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

N•m

N•m

N

N

1,640

710

1,653

2,318

3,190

1,840

2,240

2,500

2-15

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 relation to the teaching position during repeated operations

2) When the speed at teaching and the speed at execution are different

[2] Load fluctuation factor

1) When work is present/absent in repeated operations

[3] Disturbance factor during operation

1) Even if approaching from the same direction and orientation to the teaching position, when the power is turned OFF or a stop operation is performed halfway

[4] Temperature factors

1) When the operating environment temperature changes

2) When accuracy is required before and after a warm-up operation

[5] Factors due to differences in accuracy definition

1) When accuracy is required between a position set by a numeric value in the robot's internal coordinate system and a position within the actual space

2) When accuracy is required between a position generated by the pallet function and a position within the actual space

Definition of specifications

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2 Robot arm

2.2.2 Rated load (mass capacity)

The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the following issues.

(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable

moment found in Page 10, "2.1.1 Basic specifications"

.

(2)

Fig. 2-1 shows the distribution dimensions for the center of gravity in the case where the volume of the

load is relatively small. Use this figure as a reference when designing the tooling.

Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in Fig. 2-1

to

Fig. 2-3 , when loading mass is maximum (RH-6FH: 6kg, RH-12FH: 12kg, RH-20FH: 20kg).

(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allowable moment. Refer to

Page 10, "Table 2-1" to Page 14, "Table 2-3"

for details of allowable moment value.

[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.

Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceleration, the operating speed, and the motion posture.

[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling.

Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note that if the point of operation is kept away from the mechanical interface surface by long and low-rigid tooling, the positioning accuracy may deteriorate or may cause vibration.

Note that the allowable offset value (Z direction) from the lower edge of the shaft to the position of center of gravity is 100 mm.

[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascending operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending speed.

[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position separates from the shaft center. Refer to

Page 19, "2.2.3 Relationships Among Mass Capacity, Speed, and

Acceleration/Deceleration Speed"

in detail. When the load center-of-gravity position separate from the center of shaft (RH-6FH: more than 140mm, RH-12FH: more than 150mm, RH-20FH: more than 120mm), an overload alarm may occur depending on the posture. In this case, please reduce acceleration and deceleration (Accel command) speeds and movement speed (Ovrd command). Although the standard value to reduce is 50% for each command, please adjust corresponding to the movement posture. Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details of each command.

60mm (3kg)

140mm (6kg)

Allowable moment of inertia

Fig.2-1 : Position of center of gravity for loads (for loads with comparatively small volume): RH-6FH series

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2 Robot arm

85mm (3kg)

150mm (12kg)

Allowable moment of inertia

Fig.2-2 : Position of center of gravity for loads (for loads with comparatively small volume): RH-12FH series

110mm (5kg)

230mm (20kg)

300mm (12kg)

Allowable moment of inertia

Fig.2-3 : Position of center of gravity for loads (for loads with comparatively small volume): RH-20FH series

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2 Robot arm

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed

This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to the load capacity and size that have been set, and operates using these automatically set speeds.

To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.

However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending on the robot operation pattern or ambient temperature.

In this case, reduce the speed and the acceleration and deceleration rate before continuing to use. This is done by accessing the robot program and adjusting the speed settings (Ovrd) and the acceleration and deceleration settings (Accel).

If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism elements used in the robot may be shortened. In the case of a work requiring a high degree of accuracy, set up the load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.

(1) Setting Load Capacity and Size (Hand Conditions)

Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8 can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using the "LoadSet" command in a program.

For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations."

It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".

<Factor default settings>

Hand mass kg size X mm size Y mm size Z mm center-of-gravity position X mm center-of-gravity position Y mm center-of-gravity position Z mm

RH-6FH series

HNDDAT*

WRKDAT*

RH-12FH series

HNDDAT*

WRKDAT*

RH-20FH series

HNDDAT*

WRKDAT*

6.0

0.0

12.0

0.0

20.0

0.0

99.0

0.0

165.0

0.0

165.0

0.0

99.0

0.0

165.0

0.0

165.0

0.0

76.0

0.0

64.0

0.0

109.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

38.0

0.0

16.0

0.0

37.0

0.0

Note) The position of the center of gravity is located at the center of the surface at the bottom of the shaft. Set the X, Y and Z center of gravity positions for the tool coordinate directions (the Z center of gravity position will be a plus for downward directions).

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

Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These vibrations at the tip of the arm can be reduced by taking the following measures:

1) Change the robot's operating speed by using the Ovrd command.

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

3) Change the hand mass and hand inertia.

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2.2.5 Vibration of shaft (J3 axis) position and arm end

Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes

long. When this vibration affects the robot's operations, please change operating speed etc. like the above Page

19, "2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot" .

(1) Relationship Between Mass Capacity and Speed

A function to optimize the maximum speed of each axis according to the setting value of the load capacity will be

activated (Refer to Fig. 2-4 ).

However, this function does not work with the following load mass:

RH-6FH/12FH series: 3kg or less

RH-20FH series: 5kg or less

When the setting of the load mass is changed to following, the maximum speed is compensated according to the load mass:

RH-6FH/12FH series: 3kg or heavier

RH-20FH series: 5kg or heavier

[CAUTION] Depending on the operation pattern, the speed and/or acceleration/deceleration at the front edge may not be parallel with the speed and the rate of change of acceleration/deceleration specified in a program.

RH-6FH series

100

68

100

RH-12FH series RH-20FH series

100

(%)

0

0 3 6

(%)

52

0

0 3 6 9 12

(%)

50

0

0

5 10 15

20

Fig.2-4 : Automatic compensation of speed

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2 Robot arm

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed

A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-5 ,

Fig. 2-6

) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2-5

.

Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-5

if the position of the center of gravity of the load is located at the front edge of the shaft.

This function contains both a standard acceleration and deceleration pattern and a high acceleration and deceleration pattern, both of which can be selected in the parameters. The original settings are set to the standard acceleration and deceleration pattern, which enables operation while keeping vibration at the shaft tip (including residual vibration) to a minimum. Users are also able to select the high acceleration and deceleration pattern and operate the robot at high speed. When doing so, users should make sure that additional vibration will not have a negative impact on work carried out by the robot. Where necessary the pattern should be changed, allowing the robot to be used in the most effective way.

The relevant parameter names and their set values are shown below. For more details about parameters and how to change them, please refer to the separate “Instruction Manual/Detailed Explanation of Functions and

Operations”.

Parameter name.....................MAPMODE (acceleration and deceleration optimization pattern selected)

Set value and function.........0: Standard acceleration and deceleration pattern (original setting)

1: High acceleration and deceleration pattern

Area in which speed and acceleration/deceleration speed are not compensated

補正しない領域

Area in which speed and acceleration/deceleration speed are compensated

P1

P3

P2

Fig.2-5 : Area in which acceleration/deceleration speed is compensated

Table 2-5 : Area in which acceleration/deceleration speed is compensated

J3 axis stroke (mm)

Type

Stroke length

P1(Upper end)

P2(Lower end)

Compensation area

(P2 to P3)

RH-6FH series

Note1)

RH-12FH/20FH series

340

350

450

333

340

340

-7

-10

-110

-7 to 133

-10 to 240

-110 to 155

Note1) When stroke of J3 axis is 200mm this function is not operate.

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2 Robot arm

RH-6FH series

J3 axis (Z) stroke

340mm

(Standard Acceleration/deceleration speed)

100

50

(%)

2

0

333

133 73 -7

J3 axis (Z) stroke

340mm

(High acceleration and deceleration rate)

100

(%)

50

34

0

333 133 73 -7

RH-12FH series

J3 axis (Z) stroke

350/450mm

(Standard Acceleration/deceleration speed)

100

65

(%)

38

20

0

340 240

140

0 -110

-10

シャフト位置(mm)

RH-20FH series

J3 axis (Z) stroke

350/450mm

(Standard Acceleration/deceleration speed)

100

(%)

50

37

20

0

340

155 70 0

-110

-10

J3 axis (Z) stroke

350/450mm

(Standard Acceleration/deceleration speed)

100

65

61

58

(%)

0

340 240

140

J3 axis (Z) stroke

350/450mm

(Standard Acceleration/deceleration speed)

100

(%)

50

41

30

0

340

155 70 0

-110

-10

Fig.2-6 : Automatic compensation of acceleration/deceleration speed

0

-110

-10

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2 Robot arm

(3) Relation between offset length and the maximum speed

(%)

100

76

50

0

<RH-6FH**20>

0

30 60

140

100

70

<RH-6FH**34>

(%)

40

0

0 20

40

140

<RH-12FH**35/**45>

100

91

<RH-20FH**35/**45>

100

62

(%)

0

0

92

150

(%)

0

0

115

230

Fig.2-7 : Relationship of the offset length and maximum velocity

[Supplementary explanation 1]: The setting which shortens execution time

The execution time can be improved by using the following methods.

1) Perform continuous path operation using the Cnt command.

2) Control the optimum acceleration/deceleration using the Oadl command.

3) Control the optimum speed using the Spd command.

4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maximum 100)

The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a

short wait time (setting of B in the Fig. 2-8 ).

This setting is suited for continuous operations that have a short tact time, such as palletizing work.

Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/ deceleration speed can be increased by initial setting (setting of A in the

Fig. 2-8 ).

However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.

Tact time/

1 cycle

Operation time

Wait time

A

B

Acceleration/deceleration speed [m/sec

2

]

= optimum acceleration/deceleration speed [m/sec

2

]

Increased acceleration/deceleration speed x Accel instruction [%] x parameter JADL [%]

Fig.2-8 : Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)

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2 Robot arm

(4) Time to reach the position repeatability

When using this robot, the time to reach the position repeatability may be prolonged due to the effect of residual vibration at the time of stopping. If this happens, take the following measures:

1) Change the operation position of the Z axis to the location near the top as much as possible.

2) Increase the operation speed prior to stopping.

3) When positioning the work near the bottom edge of the Z axis, if no effectiveness is achieved in step ② above, perform operation ① (robot path: O → A → C). In the case of operation 2 (robot path: O → B →

C), residual vibration may occur. (Refer to Fig. 2-9 .)

A

O

B

Fig.2-9 : Recommended path when positioning at the bottom edge of the Z axis

2.2.6 Collision detection

This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, and the initial setting has set this function as the enable to suppress damage to the minimum.

Although the enable/disable of this function can be changed by parameter: COL and command: ColChk, you should use in valid condition of this function for protection of the robot and of the peripheral equipment.

The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold condition, the operation after long term stoppage)

In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection level according to actual use environment, the sensitivity of collision detection can be optimized and the damage risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate by accustoming at low speed (warm-up), or use the warm-up operation mode.

Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related parameter.

Table 2-6 : Factory-shipments condition

JOG operation

RH-6FH/12FH/20FH series Valid

Automatic

Invalid

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2 Robot arm

2.2.7 Protection specifications

(1) Types of protection specifications

The robot arm has protection specifications that comply with the IEC Standards. The protection specifications and applicable fields are shown in

Table 2-7 .

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

Table 2-7 : Protection specifications and applicable fields

Type

Protection specifications

(IEC Standards value)

Classification

RH-6FHxx20/xx34

RH-12FHxx35/xx45

RH-20FHxx35/xx45

RH-6FHxx20M/xx34M

RH-6FHxx20-SM/xx34-

SM

Note1)

RH-12FHxx35M/xx45M

RH-12FHxx35M-SM/

xx45M-SM

Note1)

RH-20FHxx35M/xx45M

RH-20FHxx35M-SM/

xx45M-SM

Note1)

RH-6FHxx20-S15/xx34-

S15

Robot arm: IP20

Robot arm: IP65

(Direct jet flow to the bellows section is not included.)

Robot arm: IP54

(Direct jet flow to the bellows section is not included.)

General-purpose environment specifications

Oil mist specifications

CE marking specifications

Applicable field

General assembly

Slightly dusty environment

Remarks

Machine tool (cutting)

Machine shop with heavy oil mist

Dusty work shop

Note that if the cutting machine is using abrasive materials, the robot's life will be shortened.

Machine tool (cutting)

Machine shop with heavy oil mist

Dusty work shop

Note that if the cutting machine is using abrasive materials, the robot's life will be shortened.

Note1) The "-SM" specification comes with the controller protection box (CR750-MB) as standard.

CAUTION

Use the controller protection box to protect the controller from the environment when the controller will be used in the environment such as the oil mist shown in the

Table 2-7

.

The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective structure against the entry of oil or water.

The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the robot with the liquids, such as the water and the oil.

【Information】

・ The IEC IP20

It indicates the protective structure that prevents an iron ball 12

0 mm diameter, which is being pressed with the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.

・ The IEC IP54

The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm, with 10 ± 0.5 liters of water every minute, at a water pressure of 80 to 100kPa, covering the entire area of the robot with the exception of the installation section at 1 ㎡ per minute, for a total of 5 minutes or more.

・ The IEC IP65

Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully affected when 12.5±5% liters of water is supplied from a test device at a position approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section. The water is filled one minute per 1m2 of test device surface area for a total of three minutes.

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2 Robot arm

(2) About the use with the bad environment

The protection specifications robot has protection methods that conform to IEC's IP65 standards. (Direct jet flow to the bellows section is not included.)

It has protection structure designed to prevent harmful effects caused by splashing water coming from various directions, as the robot is operating. (Direct jet flow to the bellows section is not included.)

Recommended usage conditions

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

2) Robot's protection performance can be improved by pressurizing its interior. If you use a robot in an environment where oil mist is present, it is recommended that the interior of the robot be pressurized to ensure its reliability over a long period of time. Use the provided φ8 joint (AIR PURGE) to supply dry air for pressurizing. The φ8 joint (AIR PURGE) can be found at the base rear part of the robot arm.

Table 2-8 : Specification of the dry air for pressurization

Item Dew point Pressure

Specification The atmospheric pressure dew point is -

20 degree or less.

0 to 3kPa

3) We are confirming examining with the cutting oil, and satisfying protection specification. Our warranty does not cover damages or failure resulting from the robot being operated in any environment where other cutting oils than those listed in the table are used (except cutting oils with respect to which the robot's compatibility with the protection specification is verified through our operability evaluation) or where the robot body may be directly splashed with water, oil or dust in quantities larger than stated in the protection specification.

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

5) The packing gets deteriorated with the passage of time and must be replaced as required.

Table 2-9 pro-

vides guidelines for replacing the packing.

Table 2-9 : Packing replacement guideline

Environment

Whether or not robot is pressurized

When packing must be replaced

General environment

Clean room

Oil mist

Not pressurized

Note1)

Not pressurized

Note1)

Pressurized

Not pressurized

When signs of cracking or peeling are noted in the packing.

When removing and installing the cover.

Note1)

The pressurization inside the robot arm is unnecessary in general environment and clean room environment.

Failure to replace deteriorated packing permits water or oil to enter the interior of the robot, possibly causing it to become inoperable.

Packing required and liquid gasket used therewith are available from dealer.

Also, entrained water droplets lead to the formation of rust on the robot, but would not usually affect the robot's ability to operate normally.

The warranty is invalid for any faults that occur when the robot is used under the following conditions.

Also, if the cover and/or other parts are damaged by interferences caused by the peripheral devices and the robot, the protection specification (seal performance, etc.) may be degraded. Therefore, please pay extra attention when handling the robot.

Refer to Page 151, "6.2 Working environment"

.

1) In surroundings that generate inflammable gases or corrosive gasses.

2) Atmosphere of the mist containing polish liquid etc.

3) Atmosphere in which the water, the oil, and the dust exceeding protection specification fall on the robot arm directly.

4) Pressurization by the dry air exceeding the specification of Table 2-8 .

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2.2.8 Clean specifications

(1) Types of clean specifications

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

Table 2-10 : Clean specifications

Type Degree of cleanliness Internal suction Remarks

RH-6FHxx20C/xx34C

RH-12FHxx35C/xx45C

RH-20FHxx35C/xx45C

ISO class 3

Note1)

・ Suck the inside of robot arm with vacuum pump. (prepared by customer)

・ Use it in the clean room with the down flow (flow velocity 0.3 m/s above).

The use of a vacuum generating valve is recommended.

Note1) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot internal suction of RH-6FH series: 30-50L/min、 RH-12FH/20FH series: 60-140L/min, and installation of an exhaust duct at the rear of the robot’s main base. A φ8 joint is prepared at the rear of the base for suction.

■ Precautions for use

1) A φ8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.

(Refer to Fig. 2-48

) When using the robot, connect this coupling with the vacuum generating valve (Refer to

Table 2-11 ) and vacuum pump (furnished by the customer).

2) To suck in the robot arm, use the vacuum generator of the specification shown in following a) and b).

a) When using the vacuum generator

Table 2-11 : Specifications of vacuum generation valve (Confirmed in our company)

Type Maker

Air pressure

Note1)

Quantity

MEDT 14 KONEGAI CORPORATION ・ Vacuum rate: 90.0 L/min(ANR) RH-6FH series : 1

RH-12FH/20FH series : 2

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

b) When using the vacuum pump

Assure the vacuum flow rate of RH-6FH series: 30-50L/min and of RH-12FH/20FH series: 60-140L/min.

And, secure the exhaust course from the pump not to affect the power supply and the cleanness for the vacuum pumps. RH-12FH/20FH has two VACUUME couplings. Please be sure to suck in using both of couplings.

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2 Robot arm

3) Remove the CONBOX cover on the robot arm rear and install the attached ventilation duct (refer to

Fig. 2-

10

). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out of the robot’s ventilation duct opening. Be sure to locate the ventilation duct’s opening in a position that will not affect the robot’s cleanliness.

Furthermore, whilst it is only a small amount, internal suction results in external air flowing into the robot through the ventilation duct’s opening, and therefore the following two points should be considered when deciding where to locate the ventilation duct’s opening.

・ The opening should be facing downwards

・ The opening should not be located in the vicinity of dust/dirt or liquids, etc.

(Recommended cleanliness of surrounding area: less than ISO class 5)

CONBOX cover

Robot base

Ventilation duct

(with attached plate cover)

Opening

Internal section

Machine cable

Fig.2-10 : Installation of Exhaust Duct

4) When using the optional electromagnetic valve set, we recommend using the primary piping’s spare piping

(φ6 air hose) to release the exhaust fumes.

Please take care as leaking exhaust fumes inside the robot may have an impact on the robot’s cleanliness.

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2.3 Names of each part of the robot

- +

- +

A

Note1)

- +

Robot

ベース

View A

Enabling switch

(Hold down to the left or the right.)

Note 1) The operation method of the brake release switch.

The brake of J3 axis can be released with this switch and the enabling switch of T/B. The brake is released in an off-and-on way.

Please be sure to perform brake release operation by two-person operations. Always assign an operator other than the switch operator to prevent the arm from dropping. This operation must be carried out with the switch operator giving signals.

CAUTION

When releasing the brake the J3 axis will drop. Be sure to perform brake release operation by twoperson operations.

(1) One person supports so that the J3 axis may not drop.

(2) The one more person pushes the brake release switch of the robot arm, in the condition that the enabling switch of T/B is turned on. Only when both switches are pressed, the brake is released in an off-and-on way.

T/B

Fig.2-11 : Names of each part of the robot

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Names of each part of the robot

2.4 Outside dimensions ・ Operating range diagram

2.4.1 Outside dimensions ・ Operating range diagram (RH-6FH series)

(1) Standard Specification

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) Minimum radius of bending the machine cable.

2 Robot arm

*3)

*2)

*2)

*1)

Note) Refer to

Fig. 2-44 for the mechanical interface section and installation base section dimensions.

Fig.2-12 : Outside dimensions of RH-6FH35xx

Outside dimensions ・ Operating range diagram

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2 Robot arm

Installation surface

Fig.2-13 : Operating range diagram of RH-6FH35xx

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Outside dimensions ・ Operating range diagram

2 Robot arm

*3)

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) Minimum radius of bending the machine cable.

*2)

*2)

*1)

Note) Refer to

Fig. 2-44 for the mechanical interface section and installation base section dimensions.

Fig.2-14 : Outside dimensions of RH-6FH45xx

Outside dimensions ・ Operating range diagram

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2 Robot arm

Installation surface

Fig.2-15 : Operating range diagram of RH-6FH45xx

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Outside dimensions ・ Operating range diagram

2 Robot arm

*3) Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) Minimum radius of bending the machine cable.

*2)

*2)

*1)

Note) Refer to Fig. 2-44

for the mechanical interface section and installation base section dimensions.

Fig.2-16 : Outside dimensions of RH-6FH55xx

Outside dimensions ・ Operating range diagram

2-34

2 Robot arm

Installation surface

Fig.2-17 : Operating range diagram of RH-6FH55xx

2-35

Outside dimensions ・ Operating range diagram

(2) Clean Specification and oil mist specification

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/piping.

Six places on both-sides of No.2 arm, Two places on front surface.

*3) The duct (φ25, length: 3m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the duct.

2 Robot arm

Note1) Refer to

Fig. 2-44 for the mechanical interface section and installation

base section dimensions.

Note2) Bellows are not installed in the CE Marking specification. Please give an order to the dealer if needed.

CE Marking specification.

Fig.2-18 : Outside dimensions of RH-6FH35xxC/M

Outside dimensions ・ Operating range diagram

2-36

2 Robot arm

Installation surface

Fig.2-19 : Operating range diagram of RH-6FH35xxC/M

2-37

Outside dimensions ・ Operating range diagram

2 Robot arm

Note

*

1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface.

*3) The duct (φ25, length: 3m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the duct.

*2)

*2)

*3)

*3)

*1)

Note1) Refer to Fig. 2-44

for the mechanical interface section and installation base section dimensions.

Note2) Bellows are not installed in the CE Marking specification. Please give an order to the dealer if needed.

CE Marking specification.

Fig.2-20 : Outside dimensions of RH-6FH45xxC/M

Outside dimensions ・ Operating range diagram

2-38

2 Robot arm

Installation surface

Fig.2-21 : Operating range diagram of RH-6FH45xxC/M

2-39

Outside dimensions ・ Operating range diagram

2 Robot arm

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes (M4 depth

6mm) for fixing user wiring/piping.

Six places on both-sides of No.2 arm, Two places on front surface.

*3) The duct (φ25, length: 3m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the duct.

*2)

*2)

*3)

*3)

*1)

Note1) Refer to Fig. 2-44

for the mechanical interface section and installation base section dimensions.

Note2) Bellows are not installed in the CE Marking specification. Please give an order to the dealer if needed.

CE Marking specification.

Fig.2-22 : Outside dimensions of RH-6FH55xxC/M

Outside dimensions ・ Operating range diagram 2-40

2 Robot arm

Installation surface

Fig.2-23 : Operating range diagram of RH-6FH55xxC/M

2-41

Outside dimensions ・ Operating range diagram

2.4.2 Outside dimensions ・ Operating range diagram (RH-12FH series)

(1) Standard Specification

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing

user wiring/piping. (Refer to Fig.

2-49

)

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/ removing the cover.。

*4)

640mm (450mm stroke)

540mm (350mm stroke)

±3

2 Robot arm

*2)

±3

*2)

*1)

*3)

Note) Refer to Fig. 2-45

for the mechanical interface section and installation base section dimensions.

Fig.2-24 : Outside dimensions of RH-12FH55xx

Outside dimensions ・ Operating range diagram 2-42

2 Robot arm

Installation surface

Fig.2-25 : Operating range diagram of RH-12FH55xx

2-43

Outside dimensions ・ Operating range diagram

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig.

2-49 )

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/ removing the cover.。

*4)

640mm (450mm stroke)

540mm (350mm stroke)

±3

2 Robot arm

±3

*2)

*2)

*1)

*3)

Note) Refer to

Fig. 2-45 for the mechanical interface section and installation base section dimensions.

Fig.2-26 : Outside dimensions of RH-12FH70xx

Outside dimensions ・ Operating range diagram 2-44

2 Robot arm

Installation surface

Fig.2-27 : Operating range diagram of RH-12FH70xx

2-45

Outside dimensions ・ Operating range diagram

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig.

2-49 )

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/ removing the cover.。

*4)

640mm (450mm stroke)

540mm (350mm stroke)

±3

*2)

*2)

2 Robot arm

±3

*1)

*3)

Note) Refer to

Fig. 2-45 for the mechanical interface section and installation base section dimensions.

Fig.2-28 : Outside dimensions of RH-12FH85xx

Outside dimensions ・ Operating range diagram 2-46

2 Robot arm

Installation surface

Fig.2-29 : Operating range diagram of RH-12FH85xx

2-47

Outside dimensions ・ Operating range diagram

(2) Clean Specification and oil mist specification

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig. 2-49 )

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/ removing the cover.。

*5) The duct (φ50, length: 2m) attached to the clean specification.

Be careful for the hand etc. not to interfere and arrange the duct.

*4)

640mm (450mm stroke)

540mm (350mm stroke)

±3

2 Robot arm

±3

*2)

*2)

*5)

*1)

*3)

Note) Refer to Fig. 2-45

for the mechanical interface section and installation base section dimensions.

Fig.2-30 : Outside dimensions of RH-12FH55xxC/M

Outside dimensions ・ Operating range diagram 2-48

2 Robot arm

Installation surface

Fig.2-31 : Operating range diagram of RH-12FH55xxC/M

2-49

Outside dimensions ・ Operating range diagram

2 Robot arm

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig. 2-49 )

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/ removing the cover.。

*5) The duct (φ50, length: 2m) attached to the clean specification.

Be careful for the hand etc. not to interfere and arrange the duct.

*4)

640mm (450mm stroke)

540mm (350mm stroke)

±3

±3

*2)

*2)

*5)

*1)

*3)

Note) Refer to

Fig. 2-45 for the mechanical interface section and installation base section dimensions.

Fig.2-32 : Outside dimensions of RH-12FH70xxC/M

Outside dimensions ・ Operating range diagram 2-50

2 Robot arm

Installation surface

Fig.2-33 : Operating range diagram of RH-12FH70xxC/M

2-51

Outside dimensions ・ Operating range diagram

2 Robot arm

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig. 2-49 )

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/removing the cover.。

*5) The duct (φ50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the duct.

±3

*4)

640mm (450mm stroke)

540mm (350mm stroke)

±3

*2)

*2)

*5)

*1)

*3)

Note) Refer to Fig. 2-45

for the mechanical interface section and installation base section dimensions.

Fig.2-34 : Outside dimensions of RH-12FH85xxC/M

Outside dimensions ・ Operating range diagram 2-52

2 Robot arm

Installation surface

Fig.2-35 : Operating range diagram of RH-12FH85xxC/M

2-53

Outside dimensions ・ Operating range diagram

2.4.3 Outside dimensions ・ Operating range diagram (RH-20FH series)

(1) Standard Specification

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49

)

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/removing the cover.

2 Robot arm

*4)

640mm (450mm ス ト ロー ク )

540mm (350mm ス ト ロー ク )

±3

±3

*2)

*2)

*1)

*3)

Note) Refer to Fig. 2-46

for the mechanical interface section and installation base section dimensions.

Fig.2-36 : Outside dimensions of RH-20FH85xx

Outside dimensions ・ Operating range diagram 2-54

2 Robot arm

Installation surface

Fig.2-37 : Operating range diagram of RH-20FH85xx

2-55

Outside dimensions ・ Operating range diagram

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-49

)

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/removing the cover.。

±3

*4)

640mm (450mm stroke)

540mm (350mm stroke)

2 Robot arm

±3

*2)

*2)

*1)

*3)

Note) Refer to Fig. 2-46

for the mechanical interface section and installation base section dimensions.

Fig.2-38 : Outside dimensions of RH-20FH100xx

Outside dimensions ・ Operating range diagram 2-56

2 Robot arm

Installation surface

Fig.2-39 : Operating range diagram of RH-20FH100xx

2-57

Outside dimensions ・ Operating range diagram

2 Robot arm

(2) Clean Specification and oil mist specification

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig. 2-49

)

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/removing the cover.。

*5) The duct (φ50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the duct.

±3

*4)

640mm (450mm ス ト ロー ク )

540mm (350mm ス ト ロー ク )

*2)

*2)

±3

*5)

*1)

*3)

Note) Refer to

Fig. 2-46 for the mechanical interface section and installation base section dimensions.

Fig.2-40 : Outside dimensions of RH-20FH85xxC/M

Outside dimensions ・ Operating range diagram 2-58

2 Robot arm

Installation surface

Fig.2-41 : Operating range diagram of RH-20FH85xxC/M

2-59

Outside dimensions ・ Operating range diagram

2 Robot arm

Note

*1) Indicates the space necessary to replace the battery.

*2) Indicates screw holes for fixing user wiring/piping. (Refer to

Fig. 2-49

)

*3) Minimum radius of bending the machine cable.

*4) Required space to installing/removing the cover.。

*5) The duct (φ50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the duct.

±3

*4)

640mm (450mm ス ト ロー ク )

540mm (350mm ス ト ロー ク )

±3

*2)

*2)

*5)

*1)

*3)

Note) Refer to Fig. 2-46

for the mechanical interface section and installation base section dimensions.

Fig.2-42 : Outside dimensions of RH-20FH100xxC/M

Outside dimensions ・ Operating range diagram 2-60

2 Robot arm

Installation surface

Fig.2-43 : Operating range diagram of RH-20FH100xxC/M

2-61

Outside dimensions ・ Operating range diagram

2 Robot arm

2.4.4 Mechanical interface and Installation surface

(1) Mechanical interface and Installation surface of RH-6FH series

φ39.5

φ90

φ25h7

24

φ1

8貫 roug h ho le

2-φ6 hole

2-φ6穴

Rz25

92

90

150

60

212

(120)

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.

Fig.2-44 : Mechanical interface and Installation surface (RH-6FH series)

Outside dimensions ・ Operating range diagram 2-62

2 Robot arm

(2) Mechanical interface and Installation surface of RH-12FH series

<Detail of Mechanical interface>

標準仕様

Clean / oil mist specification

クリーン・ミスト仕様 φ110

φ25h7

24

roug h ho le

φ18

貫通

Rz25

122

120

200

80

280

(158)

φ25h7

24

φ1

8貫

通穴 le

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.

Fig.2-45 : Mechanical interface and Installation surface of RH-12FH series

2-63

Outside dimensions ・ Operating range diagram

2 Robot arm

(3) Mechanical interface and Installation surface of RH-20FH series

<Detail of Mechanical interface>

Standard specification

<ハンド取り付けフランジ部詳細>

標準仕様

Clean / oil mist specification

クリーン・ミスト仕様

φ110

4N9

29

φ30h7

φ

21

貫 ug

穴 ole

2-φ6穴

(φ8位置決めピン用下穴)

Rz25

122

120

200

80

280

(158)

4N9

29

φ30h7

φ

φ

21 ro

Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.

Fig.2-46 : Mechanical interface and Installation surface of RH-20FH series

Outside dimensions ・ Operating range diagram 2-64

2 Robot arm

2.4.5 Change the operating range

The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set inside of that area.

If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the operating range as shown below.

(1) Operating range changeable angle

The operating range must be set up at angels indicated by Table 2-12 .

Table 2-12 : Operating range changeable angle

Type

Note1)

Direction

Note2)

Standard Change angle

Note3) Note4)

RH-6FH series

J1 RH-6FH35*/45*/55* + side

Mechanical stopper angle

Mechanical stopper position

- side

Mechanical stopper angle

Mechanical stopper position

+170 deg

+172.3

deg

P10

-170

deg

-172.3

deg

P10

+150 deg

+152.3

deg

P11

-150

deg

-152.3

deg

N11

+130 deg

+132.3

deg

P12

-130

deg

-132.3

deg

N12

RH-12FH/20FH series

J1 RH-12FH55*/70*/85*

RH-20FH85*/100*

+ side

Mechanical stopper angle

Mechanical stopper position

- side

Mechanical stopper angle

Mechanical stopper position

+170 deg

+173.3

deg

P10

-170

deg

-173.3

deg

P10

+150 deg

+153.3

deg

P11

-150

deg

-153.3

deg

N11

+130 deg

+133.3

deg

P12

-130

deg

-133.3

deg

N12

Note1) The "*" of the robot type indicates up/down stroke length and environment specification. It is possible to change the

movement ranges shown in Table 2-12 for any model.

Note2) Refer to Fig. 2-44 for mechanical stopper position.

Note3) The changeable angle shown in Table 2-12 indicates the operation range by the software. The mechanical stopper

angle in the table shows the limit angle by the mechanical stopper. Use caution when layout designing of the robot.

Note4) The changeable angle can be set independently on the + side and - side.

2-65

Outside dimensions ・ Operating range diagram

2 Robot arm

(2) The change method of the operating range

■ Installation of the mechanical stopper

1) Turn off power to the controller.

2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to Table 2-12

and Fig. 2-

47 . About the mechanical stopper position and the relation of bolt size is shown in Fig. 2-47

. When the screw hole is covered by the arm, move the No.1 armslowly by hand.

P12

P11

P10

N11

Installation bolt:

Hexagon socket head cap screw

・ RH-6FH series: M10 x 20

・ RH-12FH/20FH series: M12 x 20

* Changing the operating range is pre

pared optional.

N12

Fig.2-47 : Mechanical stopper position

■ Change the operating range parameters

Specify the operating range to parameters MEJAR with appropriate values (variable angles given in Table 2-12 ) by

the following steps:

1) Turn on power to the controller.

2) Set up the operating range changed into parameter MEJAR

MEJAR: (J1 minus (-) side, J1 plus (+) side, □ , □ , □ , ...).

■ Change the mechanical stopper origin position parameters

If you have changed operating range on the J1 minus(-) side, change mechanical stopper origin position parame

ters by the following step:

1) Set MORG parameter to the angle which set mechanical stopper position.

MORG: (J1 mechanical stopper position, □ , □ , □ , ...).

■ Check the operating range

After changing the parameter, turn off the controller power and turn on again. Then, move the axis changed by joint jog operation to the limit of the operating range.

Confirm that the robot stops by limit over at the changed angle.

This completes the procedure to change the operating range.

Outside dimensions ・ Operating range diagram 2-66

2 Robot arm

2.5 Tooling

2.5.1 Wiring and piping for hand

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

Primary piping pneumatic hose (AIR OUT, RETURN)

(4)Hand input signal connector (HC1, 2)

(3)Hand output signal connector (GR1, 2)

Secondary piping pneumatic hose (Option, or customer prepared)

RH-6FH series: φ4 hose (Max. 8 hoses)

RH-12FH/20FH series: φ6 hose (Max. 8 hoses)

Solenoid valve set (Option)

(3)Hand output signal connector (GR1, 2)

(Robot arm side)

A

No.2 arm

View A

No.1 arm

Primary piping pneumatic hose

(AIR OUT, RETURN)

(Robot arm side)

Robot base

(6)The signal wire only for the multifunctional hand.

(two cores + two wires)

(7)Ethernet cable (8 cores)

* If the LAN connector is cut and connector of customer preparation is connected, it can be use as other usages.

(5)The power source wire only for the multifunctional hand.)

(two wires)

(2) Clean specification: for suction (VACCUME)φ8 coupling

RH-6FH series : one coupling

RH-12FH/20FH series : two couplings

Oil mist specification: for pressurization (AIR PARGE)φ8 coupling

  Common between the types: one coupling (left side)

(Only for clean / oil mist specification)

Pulling out wiring and piping

Wiring and piping can be passed through the inside of the shaft.

It can also be pulled out externally from the rear of the No. 2 arm by

using the Page 94, "(8) External

Wiring/Piping box"

.

Ethernet cables and the power supply chord for remote input/output can be pulled out from the grommet at the rear of the base section.

Note) On the clean and oil mist specifications it is necessary to seal the cable aperture closed.

Machine cable connector (power supply) (CN2)

Machine cable connector (for signal) (CN2)

Cable apertures of Ethernet cable and signal wire only for the multifunctional hand

(Grommet)

(1)Primary piping pneumatic coupling (φ6)

(AIR IN, RETURN)

Connector and pneumatic coupling

No.

Name

(1) Coupling

(2)

Coupling

(3) Connector

(4) Connector

(5) Connector

(6) Connector

(7) Connector

Robot side (Robot arm side)

Qty.

Connectors, couplings

2 UKBL6

1 or 2

Note1)

UKBL8

2

2

1-1717834-4

1-1717834-3

1

1

1

1-1318117-3

2-1717834-4

TM21P-88P

Connector pins

1318108-1

1318108-1

1318108-1

-

-

-

-

Counter side (customer-prepared)

Connector

-

-

1-1318115-4

1-1318115-3

-

2-1318115-4

-

Connector pins

-

-

1318112-1

1318112-1

1318112-1

1318112-1

-

Manufacturer

Koganei Corporation

Koganei Corporation

Tyco Electronics AMP

Tyco Electronics AMP

Tyco Electronics AMP

Tyco Electronics AMP

Note1) The clean specification RH-6FH series: one coupling, RH-12FH/20FH series: two couplings. The oil-mist specification is common to between the types, and is one coupling. The general-purpose environment specification is nothing.

Fig.2-48 : Wiring and piping for hand

2-67

Tooling

2 Robot arm

2.5.2 Internal air piping

(1) Standard type/Oil mist specifications

1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. The base and No.2 arm sides of the hose end are two air joints for φ6 hoses.

2) The solenoid valve set (optional) can be installed to the side on No.2 arm.

3) Refer to Page 84, "(3) Solenoid valve set"

for details on the electronic valve set (optional).

4) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR

PURGE) of φ8 is prepared at the rear of the base section, please supply the dry air for pressurization from this joint. Refer to

Page 25, "2.2.7 Protection specifications" for the details of dry air.

(2) Clean type

1) The clean specification basically includes the same piping as the standard type.

2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.

For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use the exhaust filter (prepared by the customer).

3) Refer to Page 27, "2.2.8 Clean specifications" for details of the vacuum for suction.

4) Supply clean air to the vacuum generator.

2.5.3 Internal wiring for the hand output cable

1) The hand output primary cable extends from the connector PCB of the base section to the back side of the

No.2 arm. (AWG#24(0.2mm

2

)) The cable terminals have connector bridges for eight hand outputs.The con

nector names are GR1 and GR2.

To pull the wiring out of the arm, following separate options are required.

・ Hand output cable ....................................1F-GR60S-01

・ External wiring and piping box .............1F-UT-BOX (RH-6FH series)

1F-UT-BOX-01 (RH-12FH/20FH series)

2.5.4 Internal wiring for the hand input cable

1) The hand input cable extends from the connector PCB of the base section to the No.2 arm.

(AWG#24(0.2mm

2

)x 2: 12 cables) The cable terminals have connector bridges for eight hand inputs. The connector names are HC1 and HC2.

2) The hand check signal of the pneumatic hand is input by connecting this connector.

To extend the wiring to the outside of the arm, following separate options are required.

・ Hand input cable .......................................1F-HC35C-01 (RH-6FH series)

1F-HC35C-02 (RH-12FH/20FH series)

・ External wiring and piping box .............1F-UT-BOX (RH-6FH series)

1F-UT-BOX-01 (RH-12FH/20FH series)

2.5.5 Ethernet cable

Ethernet cables are installed from the robot’s base section up to the No. 2 arm section, and can be used.

Similar to on our previous models, these cables can also be used for backup wiring. For further details please refer to the separate “Instruction Manual/Robot Arm Setup”.

Example of use for backup wiring.

・ When connecting previously used tools to the robot

・ Folding back the hand output cable when attaching the electromagnetic valve to the robot’s exterior.

・ When attaching 8 devices or more to the hand section such as sensors, (8 input and 8 output dedicated points are available for hand signals.). In this case connect the signals (of the sensors, etc.) to parallel input/output signals.

When shipped from the factory, both ends are LAN connectors.

When using as back up wiring, cut the LAN connectors off and use with user supplied connectors.

Table 2-13 : Ethernet cable specification

Item Specification

Communication speed

Size

Externality of insulator

100BASE-TX

AWG #26 (0.13mm

2

) x four pair (total eight cores)

Approx. 0.98 mm

Tooling 2-68

2 Robot arm

2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)

The customer is required to provide tooling wiring, piping and metal fixtures.

Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to the

Fig. 2-49 .)

The length of wiring and piping and the installation position on the robot must be adjusted according to the work to be done by the robot. Please use the following example as reference.

・ A hand input cable and a hand curl cable are available as optional accessories for your convenience.

・ After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part does not interfere with the robot arm and the peripheral devices.

Confirm that there is no interference also with bellows of the shaft section by clean specification and oil mist specification.

・ Please be aware that dust may be generated from friction if wires and pipes come into contact with the robot arm when using it according to the clean specifications.

(1) RH-6FH series

164 102

B

20

(反対側にもあり) side too.)

10

2-M4, depth 8

(反対側にもあり)

A

11

4-

4-

M5

じ深

さ1

1

11

Fig.2-49 : Location of screw holes for fixing wiring/piping (RH-6FH)

2-69

Tooling

2 Robot arm

(2) RH-12FH/20FH series

2-M4, depth 8

2-M4, depth 8

(Usable on opposite side too.)

B

View B

2-M4, depth 8

(Usable on opposite side too)

A

4-M5 screw, depth 15

2-M4, depth 8

(Usable on opposite side too)

View A

Fig.2-50 : Location of screw holes for fixing wiring/piping (RH-12FH/20FH)

Tooling 2-70

2 Robot arm

(3) Example of wiring and piping <1>

By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact.

<RH-6FH series>

2次配管エアホースなど

 ・ケーブル内装配線・配管セット(オプション)

  (ハンドチューブ:φ4×8本、ハンド入力ケーブル(信号用8本、電源用2本)) or

(Hand tube: φ4 x 8 hoses, Hand input cable (For signal: 8 cable, For power: 2 cable))

 または

 ・ハンドチューブなど(お客様ご準備)

Cable fixed plate for Internal Wiring/Piping set for hand (Option)

Inside the No.2 arm

(Solenoid valve (option) side)

(Inside the No.2 arm)

φ60

Example of the customer preparation tool

Fig.2-51 : Example of wiring and piping <1>

<RH-12FH/20FH series>

固定金具設計例

ケーブル内装配線・配管セット(オプション)用 set for hand (Option)

30

フランジ設計例

RH-6SDHシリーズ

2-M4~M5セットネジ

M4スリ割止め用ネジ

Example of a flange or

2次配管エアホースなど

 ・ケーブル内装配線・配管セット(オプション)

  (ハンドチューブ:φ4×8本、ハンド入力ケーブル(信号用8本、電源用2本))

 または

ロボットが動作したときに、配線、配管が

 ・ハンドチューブなど(お客様ご準備)

また、第1アームと第2アームに挟まれない位置

Solenoid valve set (Option)

Primary piping air hose (AIR OUT, RETURN)

Inside the No.2 arm

ロボットが動作したときに、配線、配管が

ロボットのフレキケーブルと干渉しない

ことを確認してください。

(Solenoid valve (option) side)

フレキケーブル

(Inside the No.2 arm)

φ50

2-M5~M6セットネジ

M5スリ割止め用ネジ

2-M5~M6セットネジ

M5スリ割止め用ネジ

φ60

配線、配管はお客様ご準備

又はオプション

 ・ハンド入力ケーブル

 ・ハンドカールチューブ

Example of the customer preparation tool

φ60

Slot set screw M5

Fig.2-52 : Example of wiring and piping <1> (RH-12FH/20FH series)

2-71

Tooling

2 Robot arm

(4) Wiring and piping example <2>

This is an effective method in cases where the wiring and piping is often changed, or when the hand rotation is minimal (within ±90°), etc.

Wiring/Piping (Customer preparation) or

または

Wiring/Piping (Customer preparation) or

または

Example of the customer preparation tool

Fig.2-53 : Example of wiring and piping <2>

(5) Precautions for the clean specification

The top and bottom parts of the through hole of the tip shaft are taped at shipment.

Perform the following actions as necessary in order to ensure that the robot is sufficiently clean during the operation:

1) When the through hole of the shaft is not used

・ Keep the tip shaft taped while the robot is in use.

2) When the through hole of the shaft is used for wiring.

・ Peel the tape of the tip shaft off and perform the necessary wiring. Once the wiring is completed, seal the tip shaft using liquid seal in order to avoid accumulation of dust.

・Perform the wiring in such a way that the wires around the area below the tip shaft will not get into contact with other parts while the robot is operating.

Tooling 2-72

2 Robot arm

2.5.7 Wiring and piping system diagram for hand

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

Hand output signal

*1)

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.

Hand input signal

*1), *2)

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

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<予約>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

B1

B2

B3

B4

A1

A2

A3

A4

<+24V(COM)>

<予約>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

A1

A2

A3

B1

B2

B3

A1

A2

A3

B1

B2

B3

<+24V>

<予約>

<HC 1>

<HC 2>

<HC 3>

<HC 4>

<予約>

<24G(RG)>

<HC 5>

<HC 6>

<HC 7>

<HC 8>

Black

Black

White

White

For the multifunctional hand only

A1

A2

A3

A4

B1

B2

B3

B4

<電源用>

<電源用>

<TXRXH>

<TXRXL>

<電源用>

<電源用>

Ethernet cable AWG#24(0.2mm

2

)x8

(Both ends are LAN connectors)

(Cab tire cables with the shield)

4

5

6

7

8

1

2

3

白橙

白緑

白青

白茶

* Refer to

Fig. 2-56 for air

supply circuit example.

Piping

*1), *2) Solenoid

AIR IN

Connect with customer's hand, etc.

RETURN

セット

(オプション)

VACCUM   :clean specification

AIR PURGE:oil-mist specification

Note) Only Clean/Oil mist specification.

・ clean specification

RH-6FH series : one coupling

RH-12FH/20FH series : two couplings

・ oil-mist specification is common to between the types, and is one coupling.

*1) Using the

External Wiring/Piping box , the hand output/input signal cable and the air hose can be pulled out externally.

(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping (RH-6FH series) or two φ6 joints for primary piping, eight φ6 joints for secondary piping (RH-12FH/20FH series), and holes for pulling out the cables.)

*2) Using the

Internal Wiring/Piping set for hand , the hand input signal cable and air hose can be fed through the inside of the shaft.

(This option comes as a set that includes φ4 x 8 (RH-6FH series) or φ6 x 4 (RH-12FH/20FH series) air hoses, hand input cables (8 x signal lines, 2 x power chords), and fixing tools.

Fig.2-54 : Wiring and piping system diagram for hand and example the solenoid valve installation (Sink type)

2-73

Tooling

2 Robot arm

Hand output signal

*1)

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.

A1

A2

A3

A4

B1

B2

B3

B4

<24GND(COM)>

<予約>

<GR 1>

<GR 2>

<GR 3>

<GR 4>

A1

A2

A3

A4

B1

B2

B3

B4

<24GND(COM)>

<予約>

<GR 5>

<GR 6>

<GR 7>

<GR 8>

Hand input signal

*1), *2)

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

A1

A2

A3

B1

B2

B3

<+24V>

<予約>

<HC 1>

<HC 2>

<HC 3>

<HC 4>

A1

A2

A3

B1

B2

B3

<予約>

<24G(RG)>

<HC 5>

<HC 6>

<HC 7>

<HC 8>

For the multifunctional hand only

A1

A2

A3

A4

B1

B2

B3

B4

<電源用>

<電源用>

<TXRXH>

<TXRXL>

<電源用>

<電源用>

Ethernet cable AWG#24(0.2mm

2

)x8

(Both ends are LAN connectors)

(Cab tire cables with the shield)

3

4

5

1

2

6

7

8

白橙

白緑

白青

白茶

* Refer to

Fig. 2-56

for air supply circuit example.

Piping

*1), *2)

Connect with customer's hand, etc.

Solenoid

電磁弁

セット

(オプション)

AIR IN

RETURN

VACCUM   :clean specification

AIR PURGE:oil-mist specification

Note) Only Clean/Oil mist specification.

・ clean specification

RH-6FH series : one coupling

RH-12FH/20FH series : two couplings

・ oil-mist specification is common to between the types, and is one coupling.

*1) Using the External Wiring/Piping box , the hand output/input signal cable and the air hose can be pulled out externally.

(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping (RH-6FH series) or two φ6 joints for primary piping, eight φ6 joints for secondary piping (RH-12FH/20FH series), and holes for pulling out the cables.)

*2) Using the Internal Wiring/Piping set for hand , the hand input signal cable and air hose can be fed through the inside of the shaft.

(This option comes as a set that includes φ4 x 8 (RH-6FH series) or φ6 x 4 (RH-12FH/20FH series) air hoses, hand input cables (8 x signal lines, 2 x power chords), and fixing tools.

Fig.2-55 : Wiring and piping system diagram for hand and example the solenoid valve installation (Source type)

Tooling 2-74

2 Robot arm

2.5.8 Electrical specifications of hand input/output

Table 2-14 : Electrical specifications of input circuit

Item Specifications

Type

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

+24V

HCn*

820

24GND

* HCn = HC1 ~ HC8

Table 2-15 : 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

<Source type>

24GND

過電流

保護機能

+24V

GRn

*

24GND(COM)

* GRn = GR1 ~ GR8

2-75

Tooling

2 Robot arm

2.5.9 Air supply circuit example for the hand

Fig. 2-56 shows an example of pneumatic supply circuitry for the hand.

(1) Place diodes parallel to the solenoid coil.

(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be damage to the work. To prevent it, install a pressure switch to the source of the air as shown in

Fig. 2-56

and use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes 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.

To the AIR IN (Robot arm)

(0.5MPa ±10%)

Pneu matic source

(Cleen) s

Filter Regurater

Fig.2-56 : Air supply circuit example for the hand

2-76

2 Robot arm

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

■ What are sipping special specifications?

Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to confirm the delivery date by the customer.

To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.

■ How to order

(1) Confirm beforehand when the factory special specifications can be shipped, because they may not be immediately available.

(2) Specify, before shipping from our company.

(3) Specified method …… Specify the part name, model, and robot model type.

2-77

Shipping special specifications, options, and maintenance parts

2 Robot arm

(1) Machine cable

■ Order type : ● Fixed type 1S-02UCBL-01 (2m)

■ Outline

This cable is exchanged for the machine cable (5 m for fixed type) that was supplied as standard to shorten the distance between the controller and the robot arm.

■ Configuration

Table 2-16 : Configuration equipment and types

Part name 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) Standard 5 m (for fixed type) is not attached.

Qty.

1 set

(1 cable)

(1 cable)

Mass (Kg)

Note1)

2.6

-

-

2m

Remarks

Note2)

[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the machine cable (5 m for fixed type) that was supplied as standard is not reclaimed.

Shipping special specifications, options, and maintenance parts 2-78

2 Robot arm

2.7 Options

■ What are options?

There are a variety of options for the robot designed to make the setting up process easier for customer needs.

customer installation is required for the options. Options come in two types: "set options" and "single options".

1. Set options .......................................A combination of single options and parts that together, from a set for serving some purpose.

2. Single options ..................................That are configured from the fewest number of required units of a part.

Please choose customer's purpose additionally.

2-79

Options

2 Robot arm

(1) Machine cable extension

■ Order type: ● Fixed type............1S- □□ CBL-01(extension type)

● Flexed type .........1S- □□ LCBL-01(extension type)

1S- □□ LUCBL-01(direct type)

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

■ Outline

The distance between the robot controller and the robot arm is extensible by this option.

A fixed type and flexible type are available.

The extended method is discriminated as follows.

Fixed type ........ ・ Adds to the machine cable attached in the standards.

Flexed type...... ・ Adds to the machine cable attached in the standards.

・ Exchanges with the machine cable attached in the standards.

The fix and flexible types are both configured of the motor signal cable and motor power cable.

■ Configuration

Table 2-17 : Configuration equipment and types

Part name

Type

Note1)

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

Motor signal cable 1S- □□ CBL(S)-01

Motor power cable 1S- □□ CBL(P)-01

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

Motor signal cable

Motor power cable

1S- □□ LCBL(S)-01

1S- □□ LCBL(P)-01

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

Motor signal cable 1S- □□ LUCBL(S)-01

Motor power cable

Nylon clamp

Nylon clamp

Silicon rubber

1S- □□ LUCBL(P)-01

NK-14N

NK-18N

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

Note2) Mass indicates one set.

Fixed

(extension type)

1 set

(1 cable)

(1 cable)

-

-

-

-

-

-

-

-

-

Qty.

Flexed

(extension type)

-

-

-

1 set

(1 cable)

(1 cable)

-

-

-

2 pcs.

2 pcs.

4 pcs.

Flexed

(direct type)

-

-

-

-

-

-

1 set

(1 cable)

(1 cable)

2 pcs.

2 pcs.

4 pcs.

Mass (kg)

Note2)

6.7(5m)

12(10m)

17(15m)

7(5m)

13(10m)

17(15m)

7(5m)

13(10m)

17(15m)

-

-

-

Remarks

5m, 10m, or 15m each

5m, 10m, or 15m each

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

Options 2-80

2 Robot arm

■ Specifications

The specifications for the fixed type cables are the same as those for standard cables.

Shows usage conditions for flexed type cables in

Table 2-18

.

Table 2-18 : Conditions for the flexed type cables

Item

Minimum flexed radius

Cableveyor, etc., occupation rate

Maximum movement speed

Guidance of life count

Environmental proof

Cable configuration Motor signal cable

Motor power cable

Specifications

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 3 and φ6.5 x 6

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

Table 2-18

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

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

■ Cable configuration

The configuration of the flexible cable is shown in

Table 2-19

. Refer to this table when selecting the cableveyor.

The configuration is the same between the length difference in the cable, and extension type / direct type.

Table 2-19 : Cable configuration (Flexed type)

Item Motor signal cable

No. of cores

Finish dimensions

No.of cables used

AWG#24

(0.2mm

2

)-4P

Approx. φ6mm

5 cables

AWG#24

(0.2mm

2

)-7P

Approx. φ8.5mm

1 cable

AWG#18

(0.75mm

2

)

Approx. φ1.7mm

1 cable

No. in total 7 cables

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

Motor power cable

AWG#16

(1.25mm

2

)-4C

Approx. φ8.9mm

3 cable

9 cables

AWG#18

(0.75mm

2

)-4C

Approx. φ6.5mm

6 cable

2-81

Options

2 Robot arm

■ Fixing the flexible cable

(1) Connect the connector to the robot arm.

(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten

-

sion section as shown in Fig. 2-57

, and fix with the nylon clamp to protect the cable from external stress.

Note2)

CN1

CN2

300~400mm

NK-14N

The fixed cable

(Standard attachment)

Extended flexible cable (Option)

Note1)

NK-18N

CAUTION

Cover the extension terminal area with the cover etc. so that it may not be easily touched to the latch lever.

Note1) When direct type, exchanges with the standard cable and connect directly.

Note2) Although the picture is the CR751-D controller, also the connection method is the same in the CR751-Q controller.

Fig.2-57 : Fixing the flexible cable

CN2

CN1

Nylon clamp

NK-18N

NK-14N

300~400mm

The cable shall bend and size shall be 140mm or more.

Options 2-82

2 Robot arm

(2) Changes J1 axis operating range

■ Order type: RH-6FH series ............................J1 axis: 1F-DH-01

RH-12FH/20FH series ............J1 axis: 1F-DH-02

■ Outline

The operating range of J1 axis is limited by the robot arm's mechanical stopper and the controller parameters.

If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.

■ Configuration

Table 2-20 : Configuration devices

Part name Type

RH-6FH series

Stopper for changing the operating range

RH-12FH/20FH series

Stopper for changing the operating range

1F-DH-01

1F-DH-02

Qty.

Mass(kg)

1 set

1 set

Remarks

0.05

hexagon socket head bolt (M10 x 20): 2 bolts

0.05

hexagon socket head bolt (M12 x 20): 2 bolts

■ Specifications

Table 2-21 : Specifications

Axis Standard

J1 +/- side +/- 170 deg

Changeable angle

+/- 130 deg, +/- 150 deg

(1) The changeable angle shown in Table 2-21 indicates the operation range by the software.

The limit by the mechanical stopper is positioned 3 degrees outward from that angle, so take care when designing the layout.

(2) The operating range is changed with robot arm settings (insertion of the pin) and parameter settings. Refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE", "Instruction Manual/Detailed

Explanation of Functions and Operations"or

Page 65, "2.4.5 Change the operating range" for details.

(3) If the arm collides with mechanical stopper for operating range change at the automatic operation, replace

ment of the mechanical stopper is necessary.

2-83

Options

2 Robot arm

(3) Solenoid valve set

■ Order type: RH-6FH series ............................One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type)

Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type)

Three sets: 1F-VD03-01(Sink type)/1F-VD03E-01(Source type)

Four sets: 1F-VD04-01(Sink type)/1F-VD04E-01(Source type)

RH-12FH/20FH series ............One set: 1S-VD01-01(Sink type)/1S-VD01E-01(Source type)

Two sets: 1S-VD02-01(Sink type)/1S-VD02E-01(Source type)

Three sets: 1S-VD03-01(Sink type)/1S-VD03E-01(Source type)

Four sets: 1S-VD04-01(Sink type)/1S-VD04E-01(Source type)

■ Outline

・ 1F-VD0*-01

・ 1F-VD0*E-01

・ 1S-VD0*-01

・ 1S-VD0*E-01

The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm.

Also, for easy installation of this electromaagnetic set onto the robot, it comes equipped with a manifold, couplings, silencers, among other things.

■ Configuration

Table 2-22 : Configuration equipment

Part name Type

RH-6FH series

Solenoid valve set (1 sets) 1F-VD01-01/

1F-VD01E-01

Solenoid valve set (2 sets) 1F-VD02-01/

1F-VD02E-01

Solenoid valve set (3 sets) 1F-VD03-01/

1F-VD03E-01

Solenoid valve set (4 sets) 1F-VD04-01/

1F-VD04E-01

RH-12FH/20FH series

Solenoid valve set (1 sets) 1S-VD01-01/

1S-VD01E-01

Solenoid valve set (2 sets) 1S-VD02-01/

1S-VD02E-01

Solenoid valve set (3 sets) 1S-VD03-01/

1S-VD03E-01

Solenoid valve set (4 sets) 1S-VD04-01/

1S-VD04E-01

Note1) Mass indicates one set.

Q'ty

Mass(kg)

Note1)

Either one pc.

Either one pc.

Either one pc.

Either one pc.

Either one pc.

Either one pc.

Either one pc.

Either one pc.

1.0

1.0

1.0

1.0

1.0

1.0

1.0

1.0

Remark

Hand output cable is already connected.

Refer to Page 90, "(5) Hand output cable" .

M4 x 8 Two screws (Installation screws)

1F-VD0*-01: Sink type

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

Hand output cable is already connected.

Refer to Page 90, "(5) Hand output cable" .

M4 x 8 Two screws (Installation screws)

1S-VD0*-01: Sink type

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

Options 2-84

2 Robot arm

■ Specifications

Table 2-23 : 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

0.64mm

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

Note2)

(recommended plugs: KQ2P-04 plugs made by SMC).

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 2-24 : 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

2-85

Options

<RH-6FH series>

80mm

2 Robot arm

50mm

+24V (COM)

GR1

GR2

<GR1>

A1

A2

A3

A4

GR3

GR4

B1

B2

B3

B4

+24V (COM)

GR5

GR6

<GR2>

A1

A2

A3

A4

GR7

GR8

B1

B2

B3

B4

SOL1A

24GND (COM)

GR1

GR2

<GR1>

A1

A2

A3

A4

SOL1B

SOL2A

GR3

GR4

B1

B2

B3

B4

SOL2B

SOL3A

24GND (COM)

GR5

GR6

<GR2>

A1

A2

A3

A4

SOL3B

SOL4A

GR7

GR8

B1

B2

B3

B4

SOL4B

Part name

A, B port

P port

R port

Hand output cable connection connector

Qty.

4 peace for each

1

1

2

Specification

φ4

φ6

φ6

GR1, GR2

Note) The hand output cable (1F-GR60S-01: Option) is unnecessary.

Fig.2-58 : Outline dimensional drawing (RH-6FH series)

SOL1A

SOL1B

SOL2A

SOL2B

SOL3A

SOL3B

SOL4A

SOL4B

Options 2-86

2 Robot arm

<RH-12FH/20FH series>

⑦⑧

GR2

102

93 4.5

37.8

87.9

50.1

φ4.5

GR1

φ2

1

φ4.5

<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

80

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

Block plate

Quick coupling

Quick coupling

Connector

Contact

Installation screw

Note) The hand output cable (1F-GR60S-01:

Option) is unnecessary.

11

SOL1A

<Source type>

Connector name

<GR1>

24V (RG) A1

White

Reserve

A2

GR1

GR2

A3

A4

SOL1A

SOL1B

SOL2A

SOL2B

SOL3A

GR3

GR4

Reserve

Reserve

B1

B2

B3

B4

24V (RG)

Reserve

GR5

GR6

<GR2>

A1

A2

A3

A4

White

Red

Black

Red

Black

Red

Black

Red

Black

SOL1B

SOL2A

SOL2B

SOL3A

SOL3B

SOL4A

SOL4B

GR7

GR8

Reserve

Reserve

B1

B2

B3

B4

Red

Black

Red

Black

Red

Black

Red

Black

SOL3B

SOL4A

SOL4B

1 sets

1

6

1

1

4

2

1

1

1

Fig.2-59 : Outline dimensional drawing (RH-12FH/20FH series)

2 sets

1

6

1

1

4

4

1

2

1

3 sets

2

12

1

1

4

6

1

3

1

4 sets

2

12

1

1

4

8

1

4

1

Specifications

φ6

φ6

φ6

1-1318115-4

1318112-1

M4×8

2-87

Options

2 Robot arm

(4) Hand input cable

■ Order type: RH-6FH series ............................1F-HC35C-01

RH-12FH/20FH series ............1F-HC35C-02

■ Outline

The hand input cable is used for customer-designed pneumatic hands.

It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller.

One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand. The other end of the cable connected to the sensor inside the hand customer designed.

To extend the wiring to the outside of the robot arm, optional external wiring and pip

ing box (RH-6FH series: 1F-UT-BOX, RH-12FH/20FH series: 1F-UT-BOX-01) is required.

■ Configuration

Table 2-25 : Configuration equipment

Part name Type

RH-6FH series

Hand input cable

RH-12FH/20FH series

Hand input cable

1F-HC35C-01

1F-HC35C-02

Note1) Mass indicates one set.

Qty.

1 cable

1 cable

Mass (kg)

Note1)

0.2

0.2

Remarks

■ Specifications

Table 2-26 : Specifications

Item

RH-6FH series

Size x cable core

Total length

RH-12FH/20FH series

Size x cable core

Total length

Specifications

AWG#24 (0.2mm

2

)×12

1,650mm (Including the curl section, which is 350mm long)

AWG#24 (0.2mm

2

)×12

1,800mm (Including the curl section, which is 350mm long)

Remarks

One-sided connector, one-sided cable bridging

One-sided connector, one-sided cable bridging

Options 2-88

2 Robot arm

450

100

15

400

HC

1-1318115-3

(Tyco Electronics AMP)

350

Alteration dimensions A

Type

Dimensions of A

(mm)

1F-HC35C-01

1F-HC35C-02

450±10

600±10

(Purple)

(Brown)

(緑)ミドリ

(Red)

(灰)ハイ

(Pink)

<HC1>

A1

A2

A3

B1

B2

B3

+24V

予約

HC1 ( ハンド 入力 1)

HC2 (

ハンド 入力 2)

HC3 ( ハンド 入力 3)

HC4 ( ハンド 入力 4)

A3

B1

B2

B3

<HC2>

A1

A2 0V(COM)

HC5

HC6

(

ハンド 入力 5)

HC6

HC7

HC8 (

(

( ハンド 入力 6)

ハンド 入力 7)

ハンド 入力 8)

* Pin assignment of sink and source is the same.

Fig.2-60 : Outside dimensional drawing and pin assignment

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

2-89

Options

2 Robot arm

(5) Hand output cable

■ Order type: 1F-GR60S-01

■ Outline

The hand output cable (solenoid valve connection cable) is an option that is used when a solenoid valve other than one of the solenoid valve set options, is used.

One end of the cable has a connector that connects to the input terminal inside the robot. The other end of the cable is connected.

To extend the wiring to the outside of the robot arm, optional external wiring and pip

ing box (RH-6FH series: 1F-UT-BOX, RH-12FH/20FH series: 1F-UT-BOX-01) is required.

■ Configuration

Table 2-27 : Configuration equipment

Part name

Hand output cable

Type

1F-GR60S-01

Note1) Mass indicates one set.

Qty.

1 cable

Mass (kg)

Note1)

0.3

Remarks

■ Specifications

Table 2-28 : Specifications

Item

Size x Cable core

Total length

Specifications

AWG#24(0.2mm

2

) x 12 cores

1,050mm

Remarks

One side connector and one side cable connection

(100)

GR

15

600 450

1-1318115-4

(タイコエレクトロニクス

アンプ(株))

(Purple)

(Brown)

(青)アオ

(Black)

(赤)アカ

(White)

<GR1>

A1

A2

A3

A4

B1

B2

B3

B4

GR1 (ハンド 出力1)

GR3 (ハンド 出力3)

GR4

(ハンド 出力4)

GR1

GR3

GR4

<GR2>

A1

A2

A3

A4

予約

GR5

GR6

(ハンド 出力5)

B1

B2

B3

B4

GR7

GR8

予約

(ハンド 出力7)

(ハンド 出力8)

Reserve

Reserve

24GND(COM)

Reserve

GR5

GR6

(ハンド 出力5)

GR6 (ハンド 出力6)

GR7

GR8

(ハンド 出力7)

(ハンド 出力8)

Reserve

Fig.2-61 : Outline dimensional drawing and pin assignment

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

Options 2-90

2 Robot arm

(6) Hand curl tube

■ Order type: RH-6FH series ............................Four sets: 1E-ST0408C-300

RH-12FH/20FH series.............Four sets: 1N-ST0608C-01

■ Outline

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

■ Configuration

Table 2-29 : Configuration equipment

Part name

RH-6FH series

Hand curl tube (Four set: 8 pcs.)

RH-12FH/20FH series

Hand curl tube (Four set: 8 pcs.)

Type

1E-ST0408C-300

1N-ST0608C-01

Note1) Mass indicates one set.

Qty.

1 pc.

1 pc.

Mass(kg)

Note1)

0.1

0.4

Remarks

Φ4 tube, 8pcs

Φ6 tube, 8pcs

■ Specifications

Table 2-30 : Specifications

Item

Material

Size

Specifications

RH-6FH series

Urethane

Outside diameter: Φ4 x Inside diameterΦ2.5

RH-12FH/20FH series

Urethane

Outside diameter: Φ6 x Inside diameterΦ4

RH-6FH series: 1E-ST0408C-300 (φ4 x 8pcs)

300

100

600

RH-12FH/20FH series: 1N-ST0608C-01 (φ6 x 8pcs)

250

300

750

Fig.2-62 : Outline dimensional drawing

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

2-91

Options

2 Robot arm

(7) Internal Wiring/Piping set for hand

■ Order type: RH-6FH series, 200mm stroke................................1F-HS408S-01

RH-6FH series, 340mm stroke ...............................1F-HS408S-02

RH-12FH/20FH series, 350mm stroke................1F-HS604S-01

RH-12FH/20FH series, 450mm stroke................1F-HS604S-02

■ Outline

This set, consisting of air hoses and cables, is for feeding air hoses and hand input signal cables from the No. 2 arm through to the shaft tip.

A plate is already attached to be fixed onto the No. 2 arm, and therefore it is easy to ensure the necessary space for wiring and piping.

This can be used together with the separately sold electromagnetic valve set option.

This option

■ Configuration

Table 2-31 : Configuration equipment

Type Item

RH-6FH series

Internal Wiring/Piping set for hand

(For 200mm stroke)

Internal Wiring/Piping set for hand

(For 340mm stroke)

RH-12FH/20FH series

Internal Wiring/Piping set for hand

(For 350mm stroke)

Internal Wiring/Piping set for hand

(For 450mm stroke)

1F-HS408S-01

1F-HS408S-02

1F-HS604S-01

1F-HS604S-02

Note1) Mass indicates one set.

Qty.

1

1

1

1

Mass (Kg)

Note1)

0.4

0.4

0.4

0.4

Remarks

The air hose and the cable for hand input signals are contained.

The grease (for application to shaft top) and the union band (for fixation of the hose and the cable) are attached.

The air hose and the cable for hand input signals are contained.

The grease (for application to shaft top) and the union band (for fixation of the hose and the cable) are attached.

■ Specification

Table 2-32 : Specification

Item

Air hose

Hand input signal cable Signal

Power

Useable length from the shaft end

Specification

1F-HS408S-01

1F-HS408S-02

φ4 x 8pcs

300mm

1F-HS604S-01 1F-HS604S-02

φ4 x 8pcs

AWG #25(0.2mm

2

)×8pcs

AWG #23(0.3mm

2

)×2pcs

400mm 300mm

Remarks

Both ends are free.

The robot arm side is connector (HC1,

HC2), and one side is free.

The length from the shaft end which can be used of customer.

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

Options 2-92

2 Robot arm

15

(Red)

Fig.2-63 : Outline dimension drawing and pin assignment (Hand input cable)

2-93

Options

2 Robot arm

(8) External Wiring/Piping box

■ Order type: RH-6FH series ............................1F-UT-BOX

RH-12FH/20FH series............1F-UT-BOX-01

■ Outline

Pull out

Wiring/Piping

This is a very useful option when removing the air hoses and signal lines from the rear of the No. 2 arm, and pulling hand wiring and piping out to the robot’s exterior.

The joint for connects to the external hose is prepared, and the holes which fixes the signal cable to pull out with cable clamp are prepared. Optional hand output cables and hand input cables can be fixed here.

This option can also be used on the oil mist and clean specifications.

■ Configuration

Table 2-33 : Configuration equipment

Part name Type

RH-6FH series

External Wiring/Piping box 1F-UT-BOX

RH-12FH/20FH series

External Wiring/Piping box 1F-UT-BOX-01

Qty.

1

1

Mass (Kg)

Note1)

0.5

0.5

Remarks

Attachment

・ Eight Air hoses (φ4, connect to solenoid valve)

・ Installation screw M4 x 12: 4 screws

(Conical spring washer, Plain washer)

Attachment

・ Eight Air hoses (φ6, connect to solenoid valve)

・ Installation screw M4 x 12: 4 screws

(Conical spring washer, Plain washer)

Note1) Mass indicates one set.

■ Specification

Table 2-34 : Specification

Item Specification

RH-6FH series

Outline

The hole for wiring drawers

Coupling

106(W) x 73.6(D) x 72(H)

φ21 x 4 places

For φ4 air hose x 8pcs

For φ6 air hose x 2pcs

RH-12FH/20FH series

Outline

The hole for wiring drawers

Coupling

100(W) x 91.9(D) x 70(H)

φ21 x 4 places

For φ6 air hose x 8pcs

An outside dimension and a component are shown in Fig. 2-64

.

Remarks

The coupling is included.

Fix the cable by cable clamp etc.

Installed previously

The coupling is included.

Fix the cable by cable clamp etc.

Installed previously

Options 2-94

2 Robot arm

<RH-6FH series>

-

-

-

Configuration

Part name

External Wiring/Piping box housing

② Quick coupling

③ Quick coupling

φ21 hole

Manifold block

Plug

Plug

Installation screw

4

1

8

2

Qty.

1

8

2

4

Specification

φ4 (Elbow)

φ6 (Elbow)

The grommet is attached to each hole.

(Two holes are in the right and the left.)

Stopper for φ4 quick coupling

Stopper for φ6 quick coupling

Installation screws M4 x 12

Conical spring washer, Plane washer (Attachment)

Fig.2-64 : Outline dimension and configurations (RH-6FH series)

(Th is e is

a ls o in

h ol ot he r si de

) th e

2-95

Options

2 Robot arm

<RH-12FH/20FH series>

φ

21 ( th

Th e o is th er ho le si de is also

) in

4-φ4.8 hole

-

-

Configuration

Part name

External Wiring/Piping box housing

② Quick coupling

③ φ21 hole

Manifold block

Plug

Installation screw

1

8

4

Qty.

1

8

4

Specification

φ6 (Elbow)

The grommet is attached to each hole.

(Two holes are in the right and the left.)

Stopper for φ6 quick coupling

Installation screw M4 x 12

Conical spring washer, Plane washer (Attachment)

Fig.2-65 : Outline dimension and configurations (RH-12FH/20FH series)

Options 2-96

2 Robot arm

2.8 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of 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. 2-66

.) 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

Overhaul

If overhaul is performed

Servo-on time

Fig.2-66 : Periodic inspection/overhaul periods

2-97

About Overhaul

2 Robot arm

2.9 Maintenance parts

The consumable parts used in the robot arm are shown in

Table 2-35

. Purchase these parts from the designated maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-35 : Consumable part list

No.

Part name Type

Note1)

Usage place Qty.

Supplier

Common parts between robot type

1 Grease

2

3 Lithium battery

RH-6FH series

4

5

Timing belt

6

RH-12FH series

7

8

Timing belt

9

RH-20FH series

10 Timing belt

11

12

ER6

Reduction gears of each axis

Ball screw

Ball spline

Front section of the base

J3 axis

J4 axis motor side

J4 axis shaft side

J3 axis

J4 axis motor side

J4 axis shaft side

J3 axis

J4 axis motor side

J4 axis shaft side

As needed

As needed Mitsubishi Electric

3

1

1

1

1

1

1

1

1

1

Mitsubishi Electric

Mitsubishi Electric

Mitsubishi Electric

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

Maintenance parts 2-98

3Controller

3 Controller

3.1 Standard specifications

Use the robot CPU unit which consists of CR751-Q controllers, equipping the base unit of the sequencer of the

MELSEC-Q series of our company. Specifications such as the power supply and outside dimension of the robot

CPU unit are the same as the sequencer's specification. Refer to Page 103 "Fig. 3-2" (Names of each part),

Page

105 "Fig. 3-4" and

Page 106 "Fig. 3-5"

(Outside dimensions)

Although the specification with which the robot CPU unit and the drive unit (box which mounts the servo amplifier for the robots, the safety circuit, etc.) were put together is shown in

Table 3-1 , the specification of the drive unit

is mainly described.

Table 3-1 : Specifications of controller

Item

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

Interface

Power source

Enabling device input

Emergency stop output

Mode output

Robot error output

Addition axis synchronization

RS-422

Ethernet

Additional axis interface

Input voltage range

Power capacity

Power supply frequency

Outline dimensions

Note4)

Mass

Construction

Operating temperature range

Ambient humidity

Grounding

Paint color

Unit point point point point point point point step point point point port port

Channel

Specification

8/8

1

1

Dual line

Dual line

Remarks

CR750-06HQ-1

CR750-12HQ-1

CR750-20HQ-1

Simultaneously 4

13,000

26,000

256

MELFA-BASIC V

Pose teaching method, MDI method

Note1)

0/0

Assign to the multi-CPU shared device.

CR750-06HD1-1-S15 is the same

Multi-CPU shared device

Input 8192/Output 8192 (Max.)

Built-in

1

1

1

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)

V RH-6FH series:

Single phase AC180 to 253

RH-12FH/20FH series

Note2)

:

Three phase AC180 to 253, or

Single phase AC207 to 253 kVA RH-6FH series: 1.0

RH-12/20FH series: 1.5

Hz mm

50/60

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

%RH

Ω

Approx. 16

Self-contained floor type,

Opened type

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)

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.

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

3-99

Standard specifications

3Controller

Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The power consumption in the specific operation pattern with the RH-6FH is approx. 0.3kW and RH-20FH is approx. 0.49kW. The short circuit breaker should use the following.

* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip.

Note4) Refer to

Page 104, "3.4 Outside dimensions/Installation dimensions"

for details.

Note5) This controller is standard specification. (Refer to

Page 100, "3.2 Protection specifications and operating supply"

.)

Note6) The robot must be grounded by the customer.

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 151, "6.2 Working environment"

for details on the working environment.

Protection specifications and operating supply 3-100

3 Controller

3.3 Names of each part

Drive unit (Front side)

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

<18>

<6>

Drive unit (Rear side)

<4> <5>

<20>

Fan, Air suction

<7> <8> <9>

<10>

Attached cover

<19>

<2>

<1>

Exhaust downward

(Bottom)

<1>: ACIN terminal

RH-6FH: Single phase

<11> <12> <13>

<14>

RH-12FH/20FH: Single phase/Three phase

L1

L2: no-CE specifications

N: CE specifications

L1 L2 L3

<21> <22>

<23>

<20>: The operation panel

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

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

3-101

Names of each part

3 Controller

<1> ACIN terminal ................................................The terminal box for AC power source (single phase or single phase/ three phase, AC200V) input. (Inner side of a cover)

Note)When using the RH-6FH series, connect the primary power supply to L1 and L2 terminal.

When using the RH-12FH/20FH series, connect the primary power supply to L1, L2 and L3 terminal when using the three phase primary power supply, and connect the primary power supply to L1 and L3 terminal when using the single phase primary power supply.

<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place)

<3> Power switch .................................................This turns the control power ON/OFF

<4>

Machine cable connector (motor signal) (CN1)

Connect with the CN1 connector of the robot arm.

<5>

Machine cable connector (motor power) (CN2)

Connect with the CN2 connector of the robot arm.

<6> T/B connection connector (TB) ...........This is a dedicated connector for connecting the T/B. When not using T/

B, connect the attached dummy connector.

<7><8><9><10> CNUSR connector ..............The connector for input/ output connection dedicated for robot. (a plug connector attached)

<7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2

Note) <9>: CNUSR13 connector is not used in this controller.

<11> DCOUT connector (DCOUT)........... For emergency stop

<12> CNDISP connector

(CNDISP)

........... For LAN of T/B connection

<13> CON3 connector (CON3).................. For RS422 of T/B connection

<14> OPT connector (OPT)........................ For SSCNETIII connection

<15> Interface cover ...................................... USB interface and battery are mounted.

<16> Mode key switch ................................... This key switch changes the robot's operation mode.

AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the operation mode must be at the external device or T/B are not possible. (Exclude the start of automatic operation.)

MANUAL ..................When the T/B is valid, only operations from the T/B are valid. Operations for which the operation mode must be at the external device or controller are not possible.

<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.

<18> Filter cover.............................................. There is an air filter inside the cover.

<19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2 places)

<20> Operation panel..................................... The operation panel for servo ON/OFF, START/STOP the program etc.

<21>

Display panel

(STATUS.NUMBER)

........... The alarm No., program No., override value (%), etc., are displayed.

<22> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order of "Override" → "Program No." → "Line No.".

<23> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

<24> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.)

<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)

<26> START button........................................ This executes the program and operates the robot. The program is run continuously.

<27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.

<28> RESET button ........................................ This resets the error. This also resets the program's halted state and resets the program.

<29> END button ............................................. This stops the program being executed at the last line or END statement.

Names of each part 3-102

3 Controller

3.3.1 Names of each part of the robot CPU

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.

3-103

Names of each part

3.4 Outside dimensions/Installation dimensions

3.4.1 Outside dimensions

3 Controller

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

Outside dimensions/Installation dimensions 3-104

3 Controller

(1) Outside dimensions of robot CPU unit

Fig.3-4 : Outside dimensions of robot CPU

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

3-105

Outside dimensions/Installation dimensions

(2) Battery unit outside dimension

2-Φ5.5 hole

Fig.3-5 : Outside dimensions of battery unit

3 Controller

Outside dimensions/Installation dimensions 3-106

3 Controller

3.4.2 Installation dimensions

<Placed horizontally>

145mm

145mm

250mm 以 上

<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.

3-107

Outside dimensions/Installation dimensions

hole

hole

3 Controller

hole

(Controller fixation hole)

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

Outside dimensions/Installation dimensions 3-108

3 Controller

(1) Robot CPU Unit installation dimensions

Because to improve ventilation and to make unit replacement easy, please secure the following distance between the upper and lower sides of the unit and the structure, etc.

<Q172DRCPU>

The position of the ceiling of the

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

3-109

Outside dimensions/Installation dimensions

3 Controller

3.5 External input/output

3.5.1 Types

(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and status display.

(2) General-purpose input/output.................These are inputs and outputs that the customer can program for peripheral device control.

(3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can program.

(4)Emergency stop/Door switch input.........The wiring for the safe security of the emergency stop etc. is shown in

on Page 114, "3.7 Emergency stop input and output etc." and on

Page

144, "6.1.7 Examples of safety measures" .

<For Reference>

Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to control robot controller's input/output from a GOT (graphic operation terminal).

External input/output 3-110

3 Controller

3.6 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-2 . 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 3-2 : Dedicated input/output list

Parameter name

TEACHMD

ATTOPMD

ATEXTMD

RCREADY

Name

Input

None

None

None

None

Function

Note1)

Output

Level

L

Name Function

Teaching mode output signal

Automatic mode output signal

Remote mode output signal

Controller power ON complete signal

Automatic operation enabled output signal

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 operation enabled input signal

START Start input signal

Allows automatic operation.

Starts all slots.

STOP

STOP2

Stop input signal

Stop input signal

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

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.

SRVON

IOENA

MELOCK

Servo ON enabled input signal

Servo ON input signal

Operation rights input signal

Machine lock input signal

Turns the servo OFF for all mechanisms.

Turns the servo ON for all mechanisms.

Requests the operation rights for the external signal control.

Sets/resets the machine lock state for all mechanisms.

SAFEPOS Evasion point return input signal

OUTRESET General-purpose output signal reset

EMGERR

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

S1START

:

S32START

Start input Starts each slot.

L

E

Operating output signal

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 output signal

In cycle stop operation output signal

Servo ON enabled output signal

In servo ON output signal

Operation rights output signal

In machine lock output 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 operating.

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 output signal

Outputs that an emergency stop has occurred.

In operation output

Outputs the operating state for each slot.

3-111

Dedicated input/output

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. output request

Requests output of the program name.

Note1)

Level

L

E

E

L

E

LINEOUT Line No. output request

OVRDOUT Override value output request

Requests output of the line No.

Requests the override output.

ERROUT

JOGENA

JOGM

JOG+

JOG-

Error No. output request

Jog valid input signal

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 output signal

Error No. output signal

Jog valid output signal

Jog mode output 2bit

Outputs that the program name is being output to the numeric value output signal.

Outputs that the line No. is being output to the numeric value output signal.

Outputs that the override value is being output to the numeric value output signal.

Outputs that the error No. is being output 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 occurrence.

L

Mechanism 1 hand error output signal

:

Mechanism 3 hand error output signal

Outputs that a hand error is occurring.

Dedicated input/output 3-112

3 Controller

Parameter name

AIRERR1

:

AIRERR3

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.

3-113

Dedicated input/output

3 Controller

3.7 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from the "special input/output" terminal connector.

Table 3-3 : 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

Applies the emergency stop. Dual emergency line

Applies the stop. (Refer to

Page 119, "3.7.2 Special stop input (SKIP)"

Servo-off. Dual line, normal close ( Page 120, "3.7.3 Door switch function"

)

Servo-off. Dual line, normal close ( Page 120, "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.

Output Mode output

Output Magnet contactor control connector output for addition axes

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

with the robot arm. ( Page 125, "3.9 Magnet contactor control connector output (AXMC) for addition axes" )

*At the time of the power supply OFF, the output point of contact is always open.

[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the equipment except for this range. The use exceeding contact capacity causes failure.

In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Pin number assignment of each terminal and the circuit diagram are shown in

Fig. 3-10 .

3.7.1 Connection of the external emergency stop

The external emergency stop input and door switch input and enabling device input are opened at shipment as

shown in Fig. 3-10

.

Connect the external emergency stop switch and door switch with the following procedure.

And, the example of the connection and notes of the emergency stop are described in Page 144, "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.

Emergency stop input and output etc. 3-114

3 Controller

CAUTION

You should always connect doubly connection of the emergency stop, the door switch, and the enabling switch. (Connect with both of side-A and side-B of the controller rear connector) 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)

3-115

Emergency stop input and output etc.

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

Emergency stop output

+24V

RA

Relay

CNUSR11

1

2

3

4

5

6

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

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".

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Fig.3-10 : 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 144, "6.1.7 Examples of safety measures" .

This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

Emergency stop input and output etc. 3-116

3 Controller

<CR750 drive unit>

CNUSR11/12 connector

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 connector.

4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.

(tightening torque of 0.22 to 0.25Nm)

5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that correspond with the controller. Connect so that the cable fixing screw comes on top, and make sure to fix securely by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should be used to fix screws (tightening torque of 0.22 to 0.25Nm).

This concludes the connection procedure.

Fig.3-11 : Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))

CAUTION

The connector on the controller side that connects to the user wiring connector is

CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not operate properly.

3-117

Emergency stop input and output etc.

3 Controller

<CR750 drive unit>

CNUSR2 connector

Cover fixing screw (Two places)

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 connector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.

3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and make sure it is fastened securely.

4) Connect the connector to the corresponding connector (CNUSR2) on the drive unit. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

Fig.3-12 : Method of wiring for external emergency stop connection (CR750 (CNUSR2))

CAUTION

When soldering please take care to only connect to the specified pin number.

Connecting to a different pin number or short-circuiting with another pin will result in the robot breaking down or malfunctioning.

Emergency stop input and output etc. 3-118

3 Controller

3.7.2 Special stop input (SKIP)

The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in

Fig. 3-13 .

Table 3-4 : 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 118 "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)

3-119

Emergency stop input and output etc.

3 Controller

3.7.3 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur. Follow the wiring example shown in

Page 116 "Fig. 3-10: External emergency stop connection (CR750)"

and

Page 144, "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)

Emergency stop input and output etc. 3-120

3 Controller

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

The following is a description of various operations performed on the robot and switch settings that are required.

Table 3-5 : 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 101, "3.3 Names of each part"

・ T/B enable/disable:

..................................................................................... Page 128, "(1) Teaching pendant (T/B)"

・ T/B enable switch:

....................................................................................... Page 128, "(1) Teaching pendant (T/B)"

・ Enabling device input terminal:

.................................................Page 144, "6.1.7 Examples of safety measures"

・ Door switch input terminal:

........................................................Page 144, "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

3-121

Emergency stop input and output etc.

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 3-6

shows the connectors for additional axes inside the drive unit.

Fig. 3-16

shows a connection example

(configuration example).

Table 3-6 : Dedicated connectors inside the drive unit

Name

Connector for additional axes

Connector name

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)

To CN1B

To CN1A connector

To CN1B

Additional Axis Function 3-122

3 Controller

(1) Example of the installation of the noise filter

1) EMC filter (recommended)

Please install the recommendation filter shown below according to the example of connection.

1)

2)

Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open.

There is no L3 for 1-phase 100 to 120 VAC power supply.

Note2) The example is when a surge protector is connected.

Fig.3-17 : Example of EMC noise filter installation

3-123

Additional Axis Function

3 Controller

2) Line noise filter

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

Fig.3-18 : Example of noise filter installation

Additional Axis Function 3-124

3 Controller

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

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the drive unit and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open.

An example circuit and an image of how to connect the controller connector are shown below. When you are using an additional axis, please perform appropriate circuit connections by referring to these drawings.

Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please do not connect this output signal. Servo-on of the user mechanism may be unable.

1) Get the power supply for the drive unit from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box.

2)ドライブユニット内蔵漏電遮断器(NV)の2次側より、 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 controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Fig.3-19 : Example of circuit for addition axes of Magnet contactor control output

3-125

Magnet contactor control connector output (AXMC) for addition axes

*Connects with CNUSR2 connector

with soldering. Refer to

Page 118 "Fig.

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

(CNUSR2))"

.

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

フェライトコア

Pass twice

3 Controller

Magnet contactor control connector output (AXMC) for addition axes 3-126

3 Controller

3.10 Options

■ What are options?

There are a variety of options for the robot designed to make the setting up process easier for user needs.

User installation is required for the options.

Options come in two types: "set options" and "single options".

1. Set options ......................................A combination of single options and parts that together, form a set for serving some purpose.

2. Single options .................................That are configured from the fewest number of required units of a part.

Please choose user's purpose additionally.

3-127

3 Controller

(1) Teaching pendant (T/B)

■ Order type: R32TB :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 3-7 : 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 3-8 : 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) 3-128

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.

3-129

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) 3-130

3 Controller

(2) 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 3-9 : 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.

3-131

RT ToolBox2/RT ToolBox2 mini

3 Controller

■ Functions

Table 3-10 : Functions

Function

Compatible model

Program editing functions

Editing functions

Simulation function

Monitor functions

Maintenance function

Control functions

Debugging functions

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 comparison, name change, protect)

・ Direct editing of program in controller

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

・ Off-line simulation of robot program operation using CG (computer graphics)

・ Tact time calculation

・ Robot operation monitor (robot operation state, stop signal, error monitor, program monitor (execution program, variables), general-purpose input/output signals (forced output possible), dedicated input/ output signals, operation confirmation (operation range, current position, hand, etc.)

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

・ Servo monitor (load)

・ Parameter setting

・ Batch, divided backup

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.

RT ToolBox2/RT ToolBox2 mini 3-132

3 Controller

(3) Instruction Manual(bookbinding)

■ Order type: ● 5F-RB01-PE01..............RH-6FH/12FH/20FH-Q series

■ Outline

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

■ Configuration

Table 3-11 : Product configuration

Name

Instruction Manual

Safety Manual

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

5F-RB01-PE01

BFP-A8006

BFP-A8882

BFP-A8865

BFP-A8886

BFP-A8869

BFP-A8871

BFP-A8863

BFP-A8664

BFP-A8787

Mass (Kg)

Note1)

2.6

Specifications

The instructions manual set of "RH-6FH/12FH/

20FH-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.

3-133

Instruction Manual(bookbinding)

3 Controller

3.11 Maintenance parts

The consumable parts used in the controller are shown in

Table 3-12

. 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 3-12 : Controller consumable parts list

No. Name Type

Note1)

1 Lithium battery Q6BAT

Qty.

1

Usage place

The battery unit connected to the robot CPU unit

Inside the filter cover

Supplier

Mitsubishi Electric

2 Filter BKOFA0773H42 1

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

Maintenance parts 3-134

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).

Moves along a designated arc (start point → passing point → end point) with 3-dimensional circular interpolation.

Moves along the arc on the opposite side of a designated arc (start point

→ reference point → end point) with 3-dimensional circular interpolation.

Speed designation

Operation

Position control

Float control

Pallet

Singular point passage

Mov P1

Mvs P1

Mvc P1,P2,P1

Mvr P1,P2,P3

Mvr2 P1,P9,P3

Moves along a set arc (start point → end point) with 3-dimensional circular interpolation.

Designates the speed for various interpolation operations with a percentage (0.1% unit).

Designate the speed for joint interpolation operation with a percentage

(0.1% unit).

Designates the speed for linear and circular interpolation with a numerical value (mm/s unit).

Mvr3 P1,P9,P3

Ovrd 100

JOvrd 100

Spd 123.5

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.

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 interpolation.

Turns the servo power ON/OFF for all axes.

Limits the operation of each axis so that the designated torque is not exceeded.

Designates the base conversion data.

Designates the tool conversion data.

Fine 1, P

Fine 0.5, J, 2

Servo OFF

Torq 4,10

Base P1

Tool P1

The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011

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

Cmp Jnt ,&B00000011

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

The robot arm rigidity is returned to the normal state.

The robot arm rigidity is designated.

Defines the pallet.

Operates the pallet grid point position.

Move to a specified position using linear interpolation passing through a singular point.

Cmp Tool ,&B00000011

Cmp Off

CmpG

1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

Def Plt 1,P1,P2,P3,P4,5,3,1

Plt 1,M1

Mvs P1 Type 0,2

4-135

List of commands

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 designation

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

List of commands 4-136

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

4-137

List of commands

4Software

4.2 List of parameters

show the main parameter in the

Table 4-2 .

Table 4-2 : List of parameters

Parameter Details

Standard tool coordinates.

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

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]

List of parameters 4-138

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 designation

User-designated origin

Program selection memory

Communication setting

Slot table

No. of multi-tasks

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)

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.

4-139

List of parameters

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 Function Manual

Explains the control function and specifications of conveyor tracking

Extended Function Instruction Manual

Explains the detailed description of data configuration of shared memory, monitoring, and operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-

D/CR751-D controller).

The details of each instruction manuals 5-140

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 function

2 Overcurrent diagnosis function

3 Encoder disconnection diagnosis function

4 Deflection over diagnosis function

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

Activates when an overcurrent flows to the motor circuit.

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.

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

5 AC power voltage drop diagnosis function

6 CPU error detection function

7 Overrun prevention function

Software limit detection

Mechanical stopper

Activates when an error occurs between the command value and actual position, and the error exceeds the specified amount.

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

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 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.

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6Safety

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

Table 6-3 : External input/output signals that can be used for safety protection measures

Signal

External emergency stop

Note1)

Door switch

Enabling device input

Stop Sequencer unit

Servo OFF

Automatic operation 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 inactive.

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

SRVON

STOP

The servo power ON/OFF state is output.

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 144, "6.1.7 Examples of safety measures" for details.

And, refer to

Page 121, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings"

for the function of the door switch input and the enabling device input.

6.1.3 Precautions for using robot

The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below.

(1) Robot installation

・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the robot.

・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)

・ Install the controller where the entire robot operation can be viewed.

・ Install display lamps, etc., to indicate the robot's operation state.

・ Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator

・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.

・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures

・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.

・ Create hand signals to be followed when several operators are working together.

・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is in the robot's motion space so that other operators will not operate the operation panel (controller, control panel).

(4) Training

・ Train the operators about the operations, maintenance and safety required for the robot work.

・ Only trained and registered operators must operate the robot.

Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com

mittee, etc., is recommended for safety training.

Safety 6-142

6Safety

(5) Daily inspection and periodic inspection

・ lways inspect the robot before starting daily operations and confirm that there are no abnormalities.

・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and perform periodic inspections.

・ Make records when periodic inspections and repairs have been done, and store the records for three or more years.

6.1.4 Safety measures for automatic operation

(1) Install safety fences so that operators will not enter the operation area during operation and indicate that automatic operation is in progress with lamps, etc.

(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the operator follows the signals.

6.1.5 Safety measures for teaching

Observe the following measures when teaching, etc., in the robot's operation range.

(1) Specify and follow items such as procedures related to teaching work, etc.

(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that 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.

6-143

Safety

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 149, "(2) External emergency stop connection [supplementary explanation]"

and Page 114, "3.7.1 Connection of the external emergency stop" .

[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)

Safety 6-144

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)

6-145

Safety

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.

Drive unit

Power supply in the robot controller 24V

非常停止スイッチ

(2接点タイプ)

Peripheral equipment

Power supply 24V

OP Emergency

OP非常停止

*6)

TB Emergency

TB非常停止

*3)

RA

*7)

*4)

RA

RA

*1)

CNUSR11/CNUSR12

1

2

3

4

5

6

7

8

9

10

Enabling device

*5)

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.

*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)

Safety 6-146

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

Emergency stop button

*6)

*3)

TB

Emergency 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

Emergency stop button

*6)

*3)

TB

Emergency 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)

6-147

Safety

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)

Safety 6-148

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.

6-149

Safety

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.

Safety 6-150

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 J3 axes. The precision of the robot may drop, looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brakes applied.

(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the 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 shaft section could interfere with the base section. Take care to prevent interference during jog.

*1)

(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.

When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy may drop or servo alarms may occur. If these problems occur, perform a 5 to 10 minute running-in operation at a low speed (about a half of normal operating speed).

(5) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise resistance and to prevent electric shocks.

(6) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.

(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard 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.

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

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Working environment

6Safety

(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.

Take care to prevent interference with the workpiece or peripheral devices during operation.

(9) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

(10) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It would not result in burns, however, it may cause secondary accidents if touched carelessly.

(11) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro

gram data may be destroyed.

(12) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices.

Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce interference.

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

(14) When the sequencer system becomes large too much, the robot's locus may deteriorate uncommonly. If this phenomenon occurs, inform to the dealer. And, when it turns out that the system is enlarged in advance, please inform our company.

(15) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes about once every day the 30 degree or more, or the 30mm or more.

(16) 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.

(17) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

(18) Collision detection function is valid condition for both of automatic and jog operation at shipping.

So, the robot stops immediately if the robot's tool or arm interferes with a peripheral device, minimizing dam

age. Therefore, please use in the valid condition.

Precautions for handling 6-152

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)

6-153

EMC installation guideline

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.)

EMC installation guideline 6-154

7Appendix

7 Appendix

Appendix 1 : Specifications discussion material (RH-6FH series)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

Item

General specification

Clean specification

Oil mist specification

CE marking specification

Standard specification

(IP54)

Note1)

Clean specification

Type

RH-6FH □□△△ -Q

RH-6FH □□△△ C-Q

RH-6FH □□△△ M-Q

RH-6FH □□△△ -Q1-S15

RH-6FH □□△△ C-Q1-S15

Arm length

□ 350   □ 450   □ 550

□ 350   □ 450   □ 550

□ 350   □ 450   □ 550

□ 350   □ 450   □ 550

□ 350   □ 450   □ 550

Stroke

□ 200   □ 340

□ 200   □ 340

□ 200   □ 340

□ 200   □ 340

□ 200   □ 340

Controller

CR750-06HQ-1

CR750-06HQ1-1-S15

Note1) When you wish to have bellows, contact our dealer.

■ Shipping special specifications (Settings can be made only at time of shipment)

Item Standard specification Special shipping specifications

Robot arm

Controller

Machine cable

Robot CPU unit connecting cable set

Note1)

□ 5m fixed type

□ 10m

□ 2m fixed type: 1S-02UCBL-01

□ Not provided □ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The four type cables shown in below are contained. (Each cable length is the same.)

1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,

4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)

■ Options (Installable after shipment)

Item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-01

Machine cable extension 1S- □□ CBL-01

Solenoid valve set

1S- □□ LCBL-01

1S- □□ LUCBL-01

1F-VD0 □ -01

1F-VD0 □ E-01

Hand input cable

Hand output cable

Hand curl tube

1F-HC35C-01

1F-GR60S-01

1E-ST0408C-300

External Wiring/Piping box

Internal Wiring/Piping for hand

1F-UT-BOX

1F-HS408S-01

1F-HS408S-02

R32TB- □□ Simple teaching pendant

Highly efficient teaching pendant R56TB- □□

Controller protection box CR750-MB

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINJ

3D-12C-WINJ

□ Not provided □ Provided

Fixed type (extension type):

□ Not provide □ 5m □ 10m □ 15m

Flexed type (extension type):

□ Not provide □ 5m □ 10m □ 15m

Flexed type (direct type):

□ Not provide □ 5m □ 10m □ 15m

□ Not provide

1F-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set

1F-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided (For 200mm stroke)

□ Not provided □ Provided (For 340mm stroke)

□ 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-RB01-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)

□ Dusts (Please take measures such as a jacket.),

□ Chemicals (Please consult), □ Other ( )

Remarks

Note1) Refer to

Page 25, "2.2.7 Protection specifications" about oil resistance.

Appendix-155

Specifications discussion material (RH-6FH series)

7Appendix

Appendix 2 : Specifications discussion material (RH-12FH series)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

Item

General specification

Clean specification

Oil mist specification

Type

RH-12FH □□△△ -Q

RH-12FH □□△△ C-Q

RH-12FH □□△△ M-Q

Arm length

□ 550   □ 700   □ 850

□ 550   □ 700   □ 850

□ 550   □ 700   □ 850

Stroke

□ 350   □ 450

□ 350   □ 450

□ 350   □ 450

Controller

CR750-12HQ-1

■ Shipping special specifications (Settings can be made only at time of shipment)

Item Standard specification Special shipping specifications

Robot arm Machine cable □ 5m fixed type □ 2m fixed type: 1S-02UCBL-01

Controller Robot CPU unit connecting cable set

Note1)

□ 10m □ Not provided □ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The four type cables shown in below are contained. (Each cable length is the same.)

1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,

4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)

■ Options (Installable after shipment) item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-02

Machine cable extension 1S- □□ CBL-01

Solenoid valve set

□ Not provided □ Provided

Fixed type:

□ Not provide □ 5m □ 10m □ 15m

1S- □□ LCBL-01

Flexed type:

□ Not provide □ 5m □ 10m □ 15m

1S-VD0 □ -01

1S-VD0 □ E-01

□ Not provide

1S-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set

1S-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set

Hand input cable

Hand output cable

Hand curl tube

External Wiring/Piping box

1F-HC35C-02

1F-GR60S-01

1N-ST0608C-01

1F-UT-BOX-01

Internal Wiring/Piping for hand 1F-HS604S-01

Simple teaching pendant

Highly efficient teaching pendant

1F-HS604S-02

R32TB- □□

R56TB- □□

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided (For 350mm stroke)

□ Not provided □ Provided (For 450mm stroke)

□ Not provided □ 7m □ 15m

□ Not provided □ 7m □ 15m

Controller protection box

RT ToolBox2

RT ToolBox2 mini

Network vision sensor

CR750-MB

3D-11C-WINJ

□ Not provided □ Provided

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

3D-12C-WINJ □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

4D-2CG5***-PKG □ Not provided □ Provided

Instructions manual 5F-RB01-PE01

■ Maintenance parts (Consumable parts)

□ Not provided □ Provided ( ) sets

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)

□ Dusts (Please take measures such as a jacket.),

□ Chemicals (Please consult), □ Other ( )

Remarks

Note1) Refer to Page 25, "2.2.7 Protection specifications"

about oil resistance.

Specifications discussion material (RH-12FH series) Appendix-156

7Appendix

Appendix 3 : Specifications discussion material (RH-20FH series)

■ Customer information

Company name Name

Address Telephone

■ Purchased mode

Item

General specification

Clean specification

Oil mist specification

Type

RH-20FH □□△△ -Q

RH-20FH □□△△ C-Q

RH-20FH □□△△ M-Q

Arm length

□ 850   □ 1000

□ 850   □ 1000

□ 850   □ 1000

Stroke

□ 350   □ 450

□ 350   □ 450

□ 350   □ 450

Controller

CR750-20HQ-1

■ Shipping special specifications (Settings can be made only at time of shipment)

Item Standard specification Special shipping specifications

Robot arm Machine cable □ 5m fixed type □ 2m fixed type: 1S-02UCBL-01

Controller Robot CPU unit connecting cable set

Note1)

□ 10m □ Not provided □ 5m □ 20m □ 30m: 2Q-RC-CBL □□ M

Note1) The four type cables shown in below are contained. (Each cable length is the same.)

1)2Q-TUCBL □□ M, 2)2Q-DISPCBL □□ M, 3)2Q-EMICBL □□ M,

4)MR-J3BUS □□ M-A (5m, 20m) or MR-J3BUS □□ M-B (30m)

■ Options (Installable after shipment) item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-02

Machine cable extension 1S- □□ CBL-01

Solenoid valve set

□ Not provided □ Provided

Fixed type:

□ Not provide □ 5m □ 10m □ 15m

1S- □□ LCBL-01

Flexed type:

□ Not provide □ 5m □ 10m □ 15m

1S-VD0 □ -01

1S-VD0 □ E-01

□ Not provide

1S-VD0 □ -01 (Sink type): □ 1set □ 2set □ 3set □ 4set

1S-VD0 □ E-01 (Source type): □ 1set □ 2set □ 3set □ 4set

Hand input cable

Hand output cable

Hand curl tube

External Wiring/Piping box

1F-HC35C-02

1F-GR60S-01

1N-ST0608C-01

1F-UT-BOX-01

Internal Wiring/Piping for hand 1F-HS604S-01

Simple teaching pendant

Highly efficient teaching pendant

1F-HS604S-02

R32TB- □□

R56TB- □□

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided (For 350mm stroke)

□ Not provided □ Provided (For 450mm stroke)

□ Not provided □ 7m □ 15m

□ Not provided □ 7m □ 15m

Controller protection box

RT ToolBox2

RT ToolBox2 mini

Network vision sensor

CR750-MB

3D-11C-WINJ

□ Not provided □ Provided

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

3D-12C-WINJ □ Not provided □ Windows2000/XP/Vista/7 English CD-ROM

4D-2CG5***-PKG □ Not provided □ Provided

Instructions manual 5F-RB01-PE01

■ Maintenance parts (Consumable parts)

□ Not provided □ Provided ( ) sets

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)

□ Dusts (Please take measures such as a jacket.),

□ Chemicals (Please consult), □ Other ( )

Remarks

Note1) Refer to

Page 25, "2.2.7 Protection specifications"

about oil resistance.

Appendix-157

Specifications discussion material (RH-20FH series)

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN

Authorised representative:

MITSUBISHI ELECTRIC EUROPE B.V. GERMANY

Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany

Dec., 2012 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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