Mitsubishi RP-1AH/3AH/5AH RP-1AH, RP-3AH, RP-5AH Industrial Robot Standard Specifications Manual

MITSUBISHI

Mitsubishi Industrial Robot

RP-1AH/3AH/5AH Series

Standard Specifications Manual

(CR1-571 Controller)

BFP-A8104-H

Supplemental Instruction

This document additionally explains the specification and the function of the "emergency stop output terminal (5-6 pin)" which are prepared on the robot controller rear. Therefore, you confirm the details of this document, use the

"emergency stop output terminal" correctly, and please utilize for the safety of equipment.

1. Emergency stop output terminal

Electric specification：DC24V/300mA

Function：Emergency stop output opens when either one of the emergency stop switches shown below or an input signal turns on.。

(1)

Emergency stop switch of the controller.

(2)

Emergency stop switch or deadman switch of the T/B (option).

(3)

External emergency stop input.

(4)

The T/B mount/dismount switch is OFF when the T/B is unconnected.

<Customer-prepared wiring> <Robot controller system>

MC1

＋

To servo main circuit power

Door switch

External emergency stop

5

6

4

3

1

2

S/W-EMG

RA3

RA2

Door switch input

RA1

24V

T/B remove switch

RA1

RA1

RA2 RA2

External emergency stop output

RA4

RA3

External emergency stop input

Teaching pendant deadman switch

Operation panel emergency stop

Teaching pendant emergency stop


MC1

Software emergency stop

MC1

Connecting an external device outside the range of DC24V/300mA will cause a controller failure.

BFP-A8050-G01

Supplemental Instruction

Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series.

This document explains partial changes and correction to the specifications of parallel inputs and outputs of the CR1, CR1B, CR2A and CR2B Mitsubishi Industrial Robot Controllers. Therefore, check the content, and use it together with your standard specifications and instruction manual.

1. Revision place

We found some erroneous descriptions related to the common method for output circuit of the parallel input/output unit mounted as a standard.

Revision place Correction Mistake

Common method item shown in the table "Electric specifications of output circuit"

8 points per common

(common terminal: 8 points)

<Supplementary notes regarding output circuit fuses>

4 points per common

(common terminal: 4 points)

The output circuit protective fuses prevent failure in case of load short-circuit and improper connections.

Please do not connect loads that cause the current to exceed the maximum rated current. If the maximum rated current is exceeded, the internal transistors may be damaged. The locations of the fuses are indicated in "4. Locations of Output Circuit Fuses for Parallel Input/Output Unit."

2. Changes

The common method for output circuit of the optional parallel input/output unit has been changed.

Revision place

Correction

Mistake

Common method item shown in the table "Electric specifications of output circuit"

8 points per common

(common terminal: 8 points)

4 points per common

(common terminal: 4 points)

3. Signal assignment for parallel input/output connectors

The signal assignment for parallel input/output connectors has been changed according to the corrections and changes made to the output circuit above. A list of pin numbers and signals assigned to them is shown below. The following examples are for CN100, but the assignments is the same for all standard and optional parallel input/output units (including the second and subsequent units as well).

List of connector CN100 pin numbers and signal assignments after changes

(common for sink/source of CR1/CR1B/CR2A/CR2B)

Pin

No.

Line color

General-purpose

Function name

Dedicated/power supply, common

Pin

No.

Line color

General-purpose

Function name


1 Orange/Red A FG

0V:For pins 4-7, 10-13

3 White/Red A 12V/24V:For pins 4-7

4 Yellow/Red A General-purpose output 0 Running

5 Pink/Red A General-purpose output 1 Servo on

6 Orange/Red B General-purpose output 2 Error

7 Gray/Red B General-purpose output 3 Operation rights

0V:For pins 4-7, 10-13

9 Yellow/Red B

10 Pink/Red B General-purpose output 8

12V/24V:For pins 10-13

11 Orange/Red C General-purpose output 9

12 Gray/Red C General-purpose output 10

13 White/Red C General-purpose output 11

14 Yellow/Red C COM0:For pins 15-22

Note1)

15 Pink/Red C General-purpose input 0 Stop(All slot)

Note2)

16 Orange/Red D General-purpose input 1 Servo off

17 Gray/Red D General-purpose input 2 Error reset

18 White/Red D General-purpose input 3 Start

19 Yellow/Red D General-purpose input 4 Servo on

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A

29 Yellow/Blue A General-purpose output 4

FG

0V:For pins 29-32, 35-38


30 Pink/Blue A General-purpose output 5

31 Orange/Blue B General-purpose output 6

32 Gray/Blue B General-purpose output 7

33 White/Blue B

0V:For pins 29-32, 35-38

34 Yellow/Blue B

35 Pink/Blue B General-purpose output 12


36 Orange/Blue C General-purpose output 13

37 Gray/Blue C General-purpose output 14

38 White/Blue C General-purpose output 15

39 Yellow/Blue C COM1:For pins 40-47

Note1)

40 Pink/Blue C General-purpose input 8

41 Orange/Blue D General-purpose input 9

42 Gray/Blue D General-purpose input 10

43 White/Blue D General-purpose input 11

44 Yellow/Blue D General-purpose input 12

20 Pink/Red D General-purpose input 5 Operation rights

21 Orange/Red E General-purpose input 6

22 Gray/Red E General-purpose input 7

24 Yellow/Red E

Reserved

Reserved

45 Pink/Blue D General-purpose input 13

46 Orange/Blue E General-purpose input 14

47 Gray/Blue E General-purpose input 15

48 White/Blue

49 Yellow/Blue E

Reserved

Reserved

Reserved 25 Pink/Red E Reserved 50 Pink/Blue E

Note 1) Sink type:24V/12V(COM), Source type:0V(COM)

Note 2) The assignment of the dedicated input signal "STOP" is fixed.

BFP-A8227-06

4. Locations of Output Circuit Fuses for Parallel Input/Output Unit

(1) Parallel input/output mounted as standard

Enlargement

RZ386/RZ387 card

F3

F4

CR1-571 controller

RZ386/RZ387 card

Fuse Pin No.

4∼７ pin

10∼13 pin

29∼32 pin

35∼38 pin

F3

F4

(2) Parallel input/output of optional

CN100

F101

F102

CN300

F301

F302

Connector Pin Fuse

CN100

CN300

4∼7 pin

10∼13 pin

29∼32 pin

35∼38 pin

4∼7 pin

10∼13 pin

29∼32 pin

35∼38 pin

F101

F102

F301

F302

BFP-A8227-06

■ Introduction

The RP-1AH is an ultra-compact robot with an arm mass of approx. 12kg and installation area equivalent to A5 size. Highly accurate layout and assembly into devices are possible. With the world's first 5-joint closed link structure, the arm section has been downsized and made highly rigid, allowing productivity to be increased greatly with high-speed operations equivalent to a dedicated machine.

Furthermore, a positioning repeatability (0.005mm) one digit higher than the conventional robot has been realized allowing accurate and detailed work to be carried out.

The RP-3AH with an extended movement range maximum mass capacity of 3kg, and the RP-5AH with a maximum mass capacity of 5kg are also available.

The clean specification of the cleanliness 100 (0.3μm) are also available.

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.

In this manual, the specifications regarding the robot arm are given in Page 5, "2 Robot arm"

and following, and the specifications regarding the controller are given in

Page 35, "3 Controller"

and following. Refer to the corresponding sections for details on the specifications, options and maintenance parts, etc.

Caution:

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

・ The details 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 inter- pret that items not described in this document "cannot be performed.".

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

・ This Specifications Manual is original.

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

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

CAUTION

WARNING

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

CAUTION

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

WARNING

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

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

Installation of safety fence

CAUTION

Establish a set signaling method to the related operators for starting work, and follow this method.

Signaling of operation start

CAUTION

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

CAUTION

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 non-designated 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

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.

CAUTION

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.

Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the controller.)

CAUTION

Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage. Confirm the setting connector of the input power supply voltage of the controller, if the type which more than one power supply voltage can be used. Then connect the power supply.

Failure to do so could lead to electric shock accidents.

Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.

*Except the above: Single phase 180-253VAC.

Rear side of controller

Earth leakage breaker

(NV)

Cover

Terminal

Cover

Terminal cover

Protective earth terminal

(PE)

Revision history

Date of print

2000-04-10

2000-05-16

2000-06-30

2001-03-06

2001-05-14

2002-01-25

Specifications No.

BFP-A8104Z

BFP-A8104Z-a

BFP-A8104

BFP-A8104-A

BFP-A8104-B

BFP-A8104-C

2002-07-05

2006-07-12

2009-06-23

2009-07-29

2009-09-26

BFP-A8104-D

BFP-A8104-E

BFP-A8104-F

BFP-A8104-G

BFP-A8104-H

Details of revisions

First print

Error in writing correction




LNG, RLNG and MESNGLSW parameters were added.


The description of input/output circuit terminal was corrected.

Error in writing correction.

Error in writing correction.

The EC Declaration of Conformity was changed.

(Correspond to the EMC directive; 2004/108/EC)

The EC-Statement of Compliance was added.

The EC Declaration of Conformity was changed.

(Correspond to the EMC directive ; 2006/42/EC.)

CONTENTS

Page

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

1.1 Configuration Devices ................................................................................................................................................................ 1

1.1.1 Standard configuration devices ...................................................................................................................................... 1

1.1.2 Shipping special specifications ........................................................................................................................................ 1

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

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

1.2 Contents of the structural equipment ................................................................................................................................. 2

1.2.1 Robot arm ................................................................................................................................................................................ 2

1.2.2 Controller ................................................................................................................................................................................. 3

1.3 Contents of the Option equipment and special specification ................................................................................... 4

2 Robot arm ................................................................................................................................................................................................ 5

2.1 Standard specifications ............................................................................................................................................................. 5

2.2 Definition of specifications ....................................................................................................................................................... 6

2.2.1 Pose repeatability ................................................................................................................................................................. 6

2.2.2 Relation of mass capacity and acceleration/deceleration .................................................................................. 7

2.2.3 Clean specifications ............................................................................................................................................................. 8

2.3 Names of each part ..................................................................................................................................................................... 9

2.4 Outside dimensions ・ Operating range .............................................................................................................................. 10

(1) RP-1AH/1AHC-SB ....................................................................................................................................................... 10

(2) RP-3AH/3AHC-SB ....................................................................................................................................................... 13

(3) RP-5AH/5AHC-SB ....................................................................................................................................................... 16

2.5 Tooling ............................................................................................................................................................................................. 19

2.5.1 Wiring and piping for hand ............................................................................................................................................... 19

2.5.2 Pneumatic piping in robot ................................................................................................................................................ 21

2.5.3 Wiring of pneumatic hand output cable in robot .................................................................................................... 21

2.5.4 Wiring of hand check input cable in robot ................................................................................................................ 21

2.5.5 Wiring and piping system diagram for hand .............................................................................................................. 22

2.5.6 Electrical specifications of hand input/output ....................................................................................................... 23

2.5.7 Air supply circuit example for the hand .................................................................................................................... 24

2.6 Shippng special specifications, options,and maintenance parts ............................................................................. 25

2.6.1 Shipping special specifications ...................................................................................................................................... 25

(1) Machine cable extension ............................................................................................................................................. 26

2.7 Options .......................................................................................................................................................................................... 28

(1) Solenoid valve set .......................................................................................................................................................... 29

(2) Hand input cable ............................................................................................................................................................. 31

(3) Hand output cable .......................................................................................................................................................... 32

2.8 Maintenance parts ...................................................................................................................................................................... 33

3 Controller ............................................................................................................................................................................................... 35

3.1 Standard specifications ........................................................................................................................................................... 35

3.1.1 Standard specifications .................................................................................................................................................... 35

3.1.2 Protection specifications and operating supply ..................................................................................................... 36

3.2 Names of each part ................................................................................................................................................................... 37

3.3 Outside dimensions/Installation dimensions ................................................................................................................... 39

3.3.1 Outside dimensions ............................................................................................................................................................ 39

3.3.2 Installation dimensions ...................................................................................................................................................... 40

3.4 External input/output ............................................................................................................................................................... 41

3.4.1 Types ....................................................................................................................................................................................... 41

3.4.2 Explanation ............................................................................................................................................................................ 41

3.5 Dedicated input/output ........................................................................................................................................................... 42

3.6 Emergency stop input/output ............................................................................................................................................... 44

3.6.1 Connection of the external emergency stop ........................................................................................................... 44

3.6.2 Door switch function ......................................................................................................................................................... 45

3.7 Parallel input/output unit ........................................................................................................................................................ 46

i

CONTENTS

Page

3.8 Options ........................................................................................................................................................................................... 51

(1) Teaching pendant (T/B) ............................................................................................................................................. 52

(2) Pneumatic hand interface .......................................................................................................................................... 55

(3) Expansion option box ................................................................................................................................................... 57

(4) Parallel I/O unit .............................................................................................................................................................. 59

(5) External I/O cable ......................................................................................................................................................... 68

(6) Personal computer cable ............................................................................................................................................ 70

(7) Extended serial interface ............................................................................................................................................ 72

(8) CC-Link interface .......................................................................................................................................................... 74

(9) Ethernet interface ......................................................................................................................................................... 77

(10) Additional axis interface ........................................................................................................................................... 79

(11) Personal computer support software/Personal computer support software mini .......................... 81

3.9 Maintenance parts ..................................................................................................................................................................... 83

4 Software ................................................................................................................................................................................................ 85

4.1 List of commands ...................................................................................................................................................................... 85

(1) The procedure of robot language selection ........................................................................................................ 85

(2) MELFA-BASIC Ⅳ commands .................................................................................................................................. 85

(3) MOVEMASTER commands ........................................................................................................................................ 88

4.2 List of parameters ..................................................................................................................................................................... 90

(1) List of parameters ......................................................................................................................................................... 90

(2) Change the display language / 表示言語の切り替え ................................................................................... 92

5 Safety ..................................................................................................................................................................................................... 93

5.1 Safety ............................................................................................................................................................................................. 93

5.1.1 Self-diagnosis stop functions ....................................................................................................................................... 93

5.1.2 External input/output signals that can be used for safety protection measures .................................. 93

5.1.3 Precautions for using robot ........................................................................................................................................... 94

5.1.4 Safety measures for automatic operation ............................................................................................................... 94

5.1.5 Safety measures for teaching ....................................................................................................................................... 94

5.1.6 Safety measures for maintenance and inspections, etc. .................................................................................. 94

5.1.7 Examples of safety measures ....................................................................................................................................... 95

5.2 Working environment ................................................................................................................................................................ 96

5.3 Precautions for handling ......................................................................................................................................................... 96

6Appendix ...................................................................................................................................................................................................97

Appendix 1 ： Specifications discussion material ................................................................................................................ 97

ii

1General configuration

1 General configuration

1.1 Configuration Devices

The following devices are included in this system.

1.1.1 Standard configuration devices

The following items are enclosed as a standard.

(1) Robot arm (with connector box)

(2) Controller

(3) Machine cable

(4) Robot arm installation bolts

(5) Transportation fittings

(6) Instruction manuals, Safety manual

(7) Guarantee card

1.1.2 Shipping special specifications

Some standard configuration devices or specifications may be changed before shipment from the factory. Thus, it may take some time for delivery, so please consult with your nearest dealer. Changes in the specifications after shipment will require on-site work or for the system to be returned to Mitsubishi.

1.1.3 Options

The options, which expand the robot functions, can be installed after shipment. All installation must be done by the customer.

1.1.4 Maintenance parts

These are consumable parts and spare parts for maintenance.

Consult with "your dealer" for parts that are not listed.

Configuration Devices

1-1


1.2 Contents of the structural equipment

1.2.1 Robot arm

The device installed on the robot arm is shown below.

RP-1AH,

RP-3AH, or

RP-5AH, etc

Robot arm

Machine cable fixed type 5m

･ 1A-5CBL-1

Connector box

Solenoid valve set four sets:1A-VD04-RP(Sink type)

1A-VD04E-RP(Source type)

Machine cable extension

For fixing :1A- □□ CBL-1

For flexed :1A- □□ LCBL-1

Note) □□ refer the length.

Refer to section Table 1-1

for datails.

Hand output cable

1A-GR200-RP

Hand input cable

1A-HC200-RP

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

1-2

Contents of the structural equipment

［Caution］

Standard configuration equipment

Special shipping specifications

Option

Prepared by customer

1.2.2 Controller

The devices shown below can be installed on the controller.

Controller

・ CR1B-571

Teaching pendant

(T/B)

・ R28TB


Pneumatic I/F

・ 2A-RZ365 (Sink)

・ 2A-RZ375 (Source)

Parallel I/O unit

・ 2A-RZ361 (Sink)

・ 2A-RZ371 (Source)

External I/O cable

・ 2A-CBL05 (5m)

・ 2A-CBL15 (15m)

P L C ( P r o g r a m m a b l e

Logic Controller)

External device


E x p a n s i o n option box

・ CR1-EB3

*1)

Extended serial

I/F

・ 2A-RZ581E

*1)

CC-LINK I/F

・ 2A-HR575E

*1)

ETHERNET I/F

・ 2A-HR533E

*1)

Additional axis

I/F

・ 2A-RZ541E

Personal computer

cable

・ RS-MAXY-CBL

・ RS-AT-RCBL

Personal computer

Preparedby customer

Personal computer support software

(MS-Windows95/98/NT4.0)

･ 3A-01C-WINE(CD-ROM)

Personal computer support software mini

(MS-Windows95/98/NT4.0)

･ 3A-02C-WINE(CD-ROM)

［Caution］

*1) There are some restrictions on the number of optional interfaces and their combinations.

Refer to the separate "Controller setup, basic operation, and maintenance" for details.

Fig.1-2 ： Structural equipment ( controller)

Standard configuration equipment

Special shipping specifications

Option


Contents of the structural equipment

1-3


1.3 Contents of the Option equipment and special specification

A list of the Optional equipments and special specifications are shown below.

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

Item Type Specification

Classification

Descripsion

Solenoid valve set 1A-VD04-RP

1A-VD04E-RP

Four sets(Sink type)

Four sets(Source type)

○

○

Consult with Mitsubishi for the delivery schedule and price when requesting a 1, 2 or 3-row type.

Hand output cable

Hand input cable

1A-GR200-RP

1A-HC200-RP

Extended machine cables 1A- □□ CBL-1 For fixing

(Two sets for power and signal)

○

○

□

10、 15ｍ

1A- □□ LCBL-1 For bending

(Two sets for power and signal)

□

5、 10、 15ｍ

Teaching pendant R28TB

R28TB-15

Pneumatic hand interface 2A-RZ365

2A-RZ375

Parallel I/O Unit

2A-RZ361

2A-RZ371

Cable length 7m

Cable length 15m

(special specification)

DO: 8 point (Sink type)

DO: 8 point (Source type)

DO: 32 point (Sink type)/

DI : 32 point (Sink type)

DO: 32 point (Source type)/

DI : 32 point (Source type)

5m

15m

RS-232C cable 3m for PC-AT compatible model

○

○

○

○

○

○

With 3-position deadman switch/ IP 65

It is necessary when the hand output signal of the robot arm is used. (Integrated in the controller.)

The unit for expansion the external input/output.

Electrical isolated Type

(100mA/Point)

External I/O cable

(For Parallel I/O Unit)

2A-CBL05

2A-CBL15

Personal computer cable RS-MAXY-CBL

RS-AT-RCBL

Personal computer

Support software

Personal computer

Support software mini

3A-01C-WINE

3A-02C-WINE

RT ToolBox2

( Personal computer Support software)

RT ToolBox2 mini

( Personal computer Support software mini)

Expansion option box

3D-11C-WINE

3D-12C-WINE

CR1-EB3

CD-ROM

CD-ROM

CD-ROM

CD-ROM

○

○

○

○

○

○

○

○

Use to connect the external peripheral device to the parallel input/output unit

Use RS-AT-RCBL for the connection from the expansion option box.

MS-Windows98/2000/NT4.0/Me/XP

(With the simulation function)

MS-Windows98/2000/NT4.0/Me/XP

MS-Windows2000/XP/Vista

(With the simulation function)

MS-Windows2000/XP/Vista

Extended serial interface 　 2A-RZ581-E

CC-Link interface

Ethernet interface

Additional axis interface

2A-HR575-E

2A-HR533-E

2A-RZ541-E

Up to three option cards can be mounted

RS-232C x 1

RS-232C or RS-422 x 1

Local station (The local station alone is supported.)

ETHERNET x 1

SSC x 1

Up to 8 axises can be added

○

○

○

○

○

Install on the side of the controller

CR-EB3 is need. for MELSEC PLC with CC-Link connection. CR-

EB3 is need.

CR-EB3 is need.

MR-J2 servoAmplifer Unit connection. CR-EB3 is need.

Note1) In the classification column, ○ refers to an option,and □ to a Shipping special specifications.

1-4

Contents of the Option equipment and special specification

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Standard specifications

Table 2-1 ： Tab Standard specifications of robot

Item Unit

Type

Degree of freedom of motion

Installation posture

Encoder/Drive system

Motor capacity

Brake

Maximum load

Note1)

Rated load

Arm length No.1 Arm

Motion range

No.2 Arm

Width x depth

Maximum velocity

Vertical

Rotation

J1 ・ J2

J3

J4

Tolerable wrist moment of inertia

Position repeatability

Note2)

X, Y direction

Z direction

Wrist rotation direction

Mass

Tool wiring

Tool pneumatic pipes

Cleanliness

Note3) mm mm mm

Degree

Degree/s mm/s

Degree/s kg ･ m mm mm kg

2

Degree kg

W kg

Paint color

RP-1AH RP-1AHC-SB

100(All axis)

1.0

0.5

100

140

150 x 105

(A6 size)

30

480

800

3000

3.10 x 10

-4

± 0.005

± 0.02

Specification

PR-3AH RP-3AHC-SB

4-axis

On floor

Absolute encoder/AC servo

RP-5AH

200(J1,J2,J3 axis), 100(J4 axis)

With brake (All axes)

3.0

5.0

RP-5AHC-SB

1.0

140

200

210 x 148

(A5 size)

2.0

200

260

297 x 210

(A4 size)

50

± 200

432

960

1330 1230

1.60 x 10

-3

± 0.008

± 0.01

± 0.03

3.20 x 10

-3

± 0.01

Apporox. 12 Apporox. 24

Input 8 point/ Output 8 point

None

100(0.3μm）

Note2)

100(0.3μm）

Note2) color: Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)

Apporox. 25

100(0.3μm）

Note2)

Note1)It is necessary to set the acceleration/deacceleration speed appropriately according to the installing load mass. Refer to

Page 6, "2.2 Definition of specifications" for detail.

Note2)

The pose repeatability details are given in

Page 6, "2.2.1 Pose repeatability"

.

Note3)The clean specification details are given in

Page 8, "2.2.3 Clean specifications"

Consult with Mitsubishi for the delivery schedule because it is special specification.

Internal suction reqirement. (50 Liter/min)

Standard specifications

2-5

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

Note1)

and a position within the actual space

Note1)

The pallet function is a function that teaches only the position of the work used as reference (3 to 4 points) and obtains the remaining positions by calculations, for an operation that arranges works orderly or for an operation that unloads orderly arranged works. By using this function, for example, in the case of an operation that arranges works on grid points of 100 x 100, by teaching only three points of four corners, the remaining grid points are automatically generated; thus, it is not necessary to teach all 10,000 points. For more information about the pallet function, refer to the separate volume, "Instruction Manual/Detailed Explanation of Functions and Operations."

2-6

Definition of specifications

2.2.2 Relation of mass capacity and acceleration/deceleration

The acceleration/deceleration must be set appropriately in the program according to the loaded load mass. The relation of the optimum acceleration/deceleration in respect to the mass capacity is shown with a percentage in

.

Fig. 2-1 .

1.0

3.0

(kg)

0.5

50%

Acceleration/deceleration percentage

(a)RP-1AH/1AHC-SB

100%

(kg)

1.0

50%


(b)RP-3AH/3AHC-SB

100%

5.0

Note) For the RP-1AH, the acceleration/deceleration percentage 100% is the acceleration/deceleration in respect to the min. acceleration/deceleration time 0.025 sec.

(kg)

2.0

50%


(c)RP-5AH/5AHC-SB

100%

Fig.2-1 ： Relation of mass capacity and optimum acceleration/deceleration percentage

Make sure that the acceleration/deceleration percentage satisfies the values in the shaded section shown in

Fig.

2-1 . The acceleration/deceleration percentage is set with the ACCEL command in the program. If the percentage

is not set in the program, the default value 100% will be set as the acceleration/deceleration percentage.

An example of setting in the program is shown below.

Example) When the loaded load mass is 1kg, the appropriate acceleration/deceleration percentage will be 50%, as shown in

Fig. 2-1

. Thus, the acceleration/deceleration percentage is set as 50 in the program.

【Program example】

１０ＡＣＣＥＬ５０，５０ ’

２０ＭＯＶＰ１ ’ Write the target work program after this.

：

Details on the ACCEL command are given in section "3.17 Explanation of command words" in the separate manual "Details of Functions and Operations".

When using the optimum acceleration/deceleration function (when using the OADL command), the optimum acceleration/deceleration percentage will be set automatically according to the load state, so setting with the ACCEL command is not required.

2-7

2.2.3 Clean specifications

The robot arm clean specifications shown in

Table 2-2

.

Please confirm the delivery date, because both are special specifications.

Table 2-2 ： Clean specifications

Type Cleanliness Internal suction

RP-1AHC-SB

RP-3AHC-SB

RP-5AHC-SB

100(0.3μm) concentrated suction with vacuum generating valve.(50Liter/min)

Note1)

Note1)The vacuum generating valve prepared by customer.

Remarks

The coupling to install at the robot arm back side is enclosed.

（Refer to Table 2-3 ）

The controller (CR1-571) of this robot is a general environment specification. Install the controller in the place not to influence the cleanliness if using with clean environment.

Table 2-3 ： Specifications of vacuum generation valve

Type Maker Use tube outside diameter

MEDT10 Koganei Φ6

■ Precautions for use

(1) Install an attached coupling at the back of the robot arm, and use the pneumatic pipe of φ6 from there, and do suction.

(2) Be careful that exhaust from the vacuum generation valve for the suction doesn't give a cleanliness a bad influence.

(3) When using a device that moves or rotates the robot arm, the down flow may not be secured because of the air flow. In this case, the degree of cleanliness cannot be ensured.

2-8

2.3 Names of each part

２ Robot arm

Bellows for RP-1AHC-SB/3AHC-SB/5AHC-SB.

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

Names of each part

2-9

２ Robot arm

2.4 Outside dimensions ・ Operating range

(1) RP-1AH/1AHC-SB

Ｍ６ screw

φ18

5.5

φ6h7

φ8

M5 screw, depth 6, φ3 hole drill

(φ18)

(φ8)

View from B

(Note)

The dimensions shown in parentheses are for the robot arm's stopper section, and must not be used.

The dimensions are provided for reference.

56

14

0

28

(5

6)

View from A (L cut)

R

30

.5

24

.5

36

R

30

.5

22

6

34

107

95

198

(162)

120

100

4-

φ7 installation hole

Tooling wiring lead port

6-M4 screw, depth 8

(for tooling installation)

2000

61

R3

0.5

56

140

28

(56

)

48

R3

5

0.

24

.5

Installation reference 38

32

80

4-M4 screw, depth 6

(Installation screw for tooling support, etc.)

100

76

6.3a

Pin hole φ4H7 drill (2 places)

B

4-φ5 hole

(installation hole)

120

180

224.9

24.2

Mounting place for tooling machine, etc.

(Note) ・Install the connector box

　separately.

・A backup battery is located

　inside, so install at an

　easy　to　service　place.

180

A

Connector box

Min. 35

Fig.2-3 ： Outside dimensions(RP-1AH)

2-10

Outside dimensions ・ Operating range

２ Robot arm

Ｍ６ screw

M5 screw, depth 6, φ3 hole drill

(Note) The dimensions shown in parentheses are for the robot arm's stopper section, and must not be used.


View from B

View from A (L cut)

4-M4 screw, depth 6 Reverse side



4-

φ

7 installation hole


6-M4 screw, depth 8


100

6.3a

4-φ5 hole

(installation hole)


4-M4 screw, depth 6


100



　separately.




φ6 pneumatic coupling

(For internal suction)

50 Liter/min

Connector box

Min. 35

Fig.2-4 ： Outside dimensions(RP-1AHC-SB)


2-11

２ Robot arm

R2

36.

5

140

105

233.9

100

95

38

100

110

160

110

R

14

0

R140

Fig.2-5 ： Operating range diagram (RP-1AH/1AHC-SB)

2-12


２ Robot arm

(2) RP-3AH/3AHC-SB

(φ23)

13.5

φ14h7

φ15h7

View from A (L cut)

86

20

0

28

(86

)

13.5

(φ23)

φ15h7

φ14h7

φ11 Hole

(Note)

The dimensions shown in parentheses are for the robot arm's stopper section, and must not be used.


View from B



36

34

50

8

62.5

31

263

(213)

85

141

125

100

Pin hole φ6H7 drill

(2 places)

4-φ9 installation hole

6-M4 screw, depth 8



4-φ5 hole

(installation hole)

140

85 17

84

R42

86

28

200

(86)

6.3a

120

180

224.9

24.2

2-M4 screw, depth 6


Ｂ

36

140

48.5



(Note)

・Install the connector box

　separately.




180

A

Min. 35 Connector box

Fig.2-6 ： Outside dimensions (RP-3AH)


2-13

２ Robot arm

R0.2 or less

Tooling instration section

R0.2 or less

φ11 Through hole




View from B

View from A (L cut)



Pin hole φ6-H7 drill (2 places)


6-M4 screw, depth 8



4-φ5 hole

(installation hole)

2-M4 screw, depth 6


6.3a




　separately.






50 Liter/min

Min. 35

Connector box

Fig.2-7 ： Outside dimensions (RP-3AHC-SB)

2-14


200

148

332

20

160

゜

130

50

140

105

゜

R33

5

R

20

0

R200

110

゜

２ Robot arm


Outside dimensions ・ Operating range 2-15

２ Robot arm

(3) RP-5AH/5AHC-SB

(φ23)

13.5

φ14h7

φ15h7

13.5

(φ23)

φ15h7

φ14h7

φ11 Hole



View from A (L cut)



View from B

36

34

50

8

62.5

263

(213)

31 85

141

125

100

11

6

26

0

28

(1

16

)

200

R42

84

116

2-M4 screw, depth 6


26

0

28

(11

6)

Ｂ

36


20

0


Pin hole φ6 drill

(2 places)


6-M4 screw, depth 8



6.3a

120

180

224.9

4-φ5 hole

(installation hole)

24.2


　separately.




180

A

Min. 35

Connector box

Fig.2-9 ： Outside dimensions (RP-5AH)

2-16


２ Robot arm

R0.2 or less


View from B

View from A (L cut)



φ11 Through hole






6-M4 screw, depth 8



200

4-φ5 hole

(installation hole)

2-M4 screw, depth 6




6.3a


　separately.




Min. 35



50 Liter/min

Connector box

Fig.2-10 ： Outside dimensions (RP-5AHC-SB)

Outside dimensions ・ Operating range 2-17

２ Robot arm

R453

.2

210

450.9

190

170

50

260

160

゜

10

5

゜

110

゜

R

26

0

R26

0


2-18


２ Robot arm

2.5 Tooling

2.5.1 Wiring and piping for hand

The

wiring and piping for hand

is shown below. Same as RP-1AH/1AHC-SB/3AH/3AHC-SB/5AH/5AHC-SB.

(1) Control with pneumatic hand interface (2A-RZ365/2A-RZ375: Option)

Secondary piping pneumatic hoseφ4×2～8

(Prepared by customer)

＊Hand input cable

＊Hand output cable

(Enclosed with solenoid valve set)

＊Solenoid valve set

Primary piping pneumatic hoseφ6×1


(1)Hand input signal connector (white)

（Connector name：HC）

(2)Hand output signal (solenoid valve drive) connector　(Black)

(Connector name：GR）

(1) Hand input signal connector layout specifications(HC)

(2) Hand output signal connector layout specifications(GR)

Sink type and

Source type are common

Sink

type

Source

type

10:0V(COM)

9:+24V

8:HC8

7:HC7

6:HC6

5:HC5

4:HC4

3:HC3

2:HC2

1:HC1

9:24V

8:GR8

7:GR7

6:GR6

5:GR5

4:GR4

3:GR3

2:GR2

1:GR1

9:24G

8:GR8

7:GR7

6:GR6

5:GR5

4:GR4

3:GR3

2:GR2

1:GR1

Note) When using the hand output signal, it is necessary to use the optional pneumatic hand interface (2A-RZ365/2A-RZ375).

(3) Hand input/output signal connector form

Hand Input/Output

For hand input

For hand output

Robot side

Type

SMP-10V-NC

BHF-001GI-0.8BS

SMP-09V-BC

BHF-001GI-0.8BS

Manufacturer

JST

JST

JST

JST

Counter side (customer-prepared)

Type

SMR-10V-N

BYM-001T-0.6

SMR-09V-B

BYM-001T-0.6

Manufacturer

JST

JST

JST

JST

Note) Parts indicated with an * are options.

* Refer to the Page 55, "(2) Pneumatic hand interface"

for the electrical specifications of output signal.

* Refer to the

Page 46, "3.7 Parallel input/output unit"

for the electrical specifications of input output signal.

Fig.2-12 ： Wiring and piping for hand (Pneumatic hand interface)

Tooling 2-19

２ Robot arm

(2) Control with parallel I/O unit (2A-RZ361/2A-RZ371: Standard, or expansion)

Secondary piping pneumatic hoseφ4×2～8


＊Hand input cable

Solenoid valve

Primary piping pneumatic hoseφ6×1


External I/O cable

Parallel I/O

Interface

Controller

(1) Hand input signal connector (white)

（Connector name：HC）

(1)

Hand input signal connector layout specifications(HC)

Sink type and

Source type are common

10:0V(COM)

9:+24V

8:HC8

7:HC7

6:HC6

5:HC5

4:HC4

3:HC3

2:HC2

1:HC1

(2) Hand input signal connector form

Hand Input/Output

For hand input

Robot side

Type

SMP-10V-NC

BHF-001GI-0.8BS

Manufacturer

JST

JST

Counter side (customerr-prepared)

SMR-10V-N

BYM-001T-0.6

Type

Manufacturer

JST

JST

Note) Parts indicated with an * are options.

* Refer to the Page 46, "3.7 Parallel input/output unit" for the electrical specifications of input output signal.

Fig.2-13 ： Wiring and piping for hand (Parallel I/O interface)

2-20

Tooling

２ Robot arm

2.5.2 Pneumatic piping in robot

(1) Piping to supply air to the solenoid valves is not provided in the robot, so directly connect the primary piping from the air supply source to the solenoid valve. (The primary pneumatic hose must be prepared by the customer.)

(2) The wrist section coupled axis is hollow, so air can be supplied to the end of the hand with the secondary pip

ing from the solenoid valve. (The secondary pneumatic hose and coupled axis section coupling must be pre

pared by the customer.)

(3) Up to four rows of solenoid valve sets (option) can be installed on the top of the robot arm.

2.5.3 Wiring of pneumatic hand output cable in robot

(1) The pneumatic hand output cable can be used by installing the optional pneumatic hand interface on the controller.

(2) The hand output cable is wired from the connector PCB in the connector box to the top of the arm. The end is bridged to the connector. (Connector name: "GR")

2.5.4 Wiring of hand check input cable in robot

(1) The hand check input cable is wired from the connector PCB in the connector box to the top of the arm.

The end is bridged to the connector. (Connector name: "HC")

Table 2-4 ： Wiring and piping for hand

No.

Parts name Qty.

Robot side

(Robot arm side)

(1)

Connector 1 SMP-10V-NC

（2）

Connector 1 SMP-09V-BC

Counter side

(customer-prepared)

SMR-10V-N

SMR-09V-B

Manufacturer

Japan sdderless yerminal

MFG. Co.,LTD

Japan sdderless yerminal

MFG. Co.,LTD

Tooling 2-21

２ Robot arm

2.5.5 Wiring and piping system diagram for hand

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

Robot controller

Wiring relay boad of the robot arm

1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8

Fig.2-14 ： Wiring and piping system diagram for hand and example the solenoid valve installation

2-22

Tooling

２ Robot arm

2.5.6 Electrical specifications of hand input/output

Table 2-5 ： 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

12VDC/24VDC

Approx. 3mA/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*

0V(COM)

<Source type>

+24V

3.3K

820

+24V

HCn*

24GND

* HCn ＝ HC1 ～ HC8

Table 2-6 ： 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)

Fuse rating 1.6A (each one common) Cannot be exchanged

Internal circuit

<Sink type>

24V

（Internal power supply）

Fuse

1.6A

GRn

*

0V

<Source type>

Fuse

1.6A

+24V

GRn

*

24GND(COM)

* GRn ＝ GR1 ～ GR8

Note) An optional air hand interface (2A-RZ365/RZ375) is required to use hand output.

Tooling 2-23

2 Robot arm

2.5.7 Air supply circuit example for the hand

Fig. 2-15

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. 2-15

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) Supply clean air to the vacuum generation valve when you use clean type robot.

Pressure switch

To the robot's air intake

（0.5MPa ±10%）

Pneumatic source

0.7MPa less

Filter Regurater

Fig.2-15 ： Air supply circuit example for the hand

2-24

２ Robot arm

2.6 Shippng special specifications, options,and maintenance parts

2.6.1 Shipping special specifications

■ What are shipping special specifications?

Shipping special specifications refer to specifications of standard configuration equipment that are changed at the time of shipment from the factory. Consequently, customer need to confirm the delivery date.

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 special factory specifications can be shipped, because they may not be immedi

ately available.

(2) Order before the factory shipping date.

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

Shippng special specifications, options,and maintenance parts 2-25

２ Robot arm

(1) Machine cable extension

■ Order type : ● Fixed type(10m)

● Fixed type(15m)

● Flexed type

● Flexed type

● Flexed type

■ Outline

1A-10CBL-1

1A-15CBL-1

1A-05LCBL-1

1A-10LCBL-1

1A-15LCBL-1

This cable is exchanged with the standard machine cable (5m) accessory to extend the distance between the controller and connector box enclosed with the robot arm.

A fixed type and flexible type are available.

Exchanges after shipment will be charged (for packaging, shipping costs).

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

[Note] The cable length between robot arm and connector box doesn't change.

■ Configuration

Table 2-7 ： Configuration equipments and types

Part name Type

Fixed

Flexed

Set of signal and power cables

Motor signal cable (for fixed type)

Motor power cable (for fixed type)

Set of signal and power cables

1A- □□ CBL-1

1E- □□ CBL(S)-N

1A- □□ CBL(P)-1

1A- □□ LCBL-1

Motor signal cable (for flexed type) 1E- □□ LCBL(S)-N

Motor power cable (for flexedg type) 1A- □□ LCBL(P)-1

Nylon clamp

Nylon clamp

Silicon rubber

NK-18N

NK-14N

Note1)Mass indicates one set.

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

Fixed

1 set

1 cable

1 cable

1 set

－

－

－

－

－

Qty.

Flexed

-

－

－

Mass(kg)

Note1)

7.0(10m)

10.0(15m)

-

1 cable

1 cable

2 pcs.

-

5.7(5m)

10.1(10m)

14.2(15m)

2 pcs. -

4 pcs.

-

Remarks

10m, or 15m each

5m, 10m, or 15m each

■ Specifications

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

Table 2-8 conditions for the flexed type cables.

Table 2-8 ： Conditions for the flexed type cables

Item Specifications

Minimum flexed radius

Cable bare, etc., occupation rate

Maximum movement speed

Warranty life (no.)

Environmental proof

100R or more

50% or less

2000mm/s or less

7.5 million times

Oil-proof specification sheath

(for silicon grease, cable sliding lubricant type)

φ6.5 x 10 Cable configuration Motor power cable

Motor signal cable φ7 x 6 and φ1.7 x 1

[Caution] The warranty life may greatly differ according to the usage state (items related to Table 2-8 and to the

amount of silicon grease applied in the cable conduit.

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

2-26

Shippng special specifications, options,and maintenance parts

２ Robot arm

■ Cable configuration

The configuration of the flexed cable is shown in

Table 2-9

. Refer to this table when selecting the cable bare.

Table 2-9 ： Cable configuration

Item

Motor signal cable

1E- □□ LCBL(S)-N

No.of cores

Finish dimensions

AWG#24(0.2mm

2

) -4P

Approx. φ7mm

AWG#18(0.75mm

2

)

Approx. φ1.7mm

No.of cables used 6 cables 1 cable

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

Motor power cable

1A- □□ LCBL(P)-1

AWG#18(0.75mm

2

) -3C

Approx. φ6.5mm

10 cables

Shippng special specifications, options,and maintenance parts 2-27

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 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.

2-28

Options

２ Robot arm

(1) Solenoid valve set

■ Order type ： 4 sets ： 1A-VD04-RP(Sink type)

1A-VD04E-RP(Source type)

■ Outline

This is a solenoid valve option used for controlling various tooling that is installed, such as the hand on the arm end. This solenoid valve set has a hand output cable connected to the solenoid valve. A manifold, coupling and silencer, etc., are assem

bled to make installation onto the robot arm easier.

This option is installed on the top of the robot arm.

When using the robot arm's hand output signal, the pneumatic hand interface option must be installed on the separate controller.

■ Cofiguration

Table 2-10 ： Configuration equipment

Part name

Solenoid valve set (4 sets) 1A-VD04-RP

1A-VD04E-RP


Type

Qty.

Sink Source

Mass(kg)

Note1)

1pc.

-

-

1pc.

0.2

0.2

Remarks

Solenoid valve installation screw (M4 x 10) :4 screw

■ Specifications

Table 2-11 ： Valve specifications

Item Specifications

Number of positions

Port

Valve function

Operating fluid

2

5

Double solenoid

Clean air

Operating method Pilot type

Effective sectional area (CV value) 1.5mm (0.08)

Oilling

Operating pressure range

Unlubricated oil

0.2 ～ 0.7MPa

Guaranteed proof pressure

Response time

Max. operating frequency

Ambient temperature

1.0MPa

12msec or less (DC24V)

5c/s

5 ～ 50 deg.

Table 2-12 ： Solenoid specifications

Item

Method

Operation voltage

Current value

Insulation

Insulation resistance

Surge protection

Specifications

Built-in fly-wheel diodes with surge protection

DC24V ± 10%

40mA

B type

100Ω or more

Fly-wheel diode

Options 2-29

２ Robot arm

(1)

95

85

56

SOL2A

SOL1A

SOL4A

SOL3A

(1)(4)

(2)

4-φ4.5 Hole

(12)

(13)

(10)(11)

(3)

SOL1B

SOL2B

SOL3B

SOL4B

48.8

56.8

(20) or less

(6)

(5)

35.6

10.3

(45) or less

Part no.

(5)

(6)

(10)

(11)

(1)

(2)

(3)

(4)

(12)

(13)

(14)

Part name

Solenoid valve

Manifold block

Quick coupling

Block plate

Quick coupling

Silencer

Connector

Contact

Installation screw

Installation plate

Plug

<Sink type>

SOL1A

SOL1B

SOL2A

SOL2B

SOL3A

SOL3B

SOL4A

SOL4B

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Connector

1 GR1

2

3

GR2

GR3

4

GR4

5

GR5

6

GR6

GR7

7

8

9

GR8

24V

4 sets

８

９

１

１

８

０

４

１

２

１

６

Specification

φ4

φ6

SMR-09V-B

SYM-001T-0.6

M3 x 25

<Source type>

SOL1A

SOL1B

SOL2A

SOL2B

SOL3A

SOL3B

SOL4A

SOL4B

Fig.2-16 ： Solenoid valve outline dimensional drawing

2-30

Options

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Connector

1 GR1

2

3

GR2

GR3

4

GR4

5

GR5

6

7

GR6

GR7

8

9

GR8

24G

3.2

２ Robot arm

(2) Hand input cable

■ Order type ： 1A-HC200-RP

■ Outline

This cable is used when the customer is designing the pneumatic hand. It is used to retrieve the hand open/close confirmation signal or grasp confirmation signal to the controller.

One end can be connected to the hand signal input connector on the top of the robot arm. The other end is connected to the sensor in the hand designed by the customer.

A flexible cable is used.

■ Configuration


Part name Type

Hand input cable 1A-HC200-RP


Qty.

1 cable

■ Specifications

Table 2-14 ： Specifications

Item

Cable core

Total length

Specification

AWG#24(0.2mm

2

) x 2 core x 5 sets

2000mm

Mass(kg)

Note1)

0.1

Remarks

Remarks

One side connector and one side cable connection

Connector Cable

15 5

2000

SMR-10V-N

8

9

10

1

2

3

4

5

6

7

RMFEV　AWG#24 (0.2mm

2

) x 10C

Brown

Red

Orange

Yellow

Green

Blue

Perple

Gray

White

Black

HC1

HC2

HC3

HC4

HC5

HC6

HC7

HC8

+24V

0V(COM)

Connection specifications

Fig.2-17 ： Outline and pin assignment

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

Options 2-31

２ Robot arm

(3) Hand output cable

■ Order type ： 1A-GR200-RP

■ Outline

This cable is used when the customer is using a solenoid valve other than the optional solenoid valve set.

One end has a connector connected to the input terminal in the robot arm. The other end is a cable bridge.

A flexible cable is used.

When using the robot arm's hand output signal, the pneumatic hand interface option must be installed on the separate controller.

■ Configuration


Part name Type Qty.

1 cable Hand output cable 1A-GR200-RP


■ Specifications


Item

Cable core

Total length

Specification

AWG#24(0.2mm

2

) x 2core x 5 sets

2000mm

Mass(kg)

Note1)

0.1

Remarks

Remarks

One side connector and one side cable connection

SMR-09V-B　(Black)

(Japan sdderless yerminal

MFG. Co.,LTD)

20

00

Fig.2-18 ： Outline and pin assignment

2-32

Options

＊End cable connection

White

Black

White

Black

White

Black

White

Black

White

Hand1 ON

OFF

Hand2 ON

OFF

Hand3 ON

OFF

Hand4 ON

OFF

COM

7

8

5

6

9

1

2

3

4

Sink type

Source type

GR1

GR2

GR3

GR4

GR5

GR6

GR7

GR8

24V

GR1

GR2

GR3

GR4

GR5

GR6

GR7

GR8

24G

２ Robot arm

2.8 Maintenance parts

The consumable parts used in the robot arm are shown in

Table 2-17 . 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 2-17 ： Consumable part list(RP-1AH/1AHC-SB/3AH/3AHC-SB/5AH/5AHC-SB)

No.

Part name Type Qty.

Usage place

1

2

3

Lithium battery

Grrase

A6BAT

Harmonic grease 4 BNo.2

Marutenpu PS No.2

3 Connector box

As needed Reduction gears of J1,J2 axis

Ball screw spline

Supplier

Mitsubishi Electric

Maintenance parts 2-33

２ Robot arm

2-34

Maintenance parts

3Controller

3 Controller

3.1 Standard specifications

3.1.1 Standard specifications

Table 3-1 ： Standard specifications of controller

Unit Item

Type

Number of control axis

CPU

Memory capacity

Programmed positions and No. of steps

Number of programs

Robot language

Teaching method

External input and output

Input and output

Dedicated input/output

Hand open/close input/output point step point point point

Specification Remarks

CR1-571

Simultaneously 4

64 bit RISC, and DSP

2,500

5,000

88

MELFA-BASIC Ⅳ or

MOVEMASTER COMMAND

Pose teaching method ,MDI method

16/16

Max. 240/240

Note1)

Assigned with general-purpose input/output "STOP" 1 point is fixed

Input 8 point/Output 0 point

Emergency stop input

Door switch input

Emergency stop output

Interface RS-232C

RS-422

Hand dedicated slot

Expansion slot

Robot input/output link

Power source

Input voltage range

Power capacity

Outline dimensions

Mass

Construction

Operating temperature range

Ambient humidity

Grounding

Paint color point point point port port slot slot channel

V

KVA mm kg deg.

%RH

Ω

1

1

1

1

1

1

0

1

1-phase, AC90 to132

1-phase, AC180 to 253

0.7

212(W)x290(D)x151(H)

Approx. 8

Self-contained floor type , Opened type

0 to 40

45 to 85

100 or less

Light gray

Up to 8 output points can be added as an option

Note2)

Single emergency line

Single door switch line

Single emergency line

For expansion such as the personal cpmputer, Vision sensor

Dedicated for T/B

Dedicated for pneumatic hand interface

3 slot expansion is possible when using expansion option box.

Used for general-purpose input/output (Max. 240/240)

Note3)

Does not include rush current

Note4)

Excluding protrusions

IP20

Note5)

Without dew drops

D class grounding earth

Note6)

Munsell 0.08GY7.64/0.81

Note1) It is the value when seven maximums expand (224/224) the Parallel I/O unit.

(2A-RZ361 or 2A-RZ371:Input 32 points / Output 32 points.)

Note2)It is when an pneumatic hand interface (2A-RZ365 or 2A-RZ375) is installed.

Note3) 1-phase,AC180 to 253. This specification is changed for CE-Marking model.

Note4) The power capacity (0.7kVA) is the maximum 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. he power consumption in the specific operation pattern with the RP-1AH is approx. 0.5kw.

Note5) The controller (CR1-571) of this robot is a general environment specification. (Refer to ) When the con

troller is used with many dust or oil-mist environment, install the controller into the board prepared by customer to protect the controller from the dust, oil-mist, etc. Install the controller in the place not to

influence the cleanliness if using with clean environment. (Refer to Page 8, "2.2.3 Clean specifications"

.）

Note6) The robot must be grounded by the customer.

Standard specifications 3-35

3Controller

3.1.2 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.

・ 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 96, "5.2 Working environment" for details on the working environment.

3-36

Standard specifications

3Controller

3.2 Names of each part

<Front>

Front operation panel

11)

14)

<Front side of operation panel>

9)

2) 7) 4) 15) 5)

EMG.STOP

STATUS NUMBER

MODE

AUTO

(Op.)

TEACH

AUTO

(Ext.)

SVO ON

SVO OFF

CHANG DISP

START

UP

DOWN

RESET

STOP

END

REMOVE T/B

6)

1)

12) 10) 13) 3) 8)

Fig.3-1 ： Names of controller parts

1) POWER switch..................................... This turns the control power ON/OFF.

2) START button...................................... This executes the program and operates the robot. The program is run continuously.

3) STOP button ........................................ This stops the robot immediately. The servo does not turn OFF.

4) RESET button ...................................... This resets the error. This also resets the program's halted state and resets the program.

5) Emergency stop switch.................... This stops the robot in an emergency state. The servo turns OFF.

6) T/B remove switch............................ This is used to connect/disconnect the T/B without turning OFF the controller's control power.

7) CHNGDISP button ............................. This changes the details displayed on the display panel in the order of "Override" → "Pro- gram No." → "Line No.".

8) END button............................................ This stops the program being executed at the last line or END statement.

9) SVO.ON button.................................... This turns ON the servo power. (The servo turns ON.)

10) SVO.OFF button............................... This turns OFF the servo power. (The servo turns OFF.)

11) STATUS NUMBER

　 (display panel)...................................... The alarm No., program No., override value (%), etc., are displayed.

12) T/B connection connector ......... This is a dedicated connector for connecting the T/B.

13) Personal computer

　 connection connector...................... This is an RS-232C specification connector for connecting the personal computer.

14) MODE key switch............................. This changes the robot's operation mode.

Note)

AUTO (Op.).................................. Only operations from the controller are valid. Operations for which the operation mode must be at the external device or T/B are not possible.

TEACH .......................................... 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.

AUTO (Ext.)................................. Only operations from the external device are valid. Operations for which the operation mode must be at the T/B or controller are not possible.

15) UP/DOWN button ............................ This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

Names of each part 3-37

3Controller

CAUTION

Note) The servo will turn OFF when the controller's [MODE] switch is changed.

Note that axes not provided with brakes could drop with their own weight.

Carry out the following operations to prevent the servo from turning OFF whenthe [MODE] switch is changed.

The servo on status can be maintained by changing the mode with keeping pressing lightly the deadman switch of T/B. The operating method is shown below.

■ When the mode is changed from TEACH to AUTO.

1) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE] switch to "DISABLE".

2) While holding down the deadman switch on the T/B, set the controller [MODE] switch to "AUTO".

3) Release the T/B deadman switch.

■ When the mode is changed from AUTO to TEACH.

1) While the [ENABLE/DISABLE] switch on the T/B is "DISABLE", hold down the deadman switch.

2) While holding down the deadman switch on the T/B, set the controller [MODE] switch to "TEACH".

3) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE] switch to "ENABLE", then do the operation of T/B that you wish.

(7)

(5)

(6)

(1)

(2)

(3)

(4)

Fig.3-2 ： Names of each controller part (Rear side)

1) Machine cable connector (for motor power) .......... Connects to the robot arm base. (CN1 connector)

2) Machine cable connector (for motor signal) ........... Connects to the robot arm base. (CN2 connector)

3)Power supply terminals.

4)Fuse box.

5)External input/output signal connector.

6)Network cable connector for parallel I/O unit expansion.

7)Emergency stop switch and door switch terminals connector.

3-38

Names of each part

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

3Controller

EMG.STOP

STATUS NUMBER

MODE

AUTO

(Op.)

TEACH

AUTO

(Ext.)

SVO ON

SVO OFF

CHANG DISP

START

UP

DOWN

RESET

STOP

END

REMOVE T/B

(2.5)

(31) 150

212

Fig.3-3 ： Outside dimensions of controller

(31)

(2.5)

Outside dimensions/Installation dimensions 3-39

3Controller

3.3.2 Installation dimensions

50

EMG.STOP

STATUS NUMBER

MODE

AUTO

(Op.)

TEACH

AUTO

(Ext.)

SVO ON

SVO OFF

CHANG DISP

UP

DOWN

START

RESET

STOP

END

REMOVE T/B

50

170 or more

Fig.3-4 ： Installation of controller

3-40

Outside dimensions/Installation dimensions

3Controller

3.4 External input/output

3.4.1 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. Moreover, it is possible to use parallel input/ output units and input/output signals via CC-Link.

(3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can program. (The hand output is an option. The

Page 55, "(2) Pneumatic hand interface" is required.)

Class Name

Standard Emergency stop

Standard Door switch

Standard Parallel input/output

No. of input/output points

Input

1

1

Occupies 16 general-purpose points/(6) dedicated points in general-purpose

Output

1

-

Occupies 16 general-purpose points/(4) dedicated points in general-purpose

Connection format

Connector

3.4.2 Explanation

The parallel input/output unit uses connector bridging. Purchase the "External I/O cable" for connection with external devices.

The hand output is an option. Refer to Page 55, "(2) Pneumatic hand interface"

for details

The parallel input/output unit can be expanded outside of the controller.

The expansion parallel input/output unit is connected with the control unit in the controller using a robot I/O link cable. Parallel input and output units can be expand as an option to seven maximums. With allows up to input 240 points and output 240 points of maximums can be used including 16 points input and 16 points output of standard.

Refer to Page 59, "(4) Parallel I/O unit" for details on the parallel input/output unit.

External input/output 3-41

3Controller

3.5 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. If the number of dedicated inputs and general-purpose input points used exceeds the standard

No. of input/output points, install the parallel input /output unit (1st to 7th station: option).

Table 3-2 ： Dedicated input/output list

Parameter name

TEACHMD

ATTOPMD

ATEXTMD

RCREADY

Name

Input

None

None

None

None

Function

Note1)

Level

Ｌ

Output

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 Stops all slots.

The input signal No. is fixed to 0.

Note) Use the emergency stop input for stop inputs related to safety.

Resets the wait state.

SLOTINIT Program reset input signal

ERRRESET Error reset input signal

CYCLE

Resets the error state.

Carries out cycle stop.

SRVOFF

Stop input signal

Cycle stop input signal

Servo ON enabled input signal

Turns the servo OFF for all mechanisms.

SRVON

IOENA

Servo ON input signal

Operation rights input signal

MELOCK Machine lock input signal

SAFEPOS Evasion point return input signal

OUTRESET General-purpose output signal reset

EMGERR

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.

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

S1START

：

S32START

S1STOP

：

S32STOP

PRGSEL

Start input

Stop input

Program selection input signal

Starts each slot.

Stops each slot.

OVRDSEL 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.

Ｅ

Ｌ

Operating output signal

Wait output signal

Outputs that the slot is operating.

Outputs that the slot is temporarily stopped.

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.

Emergency stop output signal

None

Outputs that an emergency stop has occurred.

In operation output

Outputs the operating state for each slot.

Ｌ

Ｅ

Ｅ

In wait output

Outputs that each slot is temporarily stopped.

None

None

3-42

Dedicated input/output

3Controller

Parameter name

IODATA

Note2)

PRGOUT

Input

Name Function

Numeric value input

(start No., end No.)

Program No. output request

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

Requests output of the program name.

Note1)

Output

Level

Ｌ

Name Function

Numeric value output

(start No., end No.)

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

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 Line No. output signal

Ｅ

Ｅ

Ｅ

Ｌ

Program 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.

Ｌ

Ｌ

None

None

HNDCNTL1

：

HNDCNTL3

HNDSTS1

：

HNDSTS3

None

None

HNDERR1

：

HNDERR3

AIRERR1

：

AIRERR3

M1PTEXC

：

M3PTEXC

USER-

AREA

Note3)

Mechanism 1 hand error input signal

：

Mechanism 3 hand error input signal

Pneumatic pressure error 1 input signal

：

Pneumatic pressure error 3 input signal

Requests the hand error occurrence.

Request the pneumatic pressure error occurrence.

None

None

Ｌ

Ｌ

Ｌ

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.


910 to 917.


920 to 927.

Mechanism 1: Outputs the status of hand inputs 900 to 907.



Mechanism 1 hand error output signal

：

Mechanism 3 hand error output signal

Pneumatic pressure error 1 output signal.

：

Pneumatic pressure error 3 output signal.

Maintenance parts replacement time warning signal

Outputs that a hand error is occurring.

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 sig

nal is OFF.

E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and the function maintains the original state even when the signal then turns OFF.

Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.

Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

Dedicated input/output 3-43

3Controller

3.6 Emergency stop input/output

This signal is input from the "emergency stop input" terminal in the controller.

Table 3-3 ： Dedicated input terminals in controller

Class Name Details

Input

Input

Emergency stop

Door switch

Applies the emergency stop (Single emergency line.)

The servo turns OFF.

Output Emergency stop This output indicates that the emergency stop input or the door switch input is turned on.

3.6.1 Connection of the external emergency stop

The external emergency stop input and door switch input are short-circuited with a short cable at shipment as shown in

Fig. 3-5 .

Connect the external emergency stop switch and door switch with the following procedure.

1) Prepare the "emergency stop switch" and "door switch".

2) Remove the two short pieces 1 and 2.

3) Securely connect the external emergency stop's contacts across "1)-2), and the door switch's contacts across 3)-4)" on the terminal block.

24V

1

Short piece 1

2

RA1

3

Short piece 2

4

RA2

5

RA3

6

RG (24G)

Note1)

Emergency stop output

(Customer-prepared wiring) (Controller side)

Composition of external emergency stop and door switch

Emergency stop input

Door switch input

DOOR

Switch

EMG.

STOP

1

2

3

24V

4

5

Wire insert

Controller rear side

System emergency stop line


RA5

6

1)

2)

3)

4)

Wire fixing screw

5)

RG (24G)

6)

Maker:Phoenix Contact

Type:FRONT-MSTB2.5/6-ST-5.08

Example of wiring for external emergency stop and door switch

(customer-prepared wiring)

Terminal block array of external emergency stop

Note 1) Emergency stop output opens when either one of the emergency stop switches shown below or an input signal turns on.

･ Emergency stop switch of the controller.

･Emergency stop switch or deadman switch of the T/B

(option).

･ External emergency stop input.

･ External door input.

･ The T/B mount/dismount switch is OFF

when the T/B is unconnected.

Fig.3-5 ： Connection of the external emergency stop

[Note] Refer to

Page 95, "5.1.7 Examples of safety measures"

together, and carry out wiring to the emergency stop.

3-44

Emergency stop input/output

3Controller

3.6.2 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 Fig. 3-5 , and wire so that the 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!!

AUTO

(Op.)

TEACH

AUTO

(Ext.)

Open

Robot arm

(Example)

Turns OFF the servo

② Teaching

AUTO

(Op.)

TEACH

AUTO

(Ext.)

Safeguard

Open

Robot arm

(Example)

Teaching

pendant

The servo can be turned ON/Off by turning the deadman switch ON/OFF.

Fig.3-6 ： Door switch function

Emergency stop input/output 3-45

3Controller

3.7 Parallel input/output unit

・ A parallel input/output card is mounted as a standard in the controller's control unit.

・ The external input/output circuit specifications are shown in Table 3-4 and Table 3-5 .

・ The correspondence of the external input/output connector pin No. and the colors of the connected "external input/output cable" wires (separate option) is as shown in

Page 49, "Table 3-6" and Table 3-7 . Refer to

Page

68, "(5) External I/O cable"

for details of external I/O cable.

・ Pin Nos. described as both general-purpose signal and dedicated signal can be shared.

・ The other dedicated input/output signals that are not assigned can be assigned to required general-purpose input/output pins when creating the program.

・ If the standard inputs and outputs are insufficient, install the parallel input/output unit connection option out

side the controller.

Table 3-4 ： Electrical specifications of input circuit

Item Specifications

Type

No. of input points

Insulation method

Rated input voltage

Rated input current

DC input

16


12VDC/24VDC

Approx. 3mA/approx. 7mA



OFF voltage/OFF current

Input resistance


ON-OFF

10.2VDC to 26.4VDC(ripple rate within 5%)

8VDC or more/2mA or more

4VDC or less/1mA or less

Approx. 3.3kΩ

10ms or less(DC24V)

10ms or less(DC24V)

Common method

External wire connection method

8 points per common

Connector

<Sink type>

<Source type>

Internal circuit

820

3.3K

3.3K

24V/12V

(COM)

Input

Input

820

0V(COM)

Table 3-5 ： Electrical specifications of output circuit

Item

Type


Insulation method

Rated load voltage


Max. load current

Leakage current at OFF

Max. voltage drop at ON

Response time

Fuse rating

OFF-ON

ON-OFF

Specifications

Transistor output

16


DC12V/DC24V

DC10.2 ～ 30V(peak voltage 30VDC)

0.1A/point (100％)

0.1mA or less

DC0.9V(TYP.)

2ms or less

(hardware response time)

2ms or less

(Resistance load) (hardware response time)

Fuse 3.2A (one per common) Replacement not possible

8 points per common (common terminal: 8 points) Common method


Connector

Voltage DC12/24V(DC10.2 ～ 30V)

External power supply

Current

60mA (TYP. 24VDC per common)

(base drive current)

<Sink type>

Internal circuit

<Source type>

Fuse

(24/12V)

Outline

(0V)

Fuse (24/12V)

Outline

(0V)

[Caution] When connecting the phototransistor output to the input circuit, be sure to allocate an input current of approximately 7 mA at 24 VDC. Especially when using a photo diode and a phototransistor (sensor) away from each other, it is recommended to verify the current that can be carried in the design stage.

3-46

Parallel input/output unit

3Controller

CAUTION

The output circuit protective fuses prevent failure in case of load short-circuit and improper connections. Please do not connect loads that cause the current to exceed the maximum rated current. If the maximum rated current is exceeded, the internal transistors may be damaged.

Parallel input/output unit 3-47

3Controller

<Sink type>

Parallel I/O interface

（Output）

60mA

(24/12V)

Output

AX41C

(Mitsubishi programmable controller)

＋24V

COM

X

Output

24V

Fuse

(0V)


(Input)

(COM)

24G

AY51C

(Mitsubishi programmable controller)

CTL＋

24V

3.3K

Input

Input

Y

24V

COM

CTLG

24G


Fig.3-7 ： Connection with a Mitsubishi PLC (Example of sink type)

*The input/output circuit external power supply (24 VDC) must be prepared by the customer.

<Source type>

(Output)

Fuse

60mA

(24/12V)

Output

AX81C

＋24V

X

Output

24V

(0V)

COM

24G


(Input)

CTL ＋

24V

3.3K

Input

Y

Input

(COM)

24V

CTLG

24G

AY81C


Fig.3-8 ： Connection with a Mitsubishi PLC (Example of source type)

*The input/output circuit external power supply (24 VDC) must be prepared by the customer.

3-48


3Controller

Table 3-6 ： Standard parallel I/O interface CN100pin No. and signal assignment list <Sink type> (2A-CBL

□□

)

Pin

No.

Line color

General-purpose

Function name


Pin

No.

Line color

General-purpose

Function name


1 Orange/Red A

2 Gray/Red A

FG

0V:For pins 4-7, 10-13






8 White/Red B 0V:For pins 4-7, 10-13

9 Yellow/Red B






14 Yellow/Red C

15 Pink/Red C General-purpose input 0

COM0:For pins 15-22

Note1)

Stop(All slot)

Note2)








23 White/Red E

24 Yellow/Red E

25 Pink/Red E

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A





33 White/Blue B

34 Yellow/Blue B

35 Pink/Blue B General-purpose output

12

36 Orange/Blue C General-purpose output

13

37 Gray/Blue C General-purpose output

14

38 White/Blue C General-purpose output

15

39 Yellow/Blue C

FG

0V:For pins 29-32, 35-38


0V:For pins 29-32, 35-38


COM1:For pins 40-47

Note1)









48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

Reserved

Reserved

Reserved

Note1)Sink type:24V/12V(COM), Source type:0V(COM)

Note2)The assignment of the dedicated input signal "STOP" is fixed.

Table 3-7 ： Standard parallel I/O interface CN100pin No. and signal assignment list <Source type> (2A-CBL

□□

)

Pin

No.

Line color

General-purpose

Function name


Pin

No.

Line color

General-purpose

Function name


1 Orange/Red A

2 Gray/Red A

FG

0V:For pins 4-7, 10-13






8 White/Red B Reserved

9 Yellow/Red B


Reserved


12 Gray/Red C General-purpose output

10

13 White/Red C General-purpose output

11

14 Yellow/Red C

COM0:For pins 15-22

Note1)


Stop(All slot)

Note2)








23 White/Red E

24 Yellow/Red E

25 Pink/Red E

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A





33 White/Blue B

FG

0V:For pins 29-32, 35-38


34 Yellow/Blue B




Reserved

Reserved


39 Yellow/Blue C









48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved


Note2)The assignment of the dedicated input signal "STOP" is fixed.

Parallel input/output unit 3-49

3Controller

・The signals assigned as dedicated inputs can be used as general-purpose inputs during program execution. Note that for safety proposes, these should not be shared with the general-purpose inputs other than for numeric value inputs. The signals assigned as dedicated outputs cannot be used in the program. An alarm will occur dur

ing operation if used.

50

25

26

1

Connector pin layout

＜CN100＞

Output 0 to 15

Input 0 to 15

Controller back side

*The I/O card in the control unit is equal to the PIO unit of the option.

(Input 32/Output 32 points)

Fig.3-9 ： Parallel input/output unit (in the control unit) connection and pin layout

3-50


3Controller

3.8 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.

Options 3-51

3Controller

(1) Teaching pendant (T/B)

■ Order type: R28TB :Cable length 7m

R28TB-15 :Cable length 15m

Note) There is a cable length 15m as special spcification. Confirm the delivery date.

■ 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 deadman switch is mounted.

Note1)

If there are several robots, one teaching pendant can be used by connecting it to the respective robot.

■ Configuration

Table 3-8 ： Configuration device

Part name Type

Teaching pendant R28TB

R28TB-15

Qty.

Either one pc.

Mass(kg)

2.0

2.3

Remarks

Cable length is 7m. Hand strap is attached.

Cable length is 15m. Hand strap is attached.

■ Specifications


Items Specifications Remarks

Outline dimensions

Body color

Mass

Connection method

Interface

Display method

Operation section

Protection specifications

153(W) x 203(H) x 70(D) (refer to outline drawing)

Light gray (reference Munsell color: 0.08GY7.64/0.81)

Approx. 0.8kg (only arm, excluding cable)

Connection with controller and round connector (30-pin)

RS-422

LCD method: 16 characters x 4 lines, LCD illumination: with backlight

28 keys

IP65 Note2)

Note2) The manual operation section of the teaching pendant has a protection method that complies with the IEC

Standards IP65 (protection type).

[Reference]

IProtection 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 posi

tion approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section.

The water is filled one minute per 1m

2

of test device surface area for a total of three minutes.

.

Note1) <3-position deadman 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 "Deadman switch".

The 3-position deadman switch has three statuses. The following modes are entered according to the switch state.

"Not pressed" ...............................The robot does not operate.

*)

"Pressed lightly" ..........................The robot can be operated and teaching is possible.

"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.

3-52

Options

Hand strap

Contrast adjusting switch

Display LCD

Enable/Disable switch

R28TB

DISABLE ENABLE

TOOL

=＊/

SVO ON

JOINT

( )？

－X

STEP

XYZ

$" :

MOVE (J1)

MENU

# % !

＋ X

(J1)

STOP

＋

FORWD

－

BACKWD

COND

POS

　　CHAR

ERROR

RESET

－Y

(J2)

－Z

(J3)

－A

(J4)

－B

(J5)

－C

(J6)

＋ Y

(J2)

＋ Z

(J3)

＋ A

(J4)

＋ B

(J5)

＋ C

(J6)

ADD

↑

RPL

↓

DEL

←

HAND

→

INP

EXE

EMG.STOP

Emergency stop switch

Teaching pendant

Operation keys

Dead man switch

Cable

(with connection connector)

55

70

<Side>

Hand strap

153

<Front> <Back>

Fig.3-10 ： Outside dimensions of teaching pendant

■ Installation method

The teaching pendant is connected to the T/B connector on the front of the controller.

3Controller

Options 3-53

3Controller

■ Key layout and main functions

DISABLE ENABLE

3)

4)

R28TB

2)

5)

1)

6)

19)

Back

7)

8)

9)

10)

18)

11)

TOOL

=＊/

SVO ON

JOINT

( )？

－ X

STEP

XYZ

$" :

MOVE

(J1)

MENU

# % !

＋ X

(J1)

STOP

＋

FORWD

－

BACKWD

COND

POS

　 CHAR

ERROR

RESET

－ Y

(J2)

－ Z

(J3)

－

A

(J4)

－ B

(J5)

－ C

(J6)

＋ Y

(J2)

＋ Z

(J3)

＋

A

(J4)

＋ B

(J5)

＋ C

(J6)

ADD

↑

RPL

↓

DEL

←

HAND

→

INP

EXE

EMG.STOP

13)

14)

15)

16)

17)

12)

1) : Emergency stop switch...................The robot servo turns OFF and the operation stops immediately.

2) : T/B enable/disable

　 changeover switch ............................This switch changes the T/B key operation between enable and dis

able.

3) : LCD display panel .............................The robot status and various menus are displayed.

4) : <TOOL, JOINT, XYZ> key .............This selects the jog mode (JOINT, XYZ, 3-AXIS XYZ, CYLINDER,

TOOL).

5) : <MENU> key........................................This returns the display screen to the menu screen.

6) : <STOP> key ........................................This stops the program and decelerates the robot to a stop.

7) : <STEP/MOVE> key..........................Jog operation is carried out when this key is pressed simultaneously with the jog operation key. This also turns the Servo ON and carries out step jump.

8) : <( ＋ FORWD> key............................This carries out step feed and increases the override.

9) : <( － BACKWD> key.........................This carries out step return (return along operation path) and decreases the override.

10) : <COND> key .....................................This sets the program.

11) : <ERROR RESET> key...................This resets the error, and releases the software limit.

12) : Jog operation key ...........................This operates the robot according to the jog mode. When inputting numeric values, this inputs each numeric value.

13) : <ADD/ ↑ > key...............................This additionally registers the position data. It also moves the cursor upward.

14) : <RPL/ ↓ > key................................It also moves the cursor downward.

15) : <DEL/ ← > key................................This deletes the position data. It also moves the cursor to the left.

16) : <HAND/ → > key............................This opens and closes the hand. It also moves the cursor to the right.

17) : <INP/EXE> key................................This inputs the program, and carries out step feed/return.

18) : <POS CHAR> key...........................This changes the edit screen, and changes between numbers and alphabetic characters.

19) : Deadman 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.

Fig.3-11 ： Teaching pendant key layout and main functions

3-54

Options

3Controller

(2) Pneumatic hand interface

■ Order type: 2A-RZ365(Sink type)

2A-RZ375(Source type)

■ Outline

This interface is required to use the robot arm's hand output signals. This interface is pre-installed on the controller.

・ Up to eight hand output points can be used with this interface.

・ The eight hand input points can be used without this interface.

・ When using more than eight hand input/output points, install the "Parallel I/O unit". Refer to

Page 59, "Parallel I/O unit" for detail.

■ Configuration


Part name

Pneumatic hand interface

Type

2A-RZ365/

2A-RZ375

Qty.

Mass(kg)

1pc.

0.1

Remarks

Output 8 points expansion. 2A-RZ365 is the sink type.

2A-RZ375 is the source type.

■ Specifications


Item Specification

Type


Insulation method

Rated load voltage


Max. current load

Current leak with power OFF

Transistor output

8


DC24V

DC21.6 to 26.4VDC

0.1A/ 1 point (100%)

0.1mA or less

Maximum voltage drop with power ON DC0.9V(TYP.)

Response time OFF-ON 2ms or less (hardware response time)

Fuse rating

Common method

ON-OFF 2 ms or less (resistance load) (hardware response time)

Fuses 1.6A (each one common)

8 points, 1 common

Internal circuit

<Sink type>

24V

（Internal power supply）

Fuse

1.6A

GRn

*

0V

<Source type>

Fuse

1.6A

+24V

GRn

*

24GND(COM)

* GRn ＝ GR1 ～ GR8

Options 3-55

3Controller


This is mounted on the control unit (RZ386 or RZ387 card) in the controller.

Securely insert the pneumatic hand interface (2A-RZ365/375) into the CNHNDOUT/CNHND connector on the control unit.

RZ386 or RZ387 card

Control unit

A

CNHND

＜RZ386＞ or

＜RZ387＞

CNHND

CNHNDOUT

2A-RZ365

or

2A-RZ375

CNHNDOUT

View A

Fig.3-12 ： Installation of pneumatic hand interface

Note)The hand output doesn't work correctly in the case of "RZ386" + "RZ365" or "RZ387" + "RZ375" combi

nation.

Choose either of sink type/source type properly, and use it.

3-56

Options

3Controller

(3) Expansion option box

■ Order type ： ● CR1-EB3

■ Outline

By installing this expansion option box to the side of the controller, the expansion serial interface, CC-Link interface, Ethernet interface, Addtional interface and

PROFIBUS interface can be used.

Up to three option cards can be mounted.

■ Configuration


Part name Type


Installation screw

CR1-EB3


Qty.

1

4

Mass(kg)

Note1)

1.7

-

With rubber foot

Remarks

■ Specifications


Item Unit

Number of slot

Power supply method

Current value

Ambient temperature

Ambient humidity

Grounding

Structure

Outside dimensions

Mass slot

A deg.

%RH mm kg

Specifications

3

Power supply is supplied from controller by the RT-Bus coupling(+5V/SG)

Max. 3

0 to 40

45 to 85

D class grounding earth

Self-contained floor type opened structure

85(W) x 290(D) x 165(H)

Approx. 3

Note1) Self-contained floor type, under the condition combined with the body.

Remarks

RT-Bus 1, 2, 3

Max. 1A/slot

Without dew drops

Grounding from external terminal

Note1)

Options 3-57

3Controller

Installation of expansion option box

Expansion option box CR1-571 controller

65

24

Rear side cable outlet

Positioning latch Positioning latch

299.7

87.5

Installation screw

Four positions

（38）

290

Layout of expansion option box

Plates with rails

(Two positions)

42

Slot１

Slot２

Slot３

Controller connection connector

Positioning latch

（13）

Installation screw(Four positions)

The example which an option card was mounted to.

Fan

Fig.3-13 ： Outside dimensions and layout

Grounding terminal(M4)


Remove the side plate of the controller, connect the connectors, and fix to the controller with the four fixing screws in the expansion option box.

The option cards mounted in the slot are fixed with the plates with rails.

The cables required for the option card are lead out from the cable outlet on the rear side.

3-58

Options

3Controller

(4) Parallel I/O unit

■ Order type: 2A-RZ361(Sink type)

2A-RZ371(Source type)

■ Outline

This is used to expand the external inputs and outputs.

・ The connection cable is not included. Prepare the optional external input/output cable (2A-CBL05 or 2A-CBL15).

■ Configuration


Part name Type

Parallel I/O unit

Robot I/O link connection connector

Power connection connector

Terminator

2A-RZ361/

2A-RZ371

NETcable-1

DCcable-2

R-TM

Qty.

Mass(kg)

1 pc.

2 sets

1 set

1 pc.

0.7

-

-

-

Remarks

Input/output 32 points/32 points

2A-RZ361 is the sink type.

2A-RZ371 is the source type.

Connector with pins.

The cable must be prepared and wired by the customer.

Connector with pins.

The cable must be prepared and wired by the customer.

100Ω(1/4W)

■ Specifications

1) Up to eight stations can be connected to this unit. (One station occupies one unit.)

One unit is built into the controller as a standard, so up to seven units can be installed as expansions.

2) The power supply (24V) must be prepared by the customer and connected with the power connection cable

(DCcable-2)

A separate 24V power supply is required for the input/output circuit wiring.

The detailed specifications of the input/output circuit are the same as the parallel input/output unit mounted as a standard. Refer to

Page 46, "3.7 Parallel input/output unit" for details.

Table 3-15 ： Electrical specifications of input circuits

Item Specification

Type

Number of input points

Insulation method

Rated input voltage

Rated input current



DC input

32


12VDC/24VDC

Approx 3mA/7mA

10.2 to 26.4VDC(Ripple factor should be less than 5%.)

8VDC or more/ 2mA or more

OFF voltage/ OFF current

Input resistance


ON-OFF

4VDC or less/ 1mA or less

Approx. 3.3kΩ

10ms or less (24VDC)

10ms or less (24VDC)

Common method 8 points per common

External cable connection method Connector

Internal circuit

<Sink type>

820

3.3K

<Source type>

3.3K

Input

Input

820

24V/12V

(COM)

0V(COM)

Options 3-59

3Controller

Table 3-16 ： Electrical specifications for the output circuits

Item Specification

Type


Insulation method

Rated load voltage


Max. load current

Leakage current at OFF

Max. voltage drop at ON

Response time

OFF-ON

ON-OFF

Fuse rating

Common method


Transistor output

32


12VDC/24VDC

10.2 to 30VDC(peak voltage 30VDC)

0.1A/point (100％)

0.1mA or less

0.9VDC(TYP.)

2ms or less

(hardware response time)

2ms or less

(Resistance load) (hardware response time)

Fuse 3.2A (one per common) Replacement not possible

8 points per common (common terminal: 8 points)

Connector


Voltage 12VDC/24VDC(10.2 to 30VDC)

Current 60mA (TYP. 24VDC per common) (base drive current)

Internal circuit

<Sink type>

<Source type>

Fuse

(24/12V)

Outline

(0V)

Fuse (24/12V)

Outline

(0V)

CAUTION

The output circuit protective fuses prevent failure in case of load short-circuit and improper connections. Please do not connect loads that cause the current to exceed the maximum rated current. If the maximum rated current is exceeded, the internal transistors may be damaged.

3-60

Options

3Controller

NETcable-1 (Network cable)

Pin No.

RIO1/2

１ TXRXH

２

３

TXRXL

SG(GND)

Note 2)

RIO1/2

TXRXH

TXRXL

SG(GND)

Pin No.

１

２

３

FG

DCcable-2 (Power cable)

Pin No.

DCIN

１ 24V

２

３

24G(RG)

FG(PE)

＋

－

24V Power

Note 1)

Connected the frame ground or protect ground

R-TM (Terminator)

Pin No.

RIO1/2

１ TXRXH

２

３

TXRXL

SG(GND)

List of parts and manufacturer

Type

NETcable-1

DCcable-2

R-TM

Connector type

1-178288-3 (2)

2-178288-3 (1)

1-178288-3 (1)

100Ω

Contact type

175218-3 (6)

175218-3 (3)

175218-3 (2)

Resistant

－

－

100Ω(1/4W) (1)

Manufacturer

AMP

AMP

Equivalent to KOA.

Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.)

Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of

AWG#22(0.3mm

2

) or more.

Fig.3-14 ： Spacifications for the connection cable

Options 3-61

3Controller


The expansion parallel input/output unit is installed outside of the controller. Connect with the network connec

tion cable (NETcable-1) from the RIO1 connector in the rear of the controller.(Terminator is connected at the time of shipment)

RIO1 connector

(40)

Wiring space upside

(175)

128

6

2-Ｍ５ screw

<2A-RZ361>

54

60

6

Control panel installation dimensions downside

Installation dimensions of 2A-RZ361

(The controller outside installation.）

Fig.3-15 ： Installing the parallel input/output unit

3-62

Options

3Controller

RIO1 connector

Controller back side

Parallel I/O unit 1 . . . 6

Station No. setting

1 . . . 6

Note)

NETcable-1 cable

＜CN100＞

Station No. setting

7

Parallel I/O unit 7

＜CN300＞

＜CN100＞

＜CN300＞

RIO1 connector

FG

DCIN connector

DCcable-2 cable

RIO2 connector

RIO1 connector

Note)

NETcable-1 cable FG

DCIN connector

DCcable-2 cable

RIO2 connector

R-TM terminator

Front

RIO1 connector

RIO2 connector

DCIN connector

I/O unit the bottom

Connecta layout

Connect the NET cable-1 to the RIO1 connector on the back of the controller. Each unit is connected to from a daisy chain.

Always install a terminator (R-TM) to the last unit.

Note) Use a shield cable for NET cable-1 as a measure against noise.

Always connect the shield to FG.

The unit could malfunction because of noise if the shield cable is not used.

Fig.3-16 ： Connection method of expansion parallel input/output unit

Options 3-63

3Controller

■ Parallel I/O interface (First expansion unit)

Table 3-17 ： Connector CN100pin No. and signal assignment list (2A-CBL

□□

)

Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

Function name

General-purpose


3

4

1 Orange/Red A

2 Gray/Red A

White/Red A

Yellow/Red A General-purpose output 32

7

8

5 Pink/Red A General-purpose output 33

6 Orange/Red B General-purpose output 34

Gray/Red B

White/Red B

General-purpose output 35

9

10

Yellow/Red B

Pink/Red B General-purpose output 40




14 Yellow/Red C


16 Orange/Red D General-purpose input 33

17

18

Gray/Red D General-purpose input 34

White/Red D General-purpose input 35

19 Yellow/Red D General-purpose input 36

20 Pink/Red D General-purpose input 37



23 White/Red E

24 Yellow/Red E

25 Pink/Red E

FG

0V:For pins 4-7, 10-13


0V:For pins 4-7, 10-13


COM0:For pins 15-22

Note1)

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A





33 White/Blue B

34 Yellow/Blue B





39 Yellow/Blue C









48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

FG

0V:For pins 29-32, 35-38


0V:For pins 29-32, 35-38


COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved



□□

)

Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

Function name

General-purpose


3

4

1 Orange/Red A

2 Gray/Red A

White/Red A


7

8



Gray/Red B

White/Red B


9

10

Yellow/Red B

Pink/Red B General-purpose output 56




14 Yellow/Red C



17

18

Gray/Red D

White/Red D

General-purpose input 50

General-purpose input 51





23 White/Red E

24 Yellow/Red E

25 Pink/Red E

FG

0V:For pins 4-7, 10-13


0V:For pins 4-7, 10-13


COM0:For pins 15-22

Note1)

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A





33 White/Blue B

34 Yellow/Blue B





39 Yellow/Blue C









48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

FG

0V:For pins 29-32, 35-38


0V:For pins 29-32, 35-38


COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved


3-64

Options

3Controller

Channel No. setting

(Set channel No. to 1.)

[*1]

TXD

LED display

50

25

＜CN100＞

Input 32 to 47

Output 32 to 47

＜CN300＞

Input 48 to 63

Output 48 to 63

26

1

*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit

(Occupies one channel)

Fig.3-17 ： Parallel input/output unit <2A-RZ361/2A-RZ371:First expansion> connection and pin layout

CAUTION

[*1] For the 1st expansion unit, set the channel No. to "1".

The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.

Options 3-65

3Controller

■ Parallel I/O interface (Second expansion unit)


□□

)

Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

Function name

General-purpose


1 Orange/Red A

2

3

Gray/Red A

White/Red A

4

5


Pink/Red A General-purpose output 65


7 Gray/Red B General-purpose output 67

8

9

White/Red B

Yellow/Red B





14 Yellow/Red C



17 Gray/Red D General-purpose input 66

18 White/Red D General-purpose input 67





23 White/Red E

24 Yellow/Red E

25 Pink/Red E

FG

0V:For pins 4-7, 10-13


0V:For pins 4-7, 10-13


COM0:For pins 15-22

Note1)

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A





33 White/Blue B

34 Yellow/Blue B





39 Yellow/Blue C









48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

FG

0V:For pins 29-32, 35-38


0V:For pins 29-32, 35-38


COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved



□□

)

Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

Function name

General-purpose


3

4

1 Orange/Red A

2 Gray/Red A

White/Red A


7

8

9



Gray/Red B

White/Red B

Yellow/Red B






14 Yellow/Red C



17 Gray/Red D General-purpose input 82

18 White/Red D General-purpose input 83





23 White/Red E

24 Yellow/Red E

25 Pink/Red E

FG

0V:For pins 4-7, 10-13


0V:For pins 4-7, 10-13


COM0:For pins 15-22

Note1)

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A





33 White/Blue B

34 Yellow/Blue B





39 Yellow/Blue C









48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

FG

0V:For pins 29-32, 35-38


0V:For pins 29-32, 35-38


COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved


3-66

Options

3Controller

Channel No. setting

(Set channel No. to 2.)

[*1]

TXD

LED display

50

25

＜CN100＞

Input 64 to 79

Output 64 to 79

＜CN300＞

Input 80 to 95

Output 80 to 95

26

1

*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit

(Occupies one Channel)

Fig.3-18 ： Parallel input/output unit <2A-RZ361/2A-RZ371:Second expansion unit> connection and pin layout

CAUTION

[*1] For the 2nd expansion unit, set the channel No. to "2".

The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.

Table 3-21 lists the correspondence between the station numbers to be set and the I/O signal assignment.

Refer to this table when the third and subsequent units are used.

Table 3-21 ： Station Number Settings and I/O Signal Assignment

Unit No.

Station number setting CN100

1st unit

2nd unit

3rd unit

4th unit

5th unit

6th unit

7th unit

1

2

3

4

5

6

7

Input: 32 ～ 47

Output: 32 ～ 47

Input: 64 ～ 79

Output: 64 ～ 79

Input: 96 ～ 111

Output: 96 ～ 111

Input: 128 ～ 143

Output: 128 ～ 143

Input: 160 ～ 175

Output: 160 ～ 175

Input: 192 ～ 207

Output: 192 ～ 207

Input: 224 ～ 239

Output: 224 ～ 239

CN300

Input: 48 ～ 63

Output: 48 ～ 63

Input: 80 ～ 95

Output: 80 ～ 95

Input: 112 ～ 127

Output: 112 ～ 127

Input: 144 ～ 159

Output: 144 ～ 159

Input: 176 ～ 191

Output: 176 ～ 191

Input: 208 ～ 223

Output: 208 ～ 223

Input: 240 ～ 255

Output: 240 ～ 255

Options 3-67

3Controller

(5) External I/O cable

■ Order type: 2A-CBL □□ 　　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m）

■ Outline

This is the dedicated cable used to connect an external peripheral device to the con

nector on the parallel input/output unit.

One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

■ Configuration


Part name Type

External I/O cable 2A-CBL □□

Qty.

1pc.

Mass(kg)

Note1)

0.7(5m)

1.84(15m)

5m or 15m

Remarks


■ Specifications


Items

Number of cables x cable size

Total length

50 pairs x AWG #28

5m or 15m

Specifications

■ Connector pin numbers and cable colors

Table 3-24 ： Connector pin numbers and cable colors

Pin no.

Cable colors

Pin no.

Cable colors

Pin no.

Cable colors

7

8

5

6

9

10

3

4

1

2

Orange/Red A

Gray/Red A

White/Red A

Yellow/Red A

Pink/Red A

Orange/Red B

Gray/Red B

White/Red B

Yellow/Red B

Pink/Red B

15

16

17

18

11

12

13

14

19

20

Orange/Red C

Gray/Red C

White/Red C

Yellow/Red C

Pink/Red C

Orange/Red D

Gray/Red D

White/Red D

Yellow/Red D

Pink/Red D

25

26

27

28

21

22

23

24

29

30

Orange/Red E

Gray/Red E

White/Red E

Yellow/Red E

Pink/Red E

Orange/Blue A

Gray/Blue A

White/Blue A

Yellow/Blue A

Pink/Blue A

Pin no.

35

36

37

38

31

32

33

34

39

40

Cable colors

Orange/Blue B

Gray/Blue B

White/Blue B

Yellow/Blue B

Pink/Blue B

Orange/Blue C

Gray/Blue C

White/Blue C

Yellow/Blue C

Pink/Blue C

Pin no.

45

46

47

48

41

42

43

44

49

50

Cable colors

Orange/Blue D

Gray/Blue D

White/Blue D

Yellow/Blue D

Pink/Blue D

Orange/Blue E

Gray/Blue E

White/Blue E

Yellow/Blue E

Pink/Blue E

3-68

Options

3Controller

■ Connections and outside dimensions

The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci

fications in

"Table 3-24: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

１： Orange ／ Red ／Ａ

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Type of dot mark

A type

B type

C type

D type

E type

1

1.5

1.5

1.5

1.5

Dot pattern

18.5

18.5

18.5

18.5

Continuous

Type of dot mark

F type

G type

H type

I type

J type

3

3

3

7.5

7.5

Dot pattern

18.5

18.5

18.5

18.5

Continuous

5000

26

1

50

25

13.54

16.2

9.27

35.7

Receptacle type (PCB side)：57AE-40500-21D(D8)

Plug type　　　（cable side）：57YE-30500-2(D8)

Note1)

Maker

……DDK

……DDK

Note1) The type of the plug shows the specification of this cable.

The following connector is recommended when user make the cable.

・Plug type (cable side) : 57E series (Soldering type).....................................................DDK

57FE series (Flat cable pressure connection type)......DDK

Fig.3-19 ： Connections and outside dimensions

Options 3-69

3Controller

(6) Personal computer cable

■ Order type: ● For PC/AT ： RS-MAXY-CBL

RS-AT-RCBL (For expansion option box(CR1-EB3).)

■ Outline

This is the RS-232C interface cable used for connecting the controller with a personal computer. The personal computer on hand may be usable with the above interface cable.

Confirm the connection specifications when placing an order.

Personal computer cables for the PC/AT compatible model is available.

The cable for the NEC PC9821 (half-pitch 14-pin) must be manufactured by the customer.

Use "RS-AT-RCBL" when you use expansion serial I/F with the expansion option box.

■ Configuration


Part name Type Qty.

Mass(kg)

Note1)

Remarks

Personal computer cable (for PC/AT) RS-MAXY-CBL 1pc.

RS-AT-RCBL 1pc.

4

4

3m, D-SUB 9 pin

Note2)

3m, D-SUB 9 pin

For expansion serial I/F at expansion option box(CR1-EB3).


Note2)The personal computer cable is the same as that for use with "Movemaster M1/M2/E/EN series".

■ Specifications

（1） For PC/AT

RS-MAXY-CBL

RS-AT-RCBL

Controller side

(Signal name, pin No.)

(FG) 1

(SD) 2

(RD) 3

(RS) 4

(CS) 5

(DR) 6

(ER)20

(SG) 7

Personal computer side


1 (CD)

2 (RD)

3 (SD)

4 (DTR)

6 (DSR)

8 (CTS)

7 (RTS)

5 (GND)

（2） For PC98

Controller side


(FG) 1

(SD) 2

(RD) 3

(RS) 4

(CS) 5

(DR) 6

(ER)20

(SG) 7

Fig.3-20 ： Personal computer cabe connection

3-70

Options

Personal computer side

25 pin connector


1 (FG)

2 (SD)

3 (RD)

4 (RS)

5 (CS)

6 (DR)

20 (ER)

7 (SG)

RS-MAXY-CBL

25

13

1

6

1

14

15

15

39

Robot side

Type:17JE-23250-02(D8A6)-CG(DDK)

5

P/C side

9

RS-AT-RCBL

31

1

6

5

P/C side

9

25 14

13

54

1

Robot side

Type:17JE-23250-02(D18A1)-CG (DDK)

Fig.3-21 ： Personal computer cabe connector

3Controller

Options 3-71

3Controller

(7) Extended serial interface

■ Order type: ● 2A-RZ581-E

■ Outline

The extension serial interface is the option to add a serial communication function to the robot controller. One channel of RS-232C interface is provided in the front of the controller. By using the extension serial interface, more channels can be added in order to allow the use of a personal computer, vision sensor and PLC at the same time. Also, in addition to RS-232C communication, RS-422 communication, which is superior in noise resistance, is also supported.

The extended option box (CR1-EB3) is required separately. Refer to

Page 57, "(3)

Expansion option box" for ditails.

Caution) This option can only be used with the robot controller's main unit software version E1 or later.

■ Configuration


Part name Type Qty.

Mass(kg) Remarks

Extended serial interface

Instruction Manual

Ferrite core

2A-RZ581-E

BFP-A8106

E04SR301334

1

1

2

0.32

-

Be sure to install this for noise countermeasure.

Table 3-27 ： Procured by the customer

Part name

Personal computer, vision sensor, etc.

Communication cable

(used when the length of the standard RS-232C cable is too short, or when RS-422 communication is implemented)

Type

RS-232C or RS-422

Qty.

From 1 unit.

From 1 cable.

Remarks

Two channel per one board.

■ Specifications


Item Specifications Remarks

Mountable optional slots

Number of mountable interface cards

Number of channels

Communication data

Communication baud rate

Parity

Stop bit

End code

Protocol

Remarks

Slot 1 or 2

Maximum 2

2 Channel 1: Dedicated to RS-232C

Channel 2: Either RS-232C or RS-422

ASCII data

Note1)

2400 / 4800 / 9600 / 19200

Notiong / Odd/ Even

1 / 2

CR code/ CR code + LF code

Nonprocedural / Procedural / Data link

Note2)

Capable of offering the same functions as provided by the standard RS-232C interface in the front of the controller

This has been set to "9600" at shipment.

This has been set to "even" at shipment.

This has been set to "2" at shipment.

This has been set to "CR code" at shipment.

This has been set to "nonprocedural" at shipment.

Note1)Binary data communication is not supported.

Note2)Nonprocedural: Nonprocedural protocol with the personal computer support software

Procedural: Procedural protocol with the personal computer support software

Data link: Nonprocedural (ASCII data) protocol for data link between robot programs and a personalcom

puter/PLC/vision sensor, etc.

3-72

Options

3Controller

■ Functions

(1) Controller communication function

・ This function allows to update and download programs as well as to monitor various statuses.

・The personal computer support software (sold separately) is available as a robot controller programming support

tool. Refer to (9), Page 81, "(11) Personal computer support software/Personal computer support software mini"

of details.

(2) Data link function

・ The data link function allows to link numerical values and position data between robot programs and a personal computer using the MELFA-BASIC IV language (OPEN/PRINT/INPUT instruction).

・ Data can be exchanged one to one by specifying the COM number at the communication open destination.

■ Pin assignment

(1) RS-232C pin assignment

Refer to

Page 70, "(6) Personal computer cable" .

(2) RS-422 pin assignment

13 1

25

14

Fig.3-22 ： D-SUB25 Pin Female Connector (RZ581 Board Side)

Signal direction

2A-RZ581 ⇔ Device on other end

Pin no.

12

24

10

22

25

11

23

1

7, 9

13

Abbreviated signal name

FG

SG

TXD+(SDA)

TXD-(SDB)

DTR+(RSA)

DTR-(RSB)

RXD+(RDA)

RXD-(RDB)

DSR+(CSA)

DSR-(CSB)

Signal name

Frame ground

Signal ground

Transmission data (+)

Transmission data (-)

Terminal ready (+)

Terminal ready (-)

Reception data (+)

Reception data (-)

Data set ready (+)

Data set ready (-)

Options 3-73

3Controller

(8) CC-Link interface

■ Order type: ● 2A-HR575-E

■ Outline

The CC-Link interface is the option to not only add bit data to the robot controller. but also to add CC-Link field network function that allows cyclic transmission of word data.

The extended option box (CR1-EB3) is required separately. Refer to Page 57, "(3)



■ Configuration

Table 3-29 ： Configuration deviceon

Part name Type

CC-Link interface

Instruction Manual

Ferrite core


2A-HR575-E

BFP-A8105

E04SR301334


Part name Type

Master station

QJ61BT11(Q series)

AJ61QBT11(QnA series)

A1SJ61QBT11(QnAS series)

AJ61BT11(A series)

A1SJ61BT11(AnS series)

A80BD-J61BT11(personal computer board)

Communication cable

Terminal resistor

-

-

Qty.

1

1

2

Qty.

1

1

1

Mass(kg)

Note1)

0.32

-

-

Remarks


Remarks

FX series products are not supported.

Shielded 3-core twisted cable

This cable may be manufactured by the customer.

110Ω or 130Ω is recommended.

3-74

Options

Robot arm Inverter

I/O unit

Display

Sequencer

3Controller

Partner manufacturers' devices Personal computer

Cc-Link interface

(this option)

Controller

Fig.3-23 ： Example of CC-Link Product Configuration

■ Specifications


Item Specifications Remarks

Communication function

Station type

Support station

Mountable option slot

Number of mountable CC-Link interface cards

Number of stations

Transmission speed

Number of occupied stations

Number of

I/O points

Remote I/O

When one station is occupied

When four stations are occupied

Remote registers

When one station is occupied

When four stations are occupied

Bit data and word data can be transmitted. Word data are used by the registers.

Intelligent device station

Note1)

Local station

Slot 2 only

No master station function

Input: 126 points

Input: 4 registers

1

1 to 64 stations

Multiple CC-Link interface cards cannot be inserted.

Note2)

When four stations are occupied, continuous station numbers are used. The station numbers are set by a DIP switch.

This is set by the rotary SW.

10M/5M/2.5M/625K/156K bps

One or four occupied stations can be set.

When four stations are occupied, continuous station numbers are used. The station numbers are set by a DIP switch.

Input: 30 points Output: 30 points The last two points of 32 points cannot be used.

Output: 126 points The last two points of 128 points cannot be used.

Output: 4 registers One register consists of 16 bits.

Input: 16 registers Output: 16 registers

Note1)The CC-Link interface supports neither the transient transmission function nor the FX series.

Note2)This product cannot be used together with a PROFIBUS interface card.

■ Functions

(1) Communication function

・ The number of usable points is 126 points maximum for bit control and 16 points maximum for word control.

・ Up to 2,048 points of input bit data can be monitored by a unit being connected. (Input only, output is disabled.)

・ Up to 256 points of input word data can be monitored by a unit being connected. (Input only, output is disabled.)

(2) Easy setup

・ The CC-Link interface card can be set by a rotary switch or DIP switch.

Options 3-75

3Controller

・No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can only be mounted into slot 2).

・ Easy wiring since only four terminals need to be connected.

・ Dedicated commands have been added to MELFA-BASIC IV (robot programming language); thus, no complex interface programming is required.

(3) High-speed response

・The link scan time when connecting 64 stations is approximately 7.2 ms, achieving superior high-speed response performance.

・ A transmission speed can be selected from 10M, 5M, 2.5M, 625K and 156K bps according to the transmission distance.

3-76

Options

3Controller

(9) Ethernet interface

■ Order type: ● 2A-HR533-E

■ Outline

The Ethernet interface is the option to add an Ethernet communication function to the robot controller.




Also, compatible version differs for each function. Refer to "Table 3-36:

Software Versions and Functions of the Controller" for details.

■ Configuration


Part name Type

Ethernet interface

Instruction Manual

Ferrite core


2A-HR533-E

BFP-A8108

E04SR301334

Qty.

1

1

1

Mass(kg)

Note1)

0.29

-

-

Remarks



Part name

Personal computer

(A network interface is required.)

Type Qty.

Windows 95/98/Me/NT 4.0/2000/XP compatible. Installed with TCP/IP network functions, including Linux OS

(However, operation has not be verified.)

10BASE-T or 10BASE-5

From 1 unit.

From 1 cable.

Ethernet cable

(Select either straight cable or cross cable depending on the connection mode.)

Remarks

Table 3-34 ： Items required as needed

Part name Type

Hub (Required for use in LAN environment)

Windows compatible robot controller programming support tool for Mitsubishi CRn-

500 series controllers

Windows compatible development tool

(Commercially sold)

(Separately sold) Personal computer support software

(Commercially sold) Microsoft Visual C++, Visual Basic, etc.

■ Specifications


Item



LAN interface

Transmission speed

Connector specification

Specifications

Slot 1 only

1

10BASE-T or 10BASE-5(changeover type)

10Mbps

RJ-45

Qty.

1

1

1

Remarks

Remarks

A personal computer and the robot controller that communicates with that personal computer must be located on the same network. They cannot communication with each other crossing a firewall (from the Internet) or gateway

(from another adjacent network, etc,). If such form of communication must be implemented, consider communicat

ing via a server connected to the same network as that of the robot controller. Be cautious about safety and response performance in this case.

Options 3-77

3Controller

■ Functions

(1) Controller communication function

・ This function allows communication with the robot controller via Ethernet.

(Program upload/download, status monitoring, etc.)

The personal computer support software (sold separately) is available as a robot controller programming support tool.

・ This function allows communication with a maximum of 16 clients on other end.

(2) Data link function

・ The data link function allows to link numerical values and position data between robot programs and a personal computer using the MELFA-BASIC IV language (OPEN/PRINT/INPUT instruction).

・ Data can be exchanged one to one by specifying the COM number at the communication open destination.

・ This function allows to communicate with up to eight applications of clients on other end by changing COM numbers.

・ Either server mode or client mode can be selected as the TCP/IP function.

・ The customer needs to write application programs on the personal computer side.

(3) Real-time external control function

・The real-time external control function loads the position command data and performs operation in control cycle units of the robot. The joint, orthogonality and motor pulse can be specified as the position data. Also, this function monitors I/O signals and outputs signals at the same time.

・The data that can be monitored include the encoder feedback values, current command, and current feedback of the position data type mentioned above.

・ This function is valid only for the following models:

RP-1AH/3AH/5AH series

RV-1A series

RV-2A/3AJ series

RV-4A/5AJ/3AL/4AJL series

RH-5AH/10AH/15AH series

RV-6S/6SL/12S/12SL series

RV-6SD/6SDL/12SD/12SDL series

RV-3S/3SJ/3SB/3SJB series

・ In order to control the robot, an application program on the personal computer side must be created by the customer. It must communicate one to one.

Table 3-36 ： Software Versions and Functions of the Controller

Software version of the robot controller

Versions A*, B*, C*, D* and E1

Versions E2 to E4

Versions F*, G* and H1 to

H6

Versions H7 and later

Controller communication function

○

○

○

Data link function

(server)

Data link function

(server/client)

The Ethernet option is disabled.

○

○

○

×

×

○

Real-time external control function

×

○

○

○ ..... Can be used.

× ..... Cannot be used.

3-78

Options

3Controller

(10) Additional axis interface

■ Order type: ● 2A-RZ541-E

■ Outline

The additional axis interface is an interface, which uses the general-purpose servo amplifier of Mitsubishi and the corresponding servomotors in order to allow the plural above servomotors to be controlled from the robot controller.



Caution) Additional axis interface can be used with a robot controller software version of G9 or later.

Servo systems that can be used with the additional axis interface are shown in Table 3-37 .

Table 3-37 ： Applicable servo systems

Servo amplifier name Type Maker name

MELSERVO-J2-Super series

Note1)

MR-J2S- □ B (ABS must be designated.) Mitsubishi Electric

Note1) The J2-Super Series servo amplifiers, use the servo amplifiers with software version of B0 or later.

■ Configuration


Part name Type

Additional interface

Instruction Manual

Ferrite core


2A-RZ541-E

BFP-A8107

E04SR301334

Qty.

1

1

2

Mass(kg)

Note1)

0.29

-

-

Remarks


The products necessary in addition to the additional axis interface are listed in Table 3-39 .

For these main products, refer to "Instruction Manual for Servo Amplifier and Servomotor".


Part name Type Qty.

Servo amplifier, servomotor, option, peripheral device

Refer to "Instruction Manual for Servo Amplifier and

Servomotor".

Battery (for absolute position detection system) MR-BAT or A6BAT

-

Amplifier quantity

1 Setup software

(For setup the parameter of servo amplifier and the graph indication, etc. )

Bus cable between controller and amplifier

(Exclusive cable for communication between controller and servo amplifier)

Terminator

MRZJW3-SETUP131 if the MELSERVO-J2-Super is used.

MRZJW3-SETUP41 or later if the MELSERVO-J2-B is used.

Communication cable

(Communication cable between personal computer and servo amplifier for setup software)

MR-CPCATCBL3M

MR-J2HBUS □ M

(Cable length in : 0.5, 1 and 5 [m])

Note) The MR-J2HBUS □ M-A can't be used, caution.

Bus cable between amplifier and amplifier

(Exclusive cable for communication between servo amplifier and servo amplifier)

MR-A-TM

MR-J2HBUS □ M

(Cable length in : 0.5, 1 and 5 [m])

1

1

1

Amplifier quantity-1

Remarks

Options 3-79

3Controller

■ Specifications


Item

Number of controllable robots (mechanisms)

Number of control axes (total)

Number of control axes (for each mechanism)

Applicable amplifier

Applicable encoder

Communication method



Control function

Path control method

Acceleration/deceleration

Position control

Minimum command value

Maximum motion range

Specifications Specification of user mechanism

3

8 axes

2 axes

MELSERVO-J2-Super series

ABS method only (absolute value encoder)

3 axes

SSCNET (differential communication) of Mitsubishi

Slot 1 or 3

1

Synchronous interpolation control

CP control/PTP control PTP control

The trapezoidal method/acceleration/deceleration time pattern can be set.

Distance control/angle control can be selected.

Actual value control with pitch/deceleration ratio setting

0.01mm or 0.001mm (can be changed by a parameter)

Max. .80000.00(0) deg. to +80000.00 (0) deg.

■ Functions

(1) Additional robot axis function

・ The robot controller can control a maximum of 2 axes such the travel axis, etc., as the 7th and 8th axes of the robot arm.

・ Additional axes are controlled in such a way that they start moving and stop simultaneously with the standard robot axes.

(2) Multi-mechanism function

・ The robot controller can control user-created mechanisms, such as a rotation axis and a linear driving axis, for up to 2 units as multi-mechanisms.

・The robot controller controls multi-mechanisms independent of the standard robot axes (asynchronous control).

It can control up to 3 axes of user-created mechanisms per unit.

(3) Programming language

・ The additional axes can be programmed with MELFA-BASICIV language method and MOVEMASTER command method.

・ User-created mechanisms can only be controlled using the MELFA-BASIC IV language.

3-80

Options

3Controller

(11) Personal computer support software/Personal computer support software mini

(MELSOFT RT ToolBox)

■ Order type ： ● Personal computer support software

*For windows CD-ROM : 3A-01C-WINE

● Personal computer support software mini

*For windows CD-ROM : 3A-02C-WINE

■ Outline

This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support

(creation and editing of programs), start up support (execution, control and debugging of program), and maintenance (remote 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. Select according to the required application.

■ Configuration

Table 3-41 ： Product configuration

Part name




Type

3A-01C-WINE

3A-02C-WINE

Medium

CD-ROM

CD-ROM

Mass(kg)

Note1)

0.12

0.12

Remarks

One operation manual included

One operation manual included

■ 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) Increased maintenance efficiency with remote maintenance function

With remote operations over a telephone line, the robot's operation status can be monitored without going to the site. Losses incurred while moving to the site can be reduced, and the time required to investigate the trouble and determine measures to be taken can be shortened.

Options 3-81

3Controller

■ Functions

Table 3-42 ： Functions

Function

Compatible model

Program editing functions

Editing functions

Simulation function

Note3)

Monitor functions

Maintenance function

Remote maintenance function

Control functions

Debugging functions

Functional existence

Note1)

○ ○

○

○

○

○

○

○

○

○

○

○

×

○

○

○

Details

Personal computer running Microsoft Windows98/2000/NT 4.0/Me/XP.

・ MELFA BASIC IV 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)

・ Tact time measurement

Note2)

・ 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 (position, speed, current, load, power)

・ Parameter setting

・ Batch, divided backup

・ Monitoring and maintenance of robot state at remote site using telephone line.

(A separate modem is required for this function.)


（3A-02C-WINE）


（3A-01C-WINE）

Note1)The functions included with the personal computer support software and the personal computer support software mini are shown below. ○ : Function provided × : Function not provided

Note2)When using the "personal computer support software mini", connect with the controller and measure.

Note3)A simulation function is available only with "MELFA-BASIC Ⅳ ".

3-82

Options

3Controller

3.9 Maintenance parts

The consumable parts used in the controller are shown in

Table 3-43

. 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 3-43 ： Contloller consumable parts list

No.

Part name

Type

Note1)

Qty.

Usage place Manufacturer

1 Lithium battery ER6 1 RZ182 card Mitsubishi Electric System

& Service;Co.,Ltd

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

Maintenance parts 3-83

3Controller

3-84

Maintenance parts

4Software

4 Software

4.1 List of commands

The robot language to use can choose "MELFA-BASIC Ⅳ " (default setting) or "MOVEMASTER language

(MOVEMASTER commands)" by changing the parameter.

Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions.

The available new functions in MELFA-BASIC IV are given in Table 4-1

.

Table 4-1 ： The available new functions in MELFA-BASIC IV

Class

Robot Status Variable

Built-in functions

Operation function

Conditional branching

Optimum acceleration/ deceleration control

Float control

(compliance in the XYZ coordinate system)

Parallel execution

(Multitask)

Conveyor trucking

[Special specification]

Impact detection

Singular point passage

Command example

P_TOOL

M_SPD

ABS

VAL

ATN

STR$

ZONE

P1=P1*P2

M1=M1*M2

P1.X=10

SELECT CASE

ON GOSUB

WHILE WEND

LOADSET

OADL

CMP POS

CMPG

XRUN, XSTP, XRST,

XLOAD, XCLR

TRKON, TRKOFF

TRBASE

COLCHK

COLLVL

MVS P1 TYPE 0,2

Function keep current tool length keep current speed (linear/circular interpolation)

Produces the absolute value

Converts a character string into a numeric value

Calculates the arc tangent

Converts the numeric expression value into a decimal character string

Check current position area

Relative calculation of position data

Multiplication of numerical variable

Operation of the position element data

More than one condition branch

Condition branch by the value

Repeat with condition

Load condition setting valid/invalid setting for the optimum acceleration/deceleration

Compliance control

Force control

Parallel executions of another task, the stops, the resets the clear, and, the loads

Valid/invalid of the trucking

Setting the base coordinate for the trucking

Set to enable/disable the impact detection.

Set the detection level of the impact detection.

Pass a singular point using linear interpolation.

(1) The procedure of robot language selection

Table 4-2 ： Robot language parameter

Parameter

Parameter name

No. of arrays

No. of characters

Details explanation

Factory setting

Robot language RLNG Integer 1

Select the robot language to use

1 : MELFA-BASIC Ⅳ

0 : MOVEMASTER COMMAND

1

Note 1) "MELFA-BASIC Ⅳ " is default setting.

Note 2) Refer to the separate manual "Explanation of MOVEMASTER COMMANDS"(BFP-A8056) for details of

"MOVEMASTER COMMAND"Order to dealer when using the "MOVEMASTER COMMAND".

(2) MELFA-BASIC Ⅳ commands

List of commands 4-85

4Software

Table 4-3 ： List of MELFA-BASIC IV commands

Type Class Function

Joint interpolation Moves to the designated position with joint interpolation.

Linear interpolation Moves to the designated position with linear interpolation.

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

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

Speed designation

Moves along a designated arc (start point → passing point → end point) with

3-dimensional circular interpolation.

Moves along the arc on the opposite side of a designated arc (start point → reference point → end point) with 3-dimensional circular interpolation.

Moves along a set arc (start point → end point) with 3-dimensional circular interpolation.

Designates the speed for various interpolation operations with a percentage

(0.1% unit).

Operation

Position control

Pallet

Designate the speed for joint interpolation operation with a percentage

(0.1% unit).

Designates the speed for linear and circular interpolation with a numerical value (mm/s unit).

Designates the acceleration/deceleration time as a percentage in respect to the predetermined maximum acceleration/deceleration. (1% unit)

Automatically adjusts the acceleration/deceleration according to the parameter setting value.

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

Adds a process unconditionally to the operation.

Adds a process conditionally to the operation.

Designates smooth operation.

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

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.

Defines the pallet.

Branching

Operates the pallet grid point position.

Branches unconditionally to the designated place.

Branches according to the designated conditions.

Repeats until the designated end conditions are satisfied.

Input format (example)

MOV P1

MVS P1

MVC P1,P2,P1

MVR P1,P2,P3

MVR2 P1,P9,P3

MVR3 P1,P9,P3

OVRD 100

JOVRD 100

SPD 123.5

ACCEL 50,80

OADL ON

LOADSET 1,1

WTH

WTHIF

CNT 1,100,200

FINE 200

SERVO OFF

TORQ 4,10

BASE P1

TOOL P1

DEF PLT

1,P1,P2,P3,P4,5,3,1

PLT 1,M1

GOTO 120

IF M1=1 THEN GOTO 100

ELSE GOTO 20

END IF

FOR M1=1 TO 10

Repeats while the designated conditions are satisfied.

NEXT M1

WHILE M1<10

Branches corresponding to the designated expression value.

WEND

ON M1 GOTO 100,200,300

Executes program block corresponding to the designated expression value..

SELECT

CASE 1

Moves the program process to the next line.

BREAK

CASE 2

BREAK

END SELECT

SKIP

4-86

List of commands

4Software

Type Class

Subroutine

Interrupt

Wait

Stop

End

Hand open

Hand close

Assignment

Input

Output

Function Input format (example)

Executes the designated subroutine. (Within program)

Returns from the subroutine.

Executes the designated program.

GOSUB 200

RETURN

CALLP "P10",M1,P1

Defines the program argument executed with the CALLP command.

FPRM M10,P10

Executes the subroutine corresponding to the designated expression value.

ON M1 GOSUB

100,200,300

Defines the interrupt conditions and process.

Enables/disables the interrupt.

DEF ACT 1, M1=1 GOTO

100

ACT 1=1

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.

ON COM(1) GOSUB 100

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

Defines the input/output variables.

Retrieves the general-purpose input signal.

Calls out the general-purpose output signal.

DEF IO PORT1=BIT,0

M1=M_IN (1)

M_OUT(1) =0

Mechanism designation

Selection

Start/stop

Definition

Clear

File

Comment

Label

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.

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.

GETM 1

RELM 1

XLOAD 2,"P102"

XRUN 3,"100",0

XSTP 3

XRST 3

DEF INTE KAISUU

DEF CHAR MESSAGE

DIM PDATA(2,3)

DEF JNT TAIHI

DEF POS TORU

DEF FNTASU(A,B)=A+B

CLR １

OPEN "COM1:" AS #1

CLOSE #1

INPUT# 1,M1

PRINT# 1,M1

REM "ABC"

*SUB1


4Software

(3) MOVEMASTER commands

Table 4-4 ： List of MOVEMASTER command

Type Class

Joint interpolation

Linear interpolation

Circular interpolation

Speed designation

Position control

Pallet

Branching

Subroutine

Function Input format (example)

Moves to the designated position variable with joint interpolation.

Moves to the designated position with joint interpolation.

Moves to a position obtained by adding two position variables.

Turns the joint by the specified angle from the current position.

Moves the axis by the designated amount from the current position.

Moves by the specified distance from current position.

Moves to the next position in number from current position.

Moves to the previous position in number from current position.

Moves to a position separated by the designated distance (+/- direction) in the Z axis direction of the tool coordinates from the designated position variable's position.

MO 1

MP 100,200,125.3,0,90

MA 1,2

MJ 10,20,0,0,0,0

DJ 1,15

DW 100,80,0

IP

DP

MT 1,-50

Moves to the origin in the axis order designated in the parameters.

Moves to the user specified origin position.

Moves to the designated position variable with linear interpolation.

Moves by the specified distance from current position.

Continuously moves the position variable with linear interpolation between the two designated position variables.

Moves to a position separated by the designated distance (+/- direction) in the Z axis direction of the tool coordinates from the designated position variable position.

Moves along a designated arc (start point → transient point → end point) with threedimensional circular interpolation.

Moves with circular interpolation with the position data of two MRA commands designated previously or subsequently.

Establishes program over-ride。 (0.1% unit)

NT

OG

MS 1

DS 10,20,0

MC 10,20

MTS 1,-50

MR 1,2,3

MRA 4

OVR 100

Designate the speed level and acceleration/deceleration rate for various interpolation operations.

Designate the speed, time constant, acceleration/deceleration rate and CNT setting validity for linear and circular interpolation.

It establishes die length to hand nose from hand installation.

Designates the tool matrix.

Waits for in position till all axis ring inward pulse appointing.

Memorizes current position as the position number.

Memorizes current position as the origin.

HO

Sets the designated coordinate value (x, y, z, a, b, c) in the designated position variable.

PD 1,100,200,300,0,90,0

Deletes the position variable between two designated position variables.

Changes the pose of the robot at position。

PC 1,20

CF 1,R,A,F

Defines the pallet.

Operates the designated pallet No. grid point position, and substitutes into the corresponding position variable.

Jump to line number.

Jump to line number if internal register value/strings equals specified value/strings.

SP 25,H

SD 123.5,50,50,0

TL 128

TLM 0,0,128,0,0,0

PW 10

HE 1

PA 1,5,3

PT 1

Jump to line number if internal register value/strings does not equal specified value/ strings.

Jump to line number if internal register value/strings is greater than specified value/ strings.

GT 120

EQ 20,120

EQ "OK",120

NE 20,120

NE "NG",120

LG 20,120

LG "NG",120

Jump to line number if internal register value/strings is smaller than specified value/ strings.

Jump to line number by internal register bit status.

Jump to line number by external input signal bit status.

Repeats the loop specified by command NX.

Specifies the range of a loop in a program by command RC.

Executes the subroutine of the line designated in the designated program.

Returns from the subroutine. (The return line No. can be designated.)

SM 20,120

SM "NG",120

TB +5,100

TBD +5,100

RC 8

NX

GS 3,10

RT

RT 200

4-88

List of commands

4Software

Type Class Function Input format (example)

Interrupt

Wait

Select

Start

Stop

End

Open

Close

Setting

Input

Output

Validates the interrupt by the bit designated by the external input terminal, and designated the branching method and branching line at the interrupt.

Disables interrupt by the bit of external input signal.

Stops the operation for the designated time. (0.1 sec unit)

Selects the program.

Executes the program between the designated line numbers.

Halts the program.

Ends the program.

Opens the specified hand.

Closes the specified hand.

Sets the motorized hand's gripping force and open/close time.

Sets the hand open/close state when the "PD" command is executed.

Gets signal from external input.

Outputs data to external output signal.

Outputs the counter value to external output signal.

Sets the output signal bit status.

EA +16,100,1

DA 16

TI 50

N 1

RN 10,50

HLT

ED

GO

GC

GP 40,30,50

GF 1

ID

OD 20

OC 1

OB +16 addition Adds the designated value to the internal register value.

Adds 1 to the designated number's counter.

Adds the coordinate values of the designated position variable to the coordinate values of the designated position variable.

Subtraction Subtracts the designated value from the designated register value.

Subtracts one from the designated number's counter.

Multiplication

Multiples the designated value to the internal register value.

Division

AND

OR

XOR

Substitution

Exchange

RS-232C read

Divides the internal register value by the designated value.

Logical AND of the internal register value and specified value.

Logical OR of the internal register value and specified value.

Logical exclusive OR of the internal register value and specified value.

Substitutes the designated value (character string) in the designated counter.

ADD 10

IC 5

SF 1,2

SUB 10

DC 5

MUL 2

Substitutes the designated position variable coordinate value in the designated position variable.

Substitutes the internal register value (character string) in the designated number's counter.

PL 1,2

CL 1

Sets the designated number's counter value (character string) in the internal register.

CP 1

Exchanges the coordinate values of two designated position variables.

PX 1,2

Reads the selected program No. or designated program information.

Reads the program of specified line number.

QN 1

LR 10

Reads the program of specified step number.

Reads the coordinate value of specified position number.

Reads the value/strings of specified counter number.

Reads the hand input signal, internal register value and the 16-bit width data from the designated external output signal bit.

DIV 10

AN 7

OR 3

XO 2

SC 1,10

SC $1,"OK"

STR 10

PR 1

CR 1

DR 16

Clear

File

Reset

Comment

Reads the current error No. or error history.

Reads the coordinate value of current position.

Reads the value of current tool length.

Reads the current tool matrix.

Reads the name of system software version.

Reads the value of specified parameter.

Deletes the program between the designated line numbers.

Deletes the selected program and position variables.

Opens the file.

Reads the data from the file.

Sends the value to the file.

Sets the contents of the designated parameter.

Resets the error, or program line number.

Describes a comment.

ER 10

WH

WT

WTM

VR

PMR "HANDINIT"

DL 10,90

NW

OPEN 1,1

INP 1,2,0

PRN 2

PMW 1,0,1,0,1,0,1,0

'

RS


4Software

4.2 List of parameters

(1) List of parameters

show the main parameter in the Table 4-5

.

Table 4-5 ： List of parameters

Parameter

Standard tool coordinates.

Standard base coordinates

XYZ operation range

JOINT operation range

Free plane limit

User-defined area

Automatic return setting

Buzzer ON/OFF

Jog setting

Jog speed limit value

Details

MEXTL

MEXBS

MEPAR

MEJAR

Set the default value for the tool data.

Unit: mm or deg.

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

Unit: mm or deg.

Designate the overrun limit value for the world coordinate system.

Set the overrun limit value for each joint axis.

This is the overrun limit set with the free plane.

Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of the plane as the outside operation range (error). The following three types of parameters are used.

Eight types of free plane limits can be set in SFC1P to SFC8P.

There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.

SFC1P

:

SFC8P

SFC1ME

:

SFC8ME

SFC1AT

:

SFC8AT

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

The mechanism No. to use is set with 1 to 8.

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

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

AREA1P1

:

AREA8P1

AREA1P2

:

AREA8P2

AREA1ME

:

AREA8ME

AREA1AT

:

AREA8AT

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 eight types of area can be designated.

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 eight types of set area.

The mechanism No. to use is set with 1 to 8

RETPATH

Designate the area check type.

(Invalid/zone/interference = 0/1/2)

Zone: The dedicated output signal USRAREA turns ON.

Interference: An error occurs..

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

BZR

JOGJSP

Designate whether to the turn buzzer ON or OFF.

Designate the joint jog and step operation speed.

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

JOGPSP Designate the linear jog and step operation speed.

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

JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

4-90

List of parameters

4Software

Parameter Details

Hand type

No. of multi-tasks

Robot language setting

Select the function of singular point adjacent alarm

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) between the A contact and B contact. Stop input B contact designation

User-designated origin

Program selection memory

Communication setting

Slot table

Display language.

Note1)

表示言語

Note1)

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

RLNG

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

Select the robot language ("MELFA-BASIC Ⅳ "/"MOVEMASTER COMMAND")

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.

ティーチングボックスの表示 LCD などに表示する言語を切り替えます。

Note1)The procedure of Language as shown in

"(2) Change the display language / 表示言語の切り替え "

.

注 1) 表示言語切り替え方法の詳細を

"(2) Change the display language / 表示言語の切り替え "

に示します。

List of parameters 4-91

4Software

(2) Change the display language / 表示言語の切り替え

The language to display on the LCD display of teaching pendant can be changed by "the display language param

eter". (Japanese or English)

Show the details of the parameter in the

Table 4-5 . Refer to the separate "Instruction Manual/Detailed Explana

tion of Functions and Operations" for details on changing the parameter.

The parameter is set up based on the order specifications before shipment. Order to dealer when the instruction manual of the other language is necessity.

More, the caution seals that stuck on the robot arm and the controller are made based on the language of the order specification. Use it carefully when selecting the other language.

表示言語設定パラメータによって、ティーチングボックスの表示 LCD などに表示する言語を切り替える

ことができます。（日本語、または英語） Table 4-5

にそのパラメータの詳細を示します。パラメータの変

更方法は、別冊の「取扱説明書／機能と操作の詳細解説」を参照願います。

なお、出荷時はご注文仕様に基づき弊社で設定いたします。別の言語の取扱説明書をご希望の場合はご

用命願います。

また、ロボット本体とコントローラに貼り付けてある注意シールは、ご注文仕様に基づいた言語で製作

いたします。本パラメータを変更して言語を切り替えてご使用の場合はご注意願います。

Table 4-6 ： Display language parameter / 表示言語設定パラメータ

Parameter

パラメータ

Display language

表示言語設定

Parameter name

パラメータ名

LNG

No. of arrays

No. of characters

配列数

文字数

Details explanation

内容説明

Character string 1

文字列１

Set up the display language.

"JPN" ： Japanese

"ENG" ： English

The following language is changed.

(1)The display LCD of teaching pendant.

(2) Personal computer support software.

*alarm message of the robot.

*Parameter explanation list.

(3)Alarm message that read from the robot with external communication. (Standard RS232C, Extended serial I/

F, Ethernet I/F)

Default setting

出荷時

設定

1

表示言語を設定します。

"JPN" ：日本語表示

"ENG" ：英語表示

以下に示す表示言語が変更されます。

(1) ティーチングボックスの表示 LCD

(2) パソコンサポートソフトウェア

・ロボットのアラームメッセージ

・パラメータ説明リスト

(3) 外部通信でロボットから読み出したアラームメッ

セージ（標準 RS232C、増設シリアルインタ

フェース、イーサネットインタフェース）

4-92

List of parameters

5Safety

5 Safety

5.1 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.

5.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in

Table 5-1

and the stop functions shown in

Table 5-2

for safe use.

Table 5-1 ： Self-diagnosis stop functions

No. Function Details Remarks

1 Overload protection function

2

4

Overcurrent diagnosis function

3 Encoder disconnection diagnosis function

Deflection over diagnosis function

5 AC power voltage drop diagnosis function

6 CPU error detection function

7 Overrun prevention function

Software limit detection

Mechanical stopper

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

Activates when an overcurrent flows to the motor circuit.

Activates when the encoder cable is disconnected.

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 robot mechanically stops, and function 1 or 2 activates.

Table 5-2 ： 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.

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

Table 5-3 ： External input/output signals that can be used for safety protection measures

Signal Command Functions Usage method


Stop

Servo OFF

(Input signal) This servo power is shut off, and the robot stops immediately.

STOP

SRVOFF

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

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 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.

Automatic operation enable

In servo ON

AUTOENA Disables automatic operation when inactive.

Door switch on safety protection fence

Waiting

SRVON

STOP

The servo power ON/OFF state is output.

The servo power ON/OFF state is shown and alerted with the display lamps.

Outputs that the robot is temporarily stopped.

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

In alarm ERRRESET Outputs when an alarm occurs in the robot.

［Caution］ The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emer

gency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to

"Fig. 5-1 Example of safety measures"

for details.

The alarm state is shown and alerted with the display lamps.

Safety 5-93

5Safety

5.1.3 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.

(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.

5.1.4 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.

5.1.5 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.

5.1.6 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.

5-94

Safety

5Safety

5.1.7 Examples of safety measures

Emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as shown below for safety measures

.

<Customer-prepared wiring> <Robot controller system>

MC1

＋

To servo main circuit power

RA1

S/W-EMG

RA3

RA2

Door switch input

Door switch


3

4

2

1

5

6

RA1

24V

T/B remove switch

RA1

RA2 RA2

RA4

External emergency stop output

RA3

External emergency stop input


Operation panel emergency stop

Teaching pendant emergency stop


MC1

Software emergency stop

MC1

[Caution] Some information has been omitted for explanation proposes, so some parts may differ.

Fig.5-1 ： Example of safety measures

(1) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), 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.

(2) Use a manual-return type b-contact for the emergency stop button.

(3) 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 controller can be used for safety measures as shown in

Fig. 5-1 . Note that there are limits to the No. of switch contacts, capacity and

cable length, so refer to the following and install.

・ Switch contact capacity........................ Use a contact that operates with a switch contact capacity of approx. 1mA to 100mA/24V.

・ Cable length................................................ The length of the wire between the switch and terminal block must be max. 15m or less.

・ Emergency stop output capacity....... Set it within 300 mA/24 VDC.

Connecting an external device outside of the above range will cause a controller failure.

[Reference] The specifications of the RA1 and RA2 coil shown in Fig. 5-1 are as follow.

・ Rated voltage ............................ DC24V 　 ± 10％

・ Rated excitation current ...... 12.5mA 　 ± 10％（at25 deg.）

* Note that these specifications are subject to change without prior notice for modification purposes.

Safety 5-95

5Safety

5.2 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 tation and 5m/s

2

or less during operation.)

2

or less during transpor

-

(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.)

5.3 Precautions for handling

(1) This robot has brakes on all axes. The precision of the robot may drop, looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brakes applied.

(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu

racy may drop due to an excessive backlash, or the backed up data may be destroyed.

(3) 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).

(4) The robot arm and controller must be grounded with Class D grounding to secure the noise resistance and to prevent electric shocks.

(5) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.

(6) 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.

Only the fixed installation specifications are available for the cable between the robot arm and connector box.

(7) 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.

(8) 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.

(9) The fretting may occur on the axis which moving angle is the 30 degree or less, or moving distance is the 30mm or less, or not moves. The 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 prevent the fretting, recommends to move these axes about once every day the 30 degree or more, or the 30mm or more.

5-96

Working environment

6Appendix

6 Appendix

Appendix 1 ： Specifications discussion material

■ Customer information

Company name

Address

Name

Telephone

■ Purchased model

Type □ RP-1AH □ RP-3AH □ RP-5AH □ RP-1AHC-SB □ RP-3AHC-SB □ RP-5AHC-SB

■ Shipping special specifications (Settings can be mode only at time of shipment)

Item Standard specifications Special shipping specifications

Robot arm Protection specifications

Machine cable

IP30

□ 5m fixed type

□ 10m fixed type □ 15m fixed type

□ 5m flexed type 　 □ 10m flexed type 　 □ 15m flexed type

Controller Controller structure

□ Floor type

■ Options (Installable after shipment)

Item Provision, and specifications when provided

Solenoid valve set 1E-VD04-RP

1E-VD04E-RP

1A-GR200-RP

□ Not provided 　 □ 4 sets.

□ Not provided 　 □ 4 sets.

□ Not provided 　 □ Provided Hand output cable

Hand input cable 1A-HC200-RP □ Not provided 　 □ Provided

Teaching pendant

Pneumatic hand interface

Parallel I/O interface

Note1)

External I/O cable

CC-Link interface

Ethernet interface

Extended serial interface

Additional axis interface

Personal computer cable

R28TB- □□ □ Not provided □ 7m □ 15m

2A-RZ365/2A-RZ375 □ Not provided □ Provided

2A-RZ361/2A-RZ371 □ Not provided □ 1pc. □ 2pcs. □ 3pcs. □ 4pcs. □ 5pcs. □ 6pcs. □ 7pcs.

2A-CBL □□ □ Not provided □ 5m-1pc.

□ 5m-2pcs.

□ 5m-3pcs.

□ 15m-1pcs. □ 15m-2pcs. □ 15m-3pcs. 　

2A-HR575-E

2A-HR533-E

2A-RZ581-E

2A-RZ541-E

RS-MAXY-CBL/

RS-AT-RCBL

□ Not provided □ Provided




□ Not provided □ RS-MAXY-CBL □ RS-AT-RCBL




3A-01C-WINE

3A-02C-WINE

CR1-EB3

□ Not provided □ Windows98/2000/NT4.0/Me/XP CD-ROM

□ Not provided □ Windows98/2000/NT4.0/Me/XP CD-ROM


Note1) Up to eight units, including the one unit mounted as a standard.

■ Maintenance parts (consumable parts)

Maintenance parts □ Backup batteries A6BAT ( )pcs. □ Backup batteries ER6 ( )pcs. □ Grease ( )cans

■ Robot selection check list

Work description □ Material handring □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )

Wrkpiece mass ( ) ｇ Hand mass ( ) ｇ Atmosphere 　 □ General enveronment 　 □ Clean 　 □ Water resistant 　 □ Other( )

Remarks

Copy this page and use the copy.

Specifications discussion material Appendix-97

6Appendix

Appendix-98

Specifications discussion material

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

Oct..200

9 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

Mitsubishi RP-1AH/3AH/5AH RP-1AH, RP-3AH, RP-5AH Industrial Robot Standard Specifications Manual

Assistant Bot

MITSUBISHI

Mitsubishi Industrial Robot

Standard Specifications Manual

Supplemental Instruction

Supplemental Instruction

CN100

F101

F102

CN300

F301

F302

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.

CONTENTS

Page

CONTENTS

Page

1 General configuration

1.1 Configuration Devices

1.1.1 Standard configuration devices

1.1.2 Shipping special specifications

1.1.3 Options

1.1.4 Maintenance parts

1.2 Contents of the structural equipment

1.2.1 Robot arm

1.2.2 Controller

1.3 Contents of the Option equipment and special specification

2 Robot arm

2.1 Standard specifications

2.1.1 Standard specifications

2.2 Definition of specifications

2.2.1 Pose repeatability

2.2.2 Relation of mass capacity and acceleration/deceleration

2.2.3 Clean specifications

2.3 Names of each part

Bellows for RP-1AHC-SB/3AHC-SB/5AHC-SB.

2.4 Outside dimensions ・ Operating range

(1) RP-1AH/1AHC-SB

(2) RP-3AH/3AHC-SB

(3) RP-5AH/5AHC-SB

2.5 Tooling

2.5.1 Wiring and piping for hand

wiring and piping for hand

2.5.2 Pneumatic piping in robot

2.5.3 Wiring of pneumatic hand output cable in robot

2.5.4 Wiring of hand check input cable in robot

2.5.5 Wiring and piping system diagram for hand

2.5.6 Electrical specifications of hand input/output

2.5.7 Air supply circuit example for the hand

2.6 Shippng special specifications, options,and maintenance parts

2.6.1 Shipping special specifications

(1) Machine cable extension

2.7 Options

(1) Solenoid valve set

(1)

(1)(4)

(2)

4-φ4.5 Hole

(12)

(13)

(10)(11)

(3)

(6)

(5)

(2) Hand input cable

Connection specifications

(3) Hand output cable

2.8 Maintenance parts

3 Controller

3.1 Standard specifications

3.1.1 Standard specifications

3.1.2 Protection specifications and operating supply

3.2 Names of each part

<Front>

<Front side of operation panel>

CAUTION

3.3 Outside dimensions/Installation dimensions

(2) Change the display language / 表示言語の切り替え