RP-1AH/3AH/5AH Series Standard Specifications Manual

RP-1AH/3AH/5AH Series 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
External emergency
stop input
RA1
RA3
S/W-EMG
Teaching pendant
deadman switch
RA2
Door switch
input
Door switch
Operation panel
emergency stop
External emergency
stop
24V
1
Teaching pendant
emergency stop
T/B remove
switch
2
RA1
RA1
RA2
RA2
Teaching pendant
deadman switch
3
4
5
6
Software emergency
stop
RA3
External emergency
stop output
MC1
RA4
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
Common method item shown in the table "Electric
specifications of output circuit"
Correction
8 points per common
(common terminal: 8 points)
Mistake
4 points per common
(common terminal: 4 points)
<Supplementary notes regarding output circuit fuses>
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
Common method item shown in the table "Electric
specifications of output circuit"
Correction
8 points per common
(common terminal: 8 points)
Mistake
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
Function name
General-purpose
Dedicated/power supply, common
Pin
No.
Line color
Function name
General-purpose
Dedicated/power supply, common
1 Orange/Red A
FG
26 Orange/Blue A
2
Gray/Red A
0V:For pins 4-7, 10-13
27
Gray/Blue A
0V:For pins 29-32, 35-38
3
White/Red A
12V/24V:For pins 4-7
28
White/Blue A
12V/24V:For pins 29-32
4
Yellow/Red A
General-purpose output 0 Running
29
Yellow/Blue A General-purpose output 4
5
Pink/Red A
General-purpose output 1 Servo on
30
6 Orange/Red B
General-purpose output 2 Error
31 Orange/Blue B General-purpose output 6
7
Gray/Red B
General-purpose output 3 Operation rights
32
Gray/Blue B
8
White/Red B
0V:For pins 4-7, 10-13
33
White/Blue B
0V:For pins 29-32, 35-38
9
Yellow/Red B
12V/24V:For pins 10-13
34
Yellow/Blue B
12V/24V:For pins 35-38
10
Pink/Red B
Pink/Blue B
Pink/Blue A
FG
General-purpose output 5
General-purpose output 7
General-purpose output 8
35
11 Orange/Red C
General-purpose output 9
36 Orange/Blue C General-purpose output 13
12
Gray/Red C
General-purpose output 10
37
Gray/Blue C General-purpose output 14
13 White/Red C
General-purpose output 11
38
White/Blue C General-purpose output 15
COM0:For pins 15-22 Note1)
39
Yellow/Blue C
Stop(All slot) Note2)
40
Pink/Blue C
14 Yellow/Red C
15
Pink/Red C
General-purpose input 0
General-purpose output 12
COM1:For pins 40-47 Note1)
General-purpose input 8
16 Orange/Red D
General-purpose input 1
Servo off
41 Orange/Blue D General-purpose input 9
17
Gray/Red D
General-purpose input 2
Error reset
42
Gray/Blue D
18 White/Red D
General-purpose input 3
Start
43
White/Blue D General-purpose input 11
19 Yellow/Red D
General-purpose input 4
Servo on
44
Yellow/Blue D General-purpose input 12
20
General-purpose input 5
Operation rights
45
Pink/Red D
21 Orange/Red E
General-purpose input 6
22
General-purpose input 7
Gray/Red E
Pink/Blue D
General-purpose input 10
General-purpose input 13
46 Orange/Blue E General-purpose input 14
47
Gray/Blue E
23 White/Red E
Reserved
48
White/Blue E
Reserved
24 Yellow/Red E
Reserved
49
Yellow/Blue E
Reserved
25
Reserved
50
Pink/Blue E
Reserved
Pink/Red E
General-purpose input 15
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
F4
F3
Enlarg
ement
RZ386/RZ387 card
CR1-571 controller
RZ386/RZ387 card
Pin No.
Fuse
4∼7 pin
10∼13 pin
F3
29∼32 pin
35∼38 pin
F4
(2) Parallel input/output of optional
CN100
CN300
Connector
CN100
F101
F102
F301
F302
CN300
Pin No.
Fuse
4∼7 pin
10∼13 pin
F101
29∼32 pin
35∼38 pin
F102
4∼7 pin
10∼13 pin
F301
29∼32 pin
35∼38 pin
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 interpret 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
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance
work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching
work. (This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on
the start switch, etc. (This also applies to maintenance work with the power source
turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
Use the robot within the environment given in the specifications. Failure to do so
could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere,
noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the
robot in a non-designated posture could lead to personal injuries or faults from
dropping.
Always use the robot installed on a secure table. Use in an instable posture could
lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so
could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.
CAUTION
CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely
affected.Moreover, it may interfere with the peripheral device by drop or
move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of
the robot controller may be damaged.
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
Specifications No.
Details of revisions
2000-04-10
BFP-A8104Z
First print
2000-05-16
BFP-A8104Z-a
Error in writing correction
2000-06-30
BFP-A8104
Error in writing correction
2001-03-06
BFP-A8104-A
Error in writing correction
2001-05-14
BFP-A8104-B
Error in writing correction
2002-01-25
BFP-A8104-C
LNG, RLNG and MESNGLSW parameters were added.
Error in writing correction
2002-07-05
BFP-A8104-D
The description of input/output circuit terminal was corrected.
Error in writing correction.
2006-07-12
BFP-A8104-E
Error in writing correction.
2009-06-23
BFP-A8104-F
The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2004/108/EC)
2009-07-29
BFP-A8104-G
The EC-Statement of Compliance was added.
2009-09-26
BFP-A8104-H
The EC Declaration of Conformity was changed.
(Correspond to the EMC directive ; 2006/42/EC.)
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 ...................................................................................
1
1
1
1
1
1
2
2
3
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 ...............................................................................................................................................................................................
3.1 Standard specifications ...........................................................................................................................................................
3.1.1 Standard specifications ....................................................................................................................................................
3.1.2 Protection specifications and operating supply .....................................................................................................
3.2 Names of each part ...................................................................................................................................................................
3.3 Outside dimensions/Installation dimensions ...................................................................................................................
3.3.1 Outside dimensions ............................................................................................................................................................
3.3.2 Installation dimensions ......................................................................................................................................................
3.4 External input/output ...............................................................................................................................................................
3.4.1 Types .......................................................................................................................................................................................
3.4.2 Explanation ............................................................................................................................................................................
3.5 Dedicated input/output ...........................................................................................................................................................
3.6 Emergency stop input/output ...............................................................................................................................................
3.6.1 Connection of the external emergency stop ...........................................................................................................
3.6.2 Door switch function .........................................................................................................................................................
3.7 Parallel input/output unit ........................................................................................................................................................
35
35
35
36
37
39
39
40
41
41
41
42
44
44
45
46
i
CONTENTS
Page
3.8 Options ...........................................................................................................................................................................................
(1) Teaching pendant (T/B) .............................................................................................................................................
(2) Pneumatic hand interface ..........................................................................................................................................
(3) Expansion option box ...................................................................................................................................................
(4) Parallel I/O unit ..............................................................................................................................................................
(5) External I/O cable .........................................................................................................................................................
(6) Personal computer cable ............................................................................................................................................
(7) Extended serial interface ............................................................................................................................................
(8) CC-Link interface ..........................................................................................................................................................
(9) Ethernet interface .........................................................................................................................................................
(10) Additional axis interface ...........................................................................................................................................
(11) Personal computer support software/Personal computer support software mini ..........................
3.9 Maintenance parts .....................................................................................................................................................................
51
52
55
57
59
68
70
72
74
77
79
81
83
4 Software ................................................................................................................................................................................................
4.1 List of commands ......................................................................................................................................................................
(1) The procedure of robot language selection ........................................................................................................
(2) MELFA-BASIC Ⅳ commands ..................................................................................................................................
(3) MOVEMASTER commands ........................................................................................................................................
4.2 List of parameters .....................................................................................................................................................................
(1) List of parameters .........................................................................................................................................................
(2) Change the display language / 表示言語の切 り 替え ...................................................................................
85
85
85
85
88
90
90
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
1General configuration
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
Connector box
Machine cable fixed type 5m
・ 1A-5CBL-1
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
Hand. Prepared by customer
Solenoid valve set
four sets:1A-VD04-RP(Sink type)
1A-VD04E-RP(Source type)
[Caution]
Standard configuration
equipment
Special shipping
specifications
Option
Prepared by customer
Fig.1-1 : Structural equipment (Robot arm)
1-2 Contents of the structural equipment
1General configuration
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)
PLC(Programmable
Logic Controller)
External device
Prepared by customer
Expansion
option box
・ CR1-EB3
*1)
*1)
Extended serial CC-LINK I/F
I/F
・ 2A-HR575E
・ 2A-RZ581E
Personal computer
cable
・ RS-MAXY-CBL
・ RS-AT-RCBL
Personal computer
Preparedby customer
*1)
ETHERNET I/F
・ 2A-HR533E
*1)
Additional axis
I/F
・ 2A-RZ541E
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.
Standard configuration
equipment
Special shipping
specifications
Option
Prepared by customer
Fig.1-2 : Structural equipment ( controller)
Contents of the structural equipment 1-3
1General configuration
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
Solenoid valve set
Type
Specification
Classification
1A-VD04-RP
Four sets(Sink type)
○
1A-VD04E-RP
Four sets(Source type)
○
Hand output cable
1A-GR200-RP
○
Hand input cable
1A-HC200-RP
○
Extended machine cables
1A- □□ CBL-1
For fixing
(Two sets for power and signal)
□
1A- □□ LCBL-1
For bending
(Two sets for power and signal)
□
Teaching pendant
Pneumatic hand interface
Parallel I/O Unit
External I/O cable
(For Parallel I/O Unit)
Personal computer cable
Descripsion
Consult with Mitsubishi for the delivery schedule and price when requesting a 1, 2 or 3-row
type.
10、 15m
5、 10、 15m
R28TB
Cable length 7m
○
R28TB-15
Cable length 15m
(special specification)
○
2A-RZ365
DO: 8 point (Sink type)
○
2A-RZ375
DO: 8 point (Source type)
○
2A-RZ361
○
2A-RZ371
DO:
DI :
DO:
DI :
2A-CBL05
5m
○
2A-CBL15
RS-MAXY-CBL
15m
○
RS-232C cable 3m for PC-AT compatible model
○
○
Use RS-AT-RCBL for the connection from the
expansion option box.
RS-AT-RCBL
32
32
32
32
point
point
point
point
(Sink type)/
(Sink type)
(Source type)/
(Source type)
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)
○
Use to connect the external peripheral device to
the parallel input/output unit
Personal computer
Support software
3A-01C-WINE
CD-ROM
○
MS-Windows98/2000/NT4.0/Me/XP
(With the simulation function)
Personal computer
Support software mini
3A-02C-WINE
CD-ROM
○
MS-Windows98/2000/NT4.0/Me/XP
RT ToolBox2
(Personal computer Sup-
3D-11C-WINE
CD-ROM
○
MS-Windows2000/XP/Vista
(With the simulation function)
RT ToolBox2 mini
(Personal computer Sup-
3D-12C-WINE
CD-ROM
○
MS-Windows2000/XP/Vista
Expansion option box
CR1-EB3
Up to three option cards can be
mounted
○
Install on the side of the controller
Extended serial interface 2A-RZ581-E
RS-232C x 1
RS-232C or RS-422 x 1
○
CR-EB3 is need.
CC-Link interface
2A-HR575-E
Local station (The local station alone
is supported.)
○
for MELSEC PLC with CC-Link connection. CREB3 is need.
Ethernet interface
2A-HR533-E
ETHERNET x 1
○
CR-EB3 is need.
2A-RZ541-E
SSC x 1
Up to 8 axises can be added
○
MR-J2 servoAmplifer Unit connection. CR-EB3 is
need.
port software)
port software mini)
Additional axis interface
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
Specification
RP-1AH
RP-1AHC-SB
Degree of freedom of motion
Installation posture
RP-3AHC-SB
RP-5AH
RP-5AHC-SB
4-axis
On floor
Encoder/Drive system
Motor capacity
PR-3AH
Absolute encoder/AC servo
W
100(All axis)
Brake
200(J1,J2,J3 axis), 100(J4 axis)
With brake (All axes)
Maximum loadNote1)
kg
1.0
3.0
Rated load
kg
0.5
1.0
2.0
100
140
200
Arm length
No.1 Arm
No.2 Arm
Motion
range
Maximum
velocity
140
200
260
mm
150 x 105
(A6 size)
210 x 148
(A5 size)
297 x 210
(A4 size)
Vertical
mm
30
Rotation
Degree
J1 ・ J2
Width x depth
Note2)
50
± 200
Degree/s
480
J3
mm/s
800
J4
Degree/s
3000
1330
1230
kg ・ m2
3.10 x 10-4
1.60 x 10-3
3.20 x 10-3
X, Y direction
Z direction
mm
mm
± 0.005
± 0.008
± 0.01
± 0.01
Wrist rotation
direction
Degree
± 0.02
kg
Apporox. 12
Tolerable wrist
moment of inertia
Position
repeatability
mm
Mass
432
960
± 0.03
Tool wiring
CleanlinessNote3)
Apporox. 24
Apporox. 25
Input 8 point/ Output 8 point
Tool pneumatic pipes
Paint color
5.0
None
100(0.3μm)
100(0.3μm)
100(0.3μm)
Note2)
Note2)
Note2)
color: Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)
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.
.
3.0
Mass capacity
Mass capacity
1.0
0.5
(kg)
(kg)
1.0
50%
100%
Acceleration/deceleration percentage
(a)RP-1AH/1AHC-SB
100%
(b)RP-3AH/3AHC-SB
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.
Mass capacity
5.0
(kg)
50%
Acceleration/deceleration percentage
2.0
50%
100%
Acceleration/deceleration percentage
(c)RP-5AH/5AHC-SB
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】
1 0 A C C E L 5 0, 5 0
2 0 MO V P 1
:
’
’ 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
RP-1AHC-SB
RP-3AHC-SB
RP-5AHC-SB
Cleanliness
100(0.3μm)
Internal suction
concentrated suction with vacuum generating
valve.(50Liter/min)Note1)
Remarks
The coupling to install at the
robot arm back side is enclosed.
(Refer to Table 2-3)
Note1)The vacuum generating valve prepared by customer.
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 Robot arm
2.3 Names of each part
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
5.5
5
12
10
4
5
(1) RP-1AH/1AHC-SB
φ6h7
φ8
M6 screw
(φ18)
(φ8)
φ18
5.5
5.5
View from B
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.
The dimensions are provided for reference.
View from A (L cut)
36
22
)
(56
0.5
R3
.5
24
R30.5
0
14
6
198
(162)
34
120
107
95
4-φ7 installation hole
Tooling wiring lead port
6-M4 screw, depth 8
(for tooling installation)
28
56
2000
56
133
150
162
.5
61
56
2
(56
)
76
6.3a
48
R30.5
24
.5
14 8
0
32
80
Installation reference 38
100
4-M4 screw, depth 6
6.3a
Pin hole φ4H7
drill (2 places)
Installation reference 82
0
R3
140
155
165
100
4-φ5 hole
(installation hole)
120
180
224.9
24.2
(Installation screw
for tooling support, etc.)
Mounting place for tooling machine, etc.
8
(Note) ・Install the connector box
separately.
・A backup battery is located
inside, so install at an
easy to service place.
230
180
77.6
85
31
177
95
31
B
21
30
Z stroke 30
24
A
Fig.2-3 : Outside dimensions(RP-1AH)
2-10 Outside dimensions ・ Operating range
Connector box
Min. 35
2 Robot arm
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.
The dimensions are provided for reference.
M6 screw
View from B
View from A (L cut)
4-M4 screw, depth 6 Reverse side
(Installation screw for tooling support, etc.)
Pin hole φ6H7 drill (2 places)
4-φ7 installation hole
Tooling wiring lead port
6-M4 screw, depth 8
(for tooling installation)
6.3a
6.3a
Installation reference 38
100
Installation reference 82
100
4-φ5 hole
(installation hole)
4-M4 screw, depth 6
(Installation screw
for tooling support, etc.)
(Note) ・Install the connector box
separately.
・A backup battery is located
inside, so install at an
easy to service place.
177
Mounting place for tooling machine, etc.
Z stroke 30
24
φ6 pneumatic coupling
(For internal suction)
50 Liter/min
Min. 35
Connector box
Fig.2-4 : Outside dimensions(RP-1AHC-SB)
Outside dimensions ・ Operating range 2-11
2 Robot arm
233.9
105
100
95
38
100
140
110
150
160
110
R14
0
5
36.
R2
24
Z stroke 30
R140
Fig.2-5 : Operating range diagram (RP-1AH/1AHC-SB)
2-12 Outside dimensions ・ Operating range
2 Robot arm
13.5
(38)
(12)
30 5.5
11 8 5
(2) RP-3AH/3AHC-SB
13.5
(φ23)
φ14h7
φ15h7
13.5
(12) (23)
15
8 3.5
(φ23)
13.5
2-M4 screw, depth 6 Reverse side (Installation screw for tooling support, etc.)
263
Pin hole φ6H7 drill
50
(213)
(2 places)
85
34
31
4-φ9 installation hole
141
6-M4 screw, depth 8
8
125
(for tooling installation)
62.5
100
Tooling wiring lead port
4-φ5 hole
(installation hole)
36
28
)
(86
(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.
View from B
View from A (L cut)
0
20
φ15h7
φ14h7
φ11 Hole
85
176
200
216
140
140
155
165
86
R42
84
0
(86
)
6.3a
140
48.5
Installation reference 50
2-M4 screw, depth 6
(Installation screw
for tooling support, etc.)
Mounting place for
tooling machine, etc.
267
280
118
77.6
50
40
Z stroke 50
A
24.2
180
103.5
42
261
120
180
224.9
(Note) ・Install the connector box
separately.
・A backup battery is located
inside, so install at an
easy to service place.
42
B
Installation reference
110
28
36
20
6.3a
86
Min. 35
Connector box
Fig.2-6 : Outside dimensions (RP-3AH)
Outside dimensions ・ Operating range 2-13
2 Robot arm
Tooling instration
section
1.6a
1.6a
R0.2
or less
φ11 Through hole
Tooling instration
section
(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.
R0.2 or less
View from B
View from A (L cut)
2-M4 screw, depth 6 Reverse side
(Installation screw for tooling support, etc.)
Pin hole φ6-H7 drill (2 places)
4-φ9 installation hole
6.3a
6.3a
Installation reference 50
2-M4 screw, depth 6
(Installation screw
for tooling support, etc.)
Installation reference 110
6-M4 screw, depth 8
(for tooling installation)
Tooling wiring lead port
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.
Z stroke 50
φ6 pneumatic
coupling
(For internal suction)
50 Liter/min
Fig.2-7 : Outside dimensions (RP-3AHC-SB)
2-14 Outside dimensions ・ Operating range
Min. 35
Connector box
4-φ5 hole
(installation hole)
2 Robot arm
332
148
20
130
50
200
140
160 ゜
゜
210
5
10
5
R33
R200
Z stroke 50
R20
0
110
゜
Fig.2-8 : Operating range diagram (RP-3AH/3AHC-SB)
Outside dimensions ・ Operating range 2-15
2 Robot arm
13.5
(38)
(12)
30 5.5
11 8 5
(3) RP-5AH/5AHC-SB
13.5
(φ23)
φ14h7
φ15h7
φ15h7
φ14h7
φ11 Hole
13.5
(12) (23)
15
8 3.5
(φ23)
13.5
(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.
View from B
View from A (L cut)
2-M4 screw, depth 6 Reverse side
(Installation screw for tooling support, etc.)
263
(213)
34
31
85
141
8
125
62.5
100
50
36
11
)
16
6
0
85
176
200
216
20
4-φ5 hole
(installation hole)
6-M4 screw, depth 8
(for tooling installation)
Tooling wiring lead port
140
155
165
(1
0
26 8
2
Pin hole φ6 drill
(2 places)
4-φ9 installation hole
R4 2
6
6.3a
6.3a
2
26 8
0 (1
16
)
36
2-M4 screw, depth 6
(Installation screw
for tooling support, etc.)
Installation
reference 50
20
0
Mounting place for
tooling machine, etc.
180
50
40
Z stroke 50
A
Fig.2-9 : Outside dimensions (RP-5AH)
2-16 Outside dimensions ・ Operating range
24.2
77.6
267
280
118
42
261
103.5
120
180
224.9
(Note) ・Install the connector box
separately.
・A backup battery is located
inside, so install at an
easy to service place.
42
B
Installation reference
110
84
11
Min. 35
Connector box
2 Robot arm
Tooling instration
section
1.6a
1.6a
R0.2
or less
φ11 Through hole
Tooling instration
section
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.
View from A (L cut)
2-M4 screw, depth 6 Reverse side
(Installation screw for tooling support, etc.)
Pin hole φ6H7 drill (2 places)
4-φ9 installation hole
6-M4 screw, depth 8
(for tooling installation)
Tooling wiring lead port
0
6.3a
6.3a
Installation
reference 50
2-M4 screw, depth 6
(Installation screw
for tooling support, etc.)
Installation reference 110
20
4-φ5 hole
(installation hole)
(Note) ・Install the connector box
separately.
・A backup battery is located
inside, so install at an
easy to service place.
Mounting place for tooling machine, etc.
Z stroke 50
φ6 pneumatic
coupling
(For internal
suction)
50 Liter/min
Min. 35
Connector box
Fig.2-10 : Outside dimensions (RP-5AHC-SB)
Outside dimensions ・ Operating range 2-17
2 Robot arm
450.9
210
190
170
50
160 ゜
5
10
゜
297
260
.2
R453
R26
0
11
0
Z stroke 50
0
R26
Fig.2-11 : Operating range diagram (RP-5AH/5AHC-SB)
2-18 Outside dimensions ・ Operating range
゜
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)
*Hand output cable
(Enclosed with solenoid valve set)
*Solenoid valve set
Secondary piping pneumatic hoseφ4×2~8
(Prepared by customer)
Primary piping pneumatic hoseφ6×1
(Prepared by customer)
*Hand input cable
(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)
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
(3) Hand input/output signal connector form
Robot side
Hand Input/Output
Type
For hand input
SMP-10V-NC
BHF-001GI-0.8BS
For hand output
SMP-09V-BC
BHF-001GI-0.8BS
(2) Hand output
Sink
type
9:24V
8:GR8
7:GR7
6:GR6
5:GR5
4:GR4
3:GR3
2:GR2
1:GR1
Manufacturer
JST
JST
JST
JST
signal connector layout specifications(GR)
Source
type
9:24G
Note) When using the hand output
8:GR8
7:GR7
signal, it is necessary to use
6:GR6
the optional pneumatic hand
5:GR5
interface (2A-RZ365/2A-RZ375).
4:GR4
3:GR3
2:GR2
1:GR1
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)
Solenoid valve
Primary piping pneumatic
hoseφ6×1
(Prepared by customer)
Secondary piping pneumatic hoseφ4×2~8
(Prepared by customer)
*Hand input cable
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
Robot side
Hand Input/Output
Type
For hand input
SMP-10V-NC
BHF-001GI-0.8BS
Manufacturer
JST
JST
Counter side (customerr-prepared)
Type
SMR-10V-N
BYM-001T-0.6
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 prepared 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)
Counter side
(customer-prepared)
Manufacturer
(1)
Connector
1
SMP-10V-NC
SMR-10V-N
Japan sdderless yerminal
MFG. Co.,LTD
(2)
Connector
1
SMP-09V-BC
SMR-09V-B
Japan sdderless yerminal
MFG. Co.,LTD
Tooling 2-21
2-22 Tooling
1
2
3
4
5
6
7
8
9
10
OFF General-purpose output 901
Secondary piping pneumatic hoses
φ4 x 2 to 8
(Prepared by customer)
9
White
White
Black
Robot arm
<+24V>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
<HC 1>
<HC 2>
<HC 3>
<HC 4>
<HC 5>
<HC 6>
<HC 7>
<HC 8>
<+24V>
<GND>
Primary piping pneumatic hoses
φ6 x 1
(Prepared by customer)
1A-VD04-RP
Solenoid valve set
(optional)
+24V
OFF General-purpose output 903
ON General-purpose output 904
Hand 3
OFF General-purpose output 905
ON General-purpose output 906
Hand 4
OFF General-purpose output 907
Hand 2 ON General-purpose output 902
1
2
3
4
5
6
7
8
White
Black
White
Black
White
Black
Hand output cable 1A-GR200-RP
(Included in optional solenoid valve set.)
General-purpose input 900
General-purpose input 901
General-purpose input 902
General-purpose input 903
General-purpose input 904
General-purpose input 905
General-purpose input 906
General-purpose input 907
+24V
0V(COM)
Hand 1 ON General-purpose output 900
Brown
Red
Orange
Yellow
Hand
Green
prepared
by customer Blue
Purple
Gray
White
Black
Hand input cable
1 A-HC200-RP
Connector box
Wiring relay boad of the robot arm
*Refer to Fig. 2-15 for Air
supply circuit example.
Orange:red 1 dot line
Orange:brack 1 dot line
Orange:red 2 dot line
Orange:brack 2 dot line
Orange:red 3 dot line
Orange:brack 3 dot line
Orange:red 4 dot line
Orange:brack 4 dot line
Orange:red continuas dots line
Orange:brack continuas dots line
Gray:red 1 dot line
Gray:brack 1 dot line
Gray:red 2 dot line
Gray:brack 2 dot line
Gray:red 3 dot line
Gray:brack 3 dot line
Gray:red 4 dot line
Gray:brack 4 dot line
Gray:red continuas dots line
Gray:brack continuas dots line
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
Fig.2-14 : Wiring and piping system diagram for hand and example the solenoid valve installation
2 Robot arm
2.5.6 Electrical specifications of hand input/output
Table 2-5 : Electrical specifications of input circuit
Item
Specifications
<Sink type>
Type
DC input
No. of input points
8
Insulation method
Photo-coupler insulation
Rated input voltage
12VDC/24VDC
Rated input current
Approx. 3mA/approx. 7mA
Working voltage range
DC10.2 to 26.4V(ripple rate within 5%)
ON voltage/ON current
8VDC or more/2mA or more
OFF voltage/OFF current
4VDC or less/1mA or less
Input resistance
Approx. 3.3kΩ
Response time
OFF-ON
10ms or less(DC24V)
ON-OFF
10ms or less(DC24V)
Internal circuit
24V
24V
820
HCn*
3.3K
0V(COM)
<Source type>
+24V
+24V
3.3K
HCn*
820
24GND
* HCn = HC1 ~ HC8
Table 2-6 : Electrical specifications of output circuit
Item
Specification
Type
Transistor output
No. of output points
8
Insulation method
Photo coupler insulation
Rated load voltage
DC24V
Rated load voltage range
DC21.6 to 26.4VDC
Max. current load
0.1A/ 1 point (100%)
Current leak with power OFF
0.1mA or less
Maximum voltage drop with power ON
DC0.9V(TYP.)
Response time
OFF-ON
2ms or less (hardware response time)
ON-OFF
2 ms or less (resistance load) (hardware response time)
Fuse rating
Internal circuit
<Sink type>
24V
(Internal power supply)
GRn
*
Fuse
1.6A
1.6A (each one common) Cannot be exchanged
0V
<Source type>
Fuse +24V
1.6A
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 damaged.
(3) Supply clean air to the vacuum generation valve when you use clean type robot.
Pressure switch
Pneumatic source
0.7MPa less
To the robot's air intake
(0.5MPa
±10%)
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 immediately 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
1A-10CBL-1
1A-15CBL-1
1A-05LCBL-1
1A-10LCBL-1
1A-15LCBL-1
■ Outline
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
Fixed
Flexed
Qty.
Type
Mass(kg)
Fixed
Flexed
1 set
-
Note1)
Set of signal and power cables
1A- □□ CBL-1
Motor signal cable (for fixed type)
1E- □□ CBL(S)-N
1 cable
-
Motor power cable (for fixed type)
1A- □□ CBL(P)-1
1 cable
-
Set of signal and power cables
1A- □□ LCBL-1
Motor signal cable (for flexed type)
1E- □□ LCBL(S)-N
-
1 cable
Motor power cable (for flexedg type)
1A- □□ LCBL(P)-1
-
1 cable
Nylon clamp
NK-18N
-
2 pcs.
-
Nylon clamp
NK-14N
-
2 pcs.
-
-
4 pcs.
-
Silicon rubber
1 set
-
Remarks
7.0(10m)
10.0(15m)
10m, or 15m each
5.7(5m)
10.1(10m)
14.2(15m)
5m, 10m, or 15m each
Note1)Mass indicates one set.
Note) The numbers in the boxes □□ refer the length.
■ 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
100R or more
Cable bare, etc., occupation rate
50% or less
Maximum movement speed
2000mm/s or less
Warranty life (no.)
7.5 million times
Environmental proof
Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type)
Cable configuration
Motor power cable
φ6.5 x 10
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
Motor power cable
1A- □□ LCBL(P)-1
No.of cores
AWG#24(0.2mm2) -4P
AWG#18(0.75mm2)
AWG#18(0.75mm2) -3C
Finish dimensions
Approx. φ7mm
Approx. φ1.7mm
Approx. φ6.5mm
No.of cables used
6 cables
1 cable
10 cables
Note) The square in the cable name indicates the cable length.
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 servingsome 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 assembled 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
Qty.
Part name
Solenoid valve set (4 sets)
Mass(kg)
Type
Remarks
Note1)
Sink
Source
1A-VD04-RP
1pc.
-
0.2
1A-VD04E-RP
-
1pc.
0.2
Solenoid valve installation screw (M4 x 10) :4 screw
Note1)Mass indicates one set.
■ Specifications
Table 2-11 : Valve specifications
Item
Specifications
Number of positions
2
Port
5
Valve function
Double solenoid
Operating fluid
Clean air
Operating method
Pilot type
Effective sectional area (CV value)
1.5mm (0.08)
Oilling
Unlubricated oil
Operating pressure range
0.2 ~ 0.7MPa
Guaranteed proof pressure
1.0MPa
Response time
12msec or less (DC24V)
Max. operating frequency
5c/s
Ambient temperature
5 ~ 50 deg.
Table 2-12 : Solenoid specifications
Item
Specifications
Method
Built-in fly-wheel diodes with surge protection
Operation voltage
DC24V ± 10%
Current value
40mA
Insulation
B type
Insulation resistance
100Ω or more
Surge protection
Fly-wheel diode
Options 2-29
2 Robot arm
95
85
56
(28)
38
50
60
GR
(13)
(24)
(12)
(82)
(14)
SOL2A
SOL4A
SOL3A
SOL1A
4-φ4.5 Hole
(1)(4)
(2)
(30)
(1)
3.2
SOL1B
SOL3B
SOL2B
SOL4B
(10)(11)
35.6
10.3
(6)
48.8
56.8
Part no.
Part name
(20)
or less
4 sets
Specification
(1)
Solenoid valve
4
(2)
Manifold block
1
(3)
Quick coupling
8
φ4
(4)
(5)
Block plate
Quick coupling
0
1
φ6
(6)
Silencer
1
(10)
Connector
8
(11)
Contact
9
SYM-001T-0.6
(12)
Installation screw
2
M3 x 25
(13)
Installation plate
1
(14)
Plug
6
<Sink type>
SMR-09V-B
Connector
Black
1
SOL1A
Red
Black
SOL1B
Red
Black
SOL2A
Red
Black
SOL2B
Red
Black
SOL3A
Red
Black
SOL3B
Red
Black
SOL4A
Red
Black
8
GR8
SOL4B
Red
9
24V
7
2
GR2
SOL1B
Black
Red
3
GR3
SOL2A
Black
Red
4
GR4
SOL2B
Black
Red
SOL3A
Black
Red
SOL3B
Black
GR5
GR6
5
GR5
6
GR6
Red
7
GR7
SOL4A
Black
Red
8
GR8
SOL4B
Black
9
24G
GR7
Fig.2-16 : Solenoid valve outline dimensional drawing
2-30 Options
GR1
Black
Red
GR4
GR
6
1
SOL1A
GR3
4
Connector
Red
GR2
3
5
<Source type>
GR1
2
(45) or less
(5)
GR
(3)
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
Table 2-13 : Configuration equipment
Part name
Hand input cable
Type
1A-HC200-RP
Mass(kg)Note1)
Qty.
1 cable
Remarks
0.1
Note1)Mass indicates one set.
■ Specifications
Table 2-14 : Specifications
Item
Specification
Remarks
Cable core
AWG#24(0.2mm2) x 2 core x 5 sets
Total length
2000mm
Connector
15
One side connector and one side cable connection
Cable
5
2000
SMR-10V-N
1
2
3
4
5
6
7
8
9
10
RMFEV AWG#24 (0.2mm2) 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
Table 2-15 : Configuration equipment
Part name
Hand output cable
Type
Mass(kg)Note1)
Qty.
1A-GR200-RP
1 cable
Remarks
0.1
Note1)Mass indicates one set.
■ Specifications
Table 2-16 : Specifications
Item
Specification
Cable core
AWG#24(0.2mm2)
Total length
2000mm
Remarks
x 2core x 5 sets
One side connector and one side cable connection
SMR-09V-B (Black)
(Japan sdderless yerminal
MFG. Co.,LTD)
00
20
*End cable connection
White
Black
White
Black
White
Black
White
Black
White
Fig.2-18 : Outline and pin assignment
2-32 Options
Sink Source
type type
Hand1 ON
OFF
Hand2 ON
OFF
Hand3 ON
OFF
Hand4 ON
OFF
COM
1
2
3
4
5
6
7
8
9
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
1
Lithium battery
A6BAT
2
Grrase
Harmonic grease 4 BNo.2
3
Marutenpu PS No.2
Qty.
3
As needed
Usage place
Supplier
Connector box
Reduction gears of J1,J2 axis
Mitsubishi Electric
Ball screw spline
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
Item
Type
Number of control axis
CPU
Memory
Programmed positions and No.
capacity
of steps
Number of programs
Robot language
point
Assigned with general-purpose input/output
point
Input 8 point/Output 0 point
Emergency stop input
point
1
Up to 8 output points can be added
as an optionNote2)
Single emergency line
Door switch input
point
1
Single door switch line
Emergency stop output
point
1
Single emergency line
RS-232C
port
RS-422
port
1
Hand dedicated slot
slot
1
Expansion slot
slot
0
channel
1
V
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
Input voltage range
Power capacity
point
step
KVA
Outline dimensions
Mass
Construction
mm
kg
Operating temperature range
Ambient humidity
Grounding
deg.
%RH
Ω
Paint color
Remarks
point
Robot input/output link
Power
source
Specification
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
Teaching method
External
Input and output
input and
Dedicated input/output
output
Hand open/close input/output
Interface
Unit
1
0 to 40
45 to 85
100 or less
Light gray
Max. 240/240 Note1)
"STOP" 1 point is fixed
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 earthNote6)
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 controller 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 +0.05
0 mm diameter, which is being pressed with the
power of 3.1 kg ± 10%, from going through the opening in the outer sheath of the supplied equipment.
Refer to the section Page 96, "5.2 Working environment" for details on the working environment.
3-36 Standard specifications
3Controller
3.2 Names of each part
<Front>
<Front side of operation panel>
9)
2)
7) 4)
15)
5)
EMG.STOP
STATUS NUMBER
CHANG DISP
11)
UP
DOWN
MODE
SVO ON
START
RESET
SVO OFF
STOP
END
TEACH
AUTO
(Op.)
AUTO
(Ext.)
14)
REMOVE T/B
6)
1)
Front operation panel
12)
10)
13) 3)
8)
Fig.3-1 : Names of controller parts
1)
2)
3)
4)
5)
6)
POWER switch..................................... This turns the control power ON/OFF.
START button...................................... This executes the program and operates the robot. The program is run continuously.
STOP button ........................................ This stops the robot immediately. The servo does not turn OFF.
RESET button ...................................... This resets the error. This also resets the program's halted state and resets the program.
Emergency stop switch.................... This stops the robot in an emergency state. The servo turns OFF.
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" → "Program 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.
(6)
(7)
(5)
(1)
(2)
(4)
(3)
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
3Controller
(170 or more)
200
(38)
49
290
(40)
(13)
3.3 Outside dimensions/Installation dimensions
3.3.1 Outside dimensions
EMG.STOP
STATUS NUMBER
CHANG DISP
UP
DOWN
MODE
START
RESET
SVO OFF
STOP
END
151
SVO ON
TEACH
AUTO
(Op.)
(2.5)
150
212
REMOVE T/B
(15)
(31)
AUTO
(Ext.)
(31)
(2.5)
Fig.3-3 : Outside dimensions of controller
Outside dimensions/Installation dimensions 3-39
3Controller
3.3.2 Installation dimensions
50
EMG.STOP
STATUS NUMBER
50
CHANG DISP
UP
DOWN
MODE
SVO ON
START
RESET
SVO OFF
STOP
END
TEACH
AUTO
(Op.)
AUTO
(Ext.)
REMOVE T/B
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.)
No. of input/output points
Class
Connection
format
Name
Input
Output
Standard Emergency stop
1
1
Standard Door switch
1
-
Standard Parallel input/output
Occupies 16 general-purpose points/(6)
dedicated points in general-purpose
Connector
Occupies 16 general-purpose points/(4)
dedicated points in general-purpose
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 indicated 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
Input
Name
Output
Note1)
Function
Level
Name
Function
TEACHMD
None
Teaching mode output signal
Outputs that the teaching mode is
entered.
ATTOPMD
None
Automatic mode output signal
Outputs that the automatic mode is
entered.
ATEXTMD
None
Remote mode output
signal
Outputs that the remote mode is
entered.
RCREADY
None
Controller power ON
complete signal
Outputs that external input signals can
be received.
Automatic operation
enabled output signal
Outputs the automatic operation
enabled state.
Operating output signal
Outputs that the slot is operating.
Wait output signal
Outputs that the slot is temporarily
stopped.
Program selection
enabled output signal
Error occurring output signal
In cycle stop operation output signal
Outputs that the slot is in the program
selection enabled state.
L
Servo ON enabled
output signal
Outputs servo-on disable status.
(Echo back)
E
In servo ON output
signal
Outputs the servo ON state.
Operation rights output signal
In machine lock output signal
Outputs the operation rights valid state
for the external signal control.
In evasion point
return output signal
Outputs that the evasion point return
is taking place.
Automatic operation enabled input
signal
Allows automatic operation.
START
Start input signal
Starts all slots.
STOP
Stop input signal
Stops all slots.
The input signal No. is fixed to 0.
Note) Use the emergency stop
input for stop inputs related
to safety.
AUTOENA
SLOTINIT
Program reset input
signal
L
Resets the wait state.
E
L
E
ERRRESET Error reset input
signal
Resets the error state.
CYCLE
Cycle stop input
signal
Carries out cycle stop.
SRVOFF
Servo ON enabled
input signal
SRVON
Servo ON input
signal
Turns the servo OFF for all mechanisms.
Turns the servo ON for all mechanisms.
IOENA
Operation rights
input signal
Requests the operation rights for
the external signal control.
L
MELOCK
Machine lock input
signal
Sets/resets the machine lock
state for all mechanisms.
E
SAFEPOS
Evasion point
return input signal
Requests the evasion point return
operation.
E
OUTRESET General-purpose
output signal reset
Resets the general-purpose output
signal.
E
EMGERR
E
E
None
Outputs that an error has occurred.
Outputs that the cycle stop is operating.
Outputs the machine lock state.
None
Emergency stop output signal
Outputs that an emergency stop has
occurred.
S1START
:
S32START
Start input
Starts each slot.
E
In operation output
Outputs the operating state for each
slot.
S1STOP
:
S32STOP
Stop input
Stops each slot.
L
In wait output
Outputs that each slot is temporarily
stopped.
Program selection
input signal
Designates the setting value for
the program No. with numeric value
input signals.
E
None
Override selection
input signal
Designates the setting value for
the override with the numeric value
input signals.
E
None
PRGSEL
OVRDSEL
3-42 Dedicated input/output
3Controller
Parameter
name
IODATA
Input
Name
Function
Numeric value input
(start No., end No.)
Used to designate the program
name, override value., mechanism
value.
Program No. output request
Requests output of the program
name.
LINEOUT
Line No. output
request
Requests output of the line No.
OVRDOUT
Override value out- Requests the override output.
put request
Note2)
PRGOUT
Output
Note1)
Level
Name
L
Numeric value output
(start No., end No.)
E
Program No. output
signal
E
E
Function
Used to output the program name,
override value., mechanism No.
Outputs that the program name is
being output to the numeric value output signal.
Outputs that the line No. is being outLine No. output signal
put to the numeric value output signal.
Override value outOutputs that the override value is being
put signal
output to the numeric value output signal.
Error No. output sig- Outputs that the error No. is being outnal
put to the numeric value output signal.
Jog valid output sig- Outputs that the jog operation with
nal
external signals is valid.
ERROUT
Error No. output
request
Requests the error No. output.
JOGENA
Jog valid input signal
Validates jog operation with the
external signals
JOGM
Jog mode input 2bit
Designates the jog mode.
JOG+
Jog feed + side for
8-axes
Requests the + side jog operation.
L
None
JOG-
Jog feed - side for
8-axes
Requests the - side jog operation.
L
None
E
E
L
HNDCNTL1
:
HNDCNTL3
None
HNDSTS1
:
HNDSTS3
HNDERR1
:
HNDERR3
AIRERR1
:
AIRERR3
None
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.
:
M3PTEXC
USERAREANote3)
None
Outputs the current jog mode.
Mechanism 1 hand
output signal status
:
Mechanism 3 hand
output signal status
Mechanism 1: Outputs the status of
general-purpose outputs
900 to 907.
Mechanism 2: Outputs the status of
general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of
general-purpose outputs
920 to 927.
Mechanism 1 hand
input signal status
:
Mechanism 3 hand
input signal status
Mechanism 1: Outputs the status of
hand inputs 900 to 907.
Mechanism 2: Outputs the status of
hand inputs 910 to 917.
Mechanism 3: Outputs the status of
hand inputs 920 to 927.
L
Mechanism 1 hand
error output signal
:
Mechanism 3 hand
error output signal
Outputs that a hand error is occurring.
L
Pneumatic pressure
error 1 output signal.
:
Pneumatic pressure
error 3 output signal.
Outputs that a pneumatic pressure
error is occurring.
M1PTEXC
None
Jog mode output 2bit
L
Maintenance parts
replacement time
warning signal
Outputs that the maintenance parts
have reached the replacement time.
User-designated area
8-points
Outputs that the robot is in the userdesignated area.
Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the signal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and
the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
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
Emergency stop
Applies the emergency stop (Single emergency line.)
Input
Door switch
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
Short piece 1
1
2
Short piece 2
Emergency stop input
RA1
3
4
Door switch input
RA2
5
RA3
6
RG (24G)
Note1)
Emergency stop output
(Customer-prepared wiring) (Controller side)
Composition of external emergency stop and door switch
DOOR
Switch
EMG.
STOP
1
2
3
4
24V
System emergency
stop line
(Prepared by customer)
Wire insert
Controller rear side
5
6
RA5
RG (24G)
Example of wiring for external emergency stop and door switch
(customer-prepared wiring)
1)
2)
3)
4)
5)
6)
Wire fixing screw
Maker:Phoenix Contact
Type:FRONT-MSTB2.5/6-ST-5.08
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!!
TEACH
AUTO
(Ext.)
AUTO
(Op.)
Robot arm
(Example)
Open
Turns OFF the servo
② Teaching
Safeguard
TEACH
AUTO
(Op.)
AUTO
(Ext.)
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 outside 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
Working voltage range
ON voltage/ON current
OFF voltage/OFF current
Input resistance
OFF-ON
Response time
ON-OFF
Common method
External wire connection
method
DC input
16
Photo-coupler insulation
12VDC/24VDC
Approx. 3mA/approx. 7mA
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)
8 points per common
Internal circuit
<Sink type>
24V/12V
(COM)
820
3.3K
Input
3.3K
Input
<Source type>
Connector
820
0V(COM)
Table 3-5 : Electrical specifications of output circuit
Item
Specifications
Type
No. of output points
Insulation method
Rated load voltage
Rated load voltage range
Max. load current
Leakage current at OFF
Max. voltage drop at ON
OFF-ON
Response time
ON-OFF
Fuse rating
Common method
External wire connection
method
External power
supply
Transistor output
16
Photo-coupler insulation
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)
Internal circuit
<Sink type>
(24/12V)
Outline
Fuse
(0V)
<Source type>
Fuse (24/12V)
Connector
Voltage
DC12/24V(DC10.2 ~ 30V)
Current
60mA (TYP. 24VDC per common)
(base drive current)
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>
AX41C
(Mitsubishi programmable
controller)
+24V
COM
Parallel I/O interface
(Output)
60mA
(24/12V)
Output
……
X
Output
Fuse
24V
24G
(0V)
External
power supply
AY51C
(Mitsubishi programmable
controller)
CTL+
24V
(Input)
(COM)
Input
Y
……
3.3K
Input
24V
COM
CTLG
24G
External
power supply
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)
AX81C
60mA
Fuse (24/12V)
+24V
……
Output
Output
X
24V
COM
24G
(0V)
External
power supply
CTL +
24V
(Input)
3.3K Input
……
Y
Input
(COM)
24V
CTLG
24G
AY81C
External
power supply
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 Parallel input/output unit
3Controller
Table 3-6 : Standard parallel I/O interface CN100pin No. and signal assignment list <Sink type> (2A-CBL □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
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
Pin
Dedicated/power supply, common No.
General-purpose
General-purpose output 8
26
27
28
29
30
31
32
33
34
35
11 Orange/Red C General-purpose output 9
36
12
Gray/Red C General-purpose output 10
37
13
White/Red C General-purpose output 11
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
0
1
2
3
14 Yellow/Red C
15
16
17
18
19
20
21
22
23
24
25
Pink/Red C
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7
Running
Servo on
Error
Operation rights
0V:For pins 4-7, 10-13
12V/24V:For pins 10-13
COM0:For pins 15-22
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input
input
input
input
input
input
input
input
Stop(All slot) Note2)
Servo off
Error reset
Start
Servo on
Operation rights
0
1
2
3
4
5
6
7
Reserved
Reserved
Reserved
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
4
5
6
7
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
output
39
General-purpose
12
Orange/Blue C General-purpose
13
Gray/Blue C General-purpose
14
White/Blue C General-purpose
15
Yellow/Blue C
40
41
42
43
44
45
46
47
48
49
50
Pink/Blue C
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
input
input
input
input
input
input
input
input
38
Note1)
Function name
Line color
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
COM1:For pins 40-47 Note1)
8
9
10
11
12
13
14
15
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 □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
12
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
Orange/Red C
Gray/Red C
Pin
Dedicated/power supply, common No.
General-purpose
General-purpose
General-purpose
General-purpose
10
13 White/Red C General-purpose
11
14 Yellow/Red C
output 8
output 9
output
output
38 White/Blue C General-purpose output 15
15
16
17
18
19
20
21
22
23
24
25
input
input
input
input
input
input
input
input
Pink/Red C
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
0
1
2
3
4
5
6
7
0
1
2
3
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
Dedicated/power supply,
common
General-purpose
26
27
28
29
30
31
32
33
34
35
36
37
General-purpose
General-purpose
General-purpose
General-purpose
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7
Running
Servo on
Error
Operation rights
Reserved
Reserved
Function name
Line color
COM0:For pins 15-22 Note1)
39 Yellow/Blue C
Stop(All slot) Note2)
Servo off
Error reset
Start
Servo on
Operation rights
40
41
42
43
44
45
46
47
48
49
50
Reserved
Reserved
Reserved
Pink/Blue C
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
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
4
5
6
7
Reserved
Reserved
General-purpose output 12
General-purpose output 13
General-purpose output 14
COM1:For pins 40-47 Note1)
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input
input
input
input
input
input
input
input
8
9
10
11
12
13
14
15
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
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 during operation if used.
50
25
26
1
<CN100>
Connector pin layout
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 Parallel input/output unit
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)
Remarks
2.0
Cable length is 7m. Hand strap is attached.
2.3
Cable length is 15m. Hand strap is attached.
■ Specifications
Table 3-9 : Specifications
Items
Specifications
Outline dimensions
153(W) x 203(H) x 70(D) (refer to outline drawing)
Body color
Light gray (reference Munsell color: 0.08GY7.64/0.81)
Mass
Approx. 0.8kg (only arm, excluding cable)
Connection method
Connection with controller and round connector (30-pin)
Interface
RS-422
Display method
LCD method: 16 characters x 4 lines, LCD illumination: with backlight
Operation section
28 keys
Protection specifications
IP65
Remarks
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 position approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section.
The water is filled one minute per 1m2 of test device surface area for a total of three minutes.
.
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
3Controller
Hand strap
Contrast adjusting
switch
Enable/Disable switch
Display LCD
DISABLE
ENABLE
R28TB
TOOL
JOINT
XYZ
MENU
=*/
( )?
$" :
#%!
STOP
203
SVO ON
STEP
-X
+X
MOVE
(J1)
(J1)
EMG.STOP
ADD
+
-Y
+Y
FORWD
(J2)
(J2)
-
-Z
+Z
BACKWD
(J3)
(J3)
↑
RPL
↓
Emergency stop
switch
DEL
COND
-A
+A
(J4)
(J4)
←
HAND
POS
-B
CHAR
(J5)
(J5)
-C
+C
(J6)
(J6)
ERROR
RESET
+B
→
Teaching pendant
INP
EXE
Operation keys
Dead man switch
Cable
(with connection connector)
55
70
<Side>
153
Hand strap
<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.
Options 3-53
3Controller
■ Key layout and main functions
DISABLE
3)
ENABLE
R28TB
2)
5)
4)
19)
1)
6)
TOOL
JOINT
=*/
( )?
Back
XYZ
$" :
MENU
#%!
STOP
SVO ON
7)
STEP
-X
+X
MOVE
(J1)
(J1)
+
-Y
+Y
FORWD
(J2)
(J2)
-
-Z
+Z
BACKWD
(J3)
(J3)
-A
+A
(J4)
(J4)
-B
+B
8)
9)
10)
18)
ADD
↑
RPL
COND
CHAR
ERROR
RESET
(J5)
(J5)
-C
+C
(J6)
(J6)
14)
15)
←
HAND
13)
↓
DEL
POS
11)
EMG.STOP
16)
→
INP
17)
EXE
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 disable.
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 operating 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
Table 3-10 : Configuration device
Part name
Pneumatic hand interface
Type
Qty.
Mass(kg)
2A-RZ365/
2A-RZ375
1pc.
0.1
Remarks
Output 8 points expansion. 2A-RZ365 is the sink type.
2A-RZ375 is the source type.
■ Specifications
Table 3-11 : Specifications
Item
Specification
Type
Transistor output
No. of output points
8
Insulation method
Photo coupler insulation
Rated load voltage
DC24V
Rated load voltage range
DC21.6 to 26.4VDC
Max. current load
0.1A/ 1 point (100%)
Current leak with power OFF
0.1mA or less
Maximum voltage drop with power ON
DC0.9V(TYP.)
Response time
OFF-ON
2ms or less (hardware response time)
ON-OFF
2 ms or less (resistance load) (hardware response time)
Fuse rating
Fuses 1.6A (each one common)
Common method
8 points, 1 common
Internal circuit
<Sink type>
24V
(Internal power supply)
GRn *
Fuse
1.6A
0V
<Source type>
Fuse
1.6A
+24V
GRn*
24GND(COM)
* GRn = GR1 ~ GR8
Options 3-55
3Controller
■ Installation method
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
<RZ386>
or
<RZ387>
CNHND
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" combination.
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
Table 3-12 : Configuration device
Part name
Type
Expansion option box
CR1-EB3
Installation screw
Mass(kg)
Qty.
Remarks
Note1)
1
1.7
4
-
With rubber foot
Note1)Mass indicates one set.
■ Specifications
Table 3-13 : Specifications
Item
Unit
Number of slot
slot
Power supply method
Current value
Specifications
3
Remarks
RT-Bus 1, 2, 3
Power supply is supplied from controller by
the RT-Bus coupling(+5V/SG)
A
Max. 3
Ambient temperature
deg.
0 to 40
Ambient humidity
%RH
45 to 85
Grounding
D class grounding earth
Structure
Self-contained floor type opened structure
Outside dimensions
mm
85(W) x 290(D) x 165(H)
Mass
kg
Approx. 3
Max. 1A/slot
Without dew drops
Grounding from external terminal
Note1)
Note1) Self-contained floor type, under the condition combined with the body.
Options 3-57
3Controller
Installation of expansion option box
CR1-571 controller
60
Expansion option box
65
Positioning latch
24
Positioning latch
Rear side
cable outlet
299.7
(38)
87.5
(13)
290
(15)
151
Installation
screw
Four
positions
42
Layout of expansion option box
Plates with rails
(Two positions)
Slot1
Slot2
Slot3
Controller connection connector
Positioning latch
Installation screw(Four positions)
The example which an option
card was mounted to.
Fan
Grounding terminal(M4)
Fig.3-13 : Outside dimensions and layout
■ Installation method
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
Table 3-14 : Configuration device
Part name
Parallel I/O unit
Robot I/O link connection
connector
Power connection connector
Type
Qty.
Mass(kg)
2A-RZ361/
2A-RZ371
1 pc.
0.7
NETcable-1
2 sets
-
Connector with pins.
The cable must be prepared and wired by the customer.
DCcable-2
1 set
-
Connector with pins.
The cable must be prepared and wired by the customer.
R-TM
1 pc.
-
100Ω(1/4W)
Terminator
Remarks
Input/output 32 points/32 points
2A-RZ361 is the sink type.
2A-RZ371 is the source type.
■ 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
DC input
Number of input points
32
Insulation method
Photo coupler insulation
Rated input voltage
12VDC/24VDC
Rated input current
Approx 3mA/7mA
Working voltage range
10.2 to 26.4VDC(Ripple factor should be less than 5%.)
ON voltage/ON current
8VDC or more/ 2mA or more
OFF voltage/ OFF current
4VDC or less/ 1mA or less
Input resistance
Approx. 3.3kΩ
Response time
OFF-ON
10ms or less (24VDC)
ON-OFF
10ms or less (24VDC)
Common method
8 points per common
External cable connection method
Connector
Internal circuit
<Sink type>
24V/12V
(COM)
820
3.3K
Input
<Source type>
3.3K
Input
820
0V(COM)
Options 3-59
3Controller
Table 3-16 : Electrical specifications for the output circuits
Item
Specification
Type
Transistor output
No. of output points
32
Insulation method
Photo-coupler insulation
Rated load voltage
12VDC/24VDC
Rated load voltage range
10.2 to 30VDC(peak voltage 30VDC)
Max. load current
0.1A/point (100%)
Leakage current at OFF
0.1mA or less
Max. voltage drop at ON
0.9VDC(TYP.)
OFF-ON
2ms or less
(hardware response time)
ON-OFF
2ms or less
(Resistance load) (hardware response time)
Response time
Fuse rating
Fuse 3.2A (one per common) Replacement not possible
Common method
8 points per common (common terminal: 8 points)
External wire connection
method
Connector
External power
supply
Voltage
12VDC/24VDC(10.2 to 30VDC)
Current
60mA (TYP. 24VDC per common) (base drive current)
CAUTION
3-60 Options
Internal circuit
<Sink type>
(24/12V)
Outline
Fuse
(0V)
<Source type>
Fuse (24/12V)
Outline
(0V)
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.
3Controller
NETcable-1 (Network cable)
Pin No.
RIO1/2
RIO1/2
Pin No.
1
TXRXH
TXRXH
1
2
TXRXL
TXRXL
2
3
SG(GND)
SG(GND)
3
Note 2)
FG
DCcable-2 (Power cable)
Pin No.
DCIN
1
24V
+
2
24G(RG)
-
3
FG(PE)
Note 1)
24V Power
Connected the frame ground or protect ground
R-TM (Terminator)
Pin No.
RIO1/2
1
TXRXH
2
TXRXL
3
SG(GND)
100Ω
List of parts and manufacturer
Connector type
Contact type
Resistant
NETcable-1
Type
1-178288-3 (2)
175218-3 (6)
-
DCcable-2
R-TM
2-178288-3 (1)
1-178288-3 (1)
175218-3 (3)
175218-3 (2)
-
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(0.3mm2) or more.
Fig.3-14 : Spacifications for the connection cable
Options 3-61
3Controller
■ Installation method
The expansion parallel input/output unit is installed outside of the controller. Connect with the network connection cable (NETcable-1) from the RIO1 connector in the rear of the controller.(Terminator is connected at the
time of shipment)
RIO1 connector
(175)
128
100
(40)
Wiring
space
2-M5 screw
6
156
150
Radiation/wiring space
<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
168
6
6
Heat radiation space
upside
3Controller
RIO1 connector
Parallel I/O unit 1 . . . 6
Parallel I/O unit 7
Controller back side
Station No. setting
7
Station No. setting
1...6
Note)
NETcable-1
cable
<CN300>
<CN300>
<CN100>
<CN100>
RIO1 connector
RIO2 connector RIO1 connector
FG
Note)
NETcable-1
cable
DCIN
connector
DCcable-2
cable
DCIN
connector
FG
RIO2 connector
R-TM
terminator
DCcable-2
cable
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
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
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
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
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
Function name
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
32
33
34
35
0V:For pins 4-7, 10-13
12V/24V:For pins 10-13
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
40
41
42
43
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input 32
input 33
input 34
input 35
input 36
input 37
input 38
input 39
COM0:For pins 15-22
Note1)
Reserved
Reserved
Reserved
Pin
No.
Line color
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
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
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
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
36
37
38
39
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input
input
input
input
input
input
input
input
44
45
46
47
COM1:For pins 40-47 Note1)
40
41
42
43
44
45
46
47
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
Table 3-18 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
12
13
14
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
Orange/Red C
Gray/Red C
White/Red C
Yellow/Red C
15
16
17
18
19
20
21
22
23
24
25
Pink/Red C
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
Function name
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
48
49
50
51
0V:For pins 4-7, 10-13
12V/24V:For pins 10-13
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
56
57
58
59
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input 48
input 49
input 50
input 51
input 52
input 53
input 54
input 55
COM0:For pins 15-22
Note1)
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
3-64 Options
Pin
No.
Line color
26
27
28
29
30
31
32
33
34
35
36
37
38
39
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
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
40
41
42
43
44
45
46
47
48
49
50
Pink/Blue C
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
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
52
53
54
55
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input
input
input
input
input
input
input
input
60
61
62
63
COM1:For pins 40-47 Note1)
56
57
58
59
60
61
62
63
Reserved
Reserved
Reserved
3Controller
Channel No. setting
(Set channel No. to 1.) [*1]
TXD
LED display
<CN100>
Input 32 to 47
Output 32 to 47
50
25
<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)
Table 3-19 : Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
Orange/Red A
2
Gray/Red A
3
White/Red A
4
Yellow/Red A General-purpose output 64
5
6
General-purpose
Pink/Red A
Function name
Pin
No.
Line color
FG
26
Orange/Blue A
0V:For pins 4-7, 10-13
27
Gray/Blue A
0V:For pins 29-32, 35-38
12V/24V:For pins 4-7
28
White/Blue A
12V/24V:For pins 29-32
29
Yellow/Blue A General-purpose output 68
Dedicated/power supply,
common
General-purpose output 65
30
Orange/Red B General-purpose output 66
31
Pink/Blue A
Gray/Red B
32
Gray/Blue B
8
White/Red B
0V:For pins 4-7, 10-13
33
White/Blue B
9
Yellow/Red B
12V/24V:For pins 10-13
34
Yellow/Blue B
10
Pink/Red B
General-purpose output 72
35
Pink/Blue B
FG
General-purpose output 69
Orange/Red C General-purpose output 73
36
General-purpose output 71
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
General-purpose output 76
Orange/Blue C General-purpose output 77
12
Gray/Red C
General-purpose output 74
37
Gray/Blue C
13
White/Red C
General-purpose output 75
38
White/Blue C General-purpose output 79
14
Yellow/Red C
15
Pink/Red C
16
Note1)
39
Yellow/Blue C
General-purpose input 64
40
Pink/Blue C
Orange/Red D General-purpose input 65
41
COM0:For pins 15-22
General-purpose output 78
COM1:For pins 40-47 Note1)
General-purpose input 72
Orange/Blue D General-purpose input 73
17
Gray/Red D
General-purpose input 66
42
Gray/Blue D
General-purpose input 74
18
White/Red D
General-purpose input 67
43
White/Blue D
General-purpose input 75
19
Yellow/Red D General-purpose input 68
44
Yellow/Blue D General-purpose input 76
20
21
General-purpose input 69
45
Orange/Red E General-purpose input 70
Pink/Red D
46
General-purpose input 71
Dedicated/power supply,
common
Orange/Blue B General-purpose output 70
7
11
General-purpose output 67
General-purpose
Pink/Blue D
General-purpose input 77
Orange/Blue E General-purpose input 78
22
Gray/Red E
47
Gray/Blue E
23
White/Red E
Reserved
48
White/Blue E
General-purpose input 79
Reserved
24
Yellow/Red E
Reserved
49
Yellow/Blue E
Reserved
25
Pink/Red E
Reserved
50
Pink/Blue E
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
Table 3-20 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
Orange/Red A
2
Gray/Red A
3
White/Red A
4
Yellow/Red A General-purpose output 80
5
6
General-purpose
Pink/Red A
Function name
Pin
No.
Line color
FG
26
Orange/Blue A
0V:For pins 4-7, 10-13
27
Gray/Blue A
0V:For pins 29-32, 35-38
12V/24V:For pins 4-7
28
White/Blue A
12V/24V:For pins 29-32
29
Yellow/Blue A General-purpose output 84
Dedicated/power supply,
common
General-purpose output 81
30
Orange/Red B General-purpose output 82
31
7
Gray/Red B
8
White/Red B
9
10
11
General-purpose output 83
General-purpose
Pink/Blue A
FG
General-purpose output 85
Orange/Blue B General-purpose output 86
32
Gray/Blue B
33
White/Blue B
Yellow/Red B
12V/24V:For pins 10-13
Pink/Red B General-purpose output 88
34
35
Yellow/Blue B
12V/24V:For pins 35-38
Pink/Blue B General-purpose output 92
Orange/Red C General-purpose output 89
36
Orange/Blue C General-purpose output 93
0V:For pins 4-7, 10-13
General-purpose output 87
0V:For pins 29-32, 35-38
12
Gray/Red C
General-purpose output 90
37
Gray/Blue C
13
White/Red C
General-purpose output 91
38
White/Blue C General-purpose output 95
14
Yellow/Red C
39
Yellow/Blue C
15
16
Dedicated/power supply,
common
Pink/Red C
COM0:For pins 15-22
Note1)
General-purpose input 80
40
Orange/Red D General-purpose input 81
41
Pink/Blue C
General-purpose output 94
COM1:For pins 40-47 Note1)
General-purpose input 88
Orange/Blue D General-purpose input 89
17
Gray/Red D
General-purpose input 82
42
Gray/Blue D
General-purpose input 90
18
White/Red D
General-purpose input 83
43
White/Blue D
General-purpose input 91
19
Yellow/Red D General-purpose input 84
44
Yellow/Blue D General-purpose input 92
20
21
Pink/Red D General-purpose input 85
Orange/Red E General-purpose input 86
45
46
Pink/Blue D General-purpose input 93
Orange/Blue E General-purpose input 94
22
Gray/Red E
47
Gray/Blue E
23
White/Red E
General-purpose input 87
Reserved
48
White/Blue E
Reserved
24
Yellow/Red E
Reserved
49
Yellow/Blue E
Reserved
25
Pink/Red E
Reserved
50
Pink/Blue E
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
3-66 Options
General-purpose input 95
3Controller
[*1]
Channel No. setting (Set channel No. to 2.)
TXD
LED display
50
25
<CN300>
Input 80 to 95
Output 80 to 95
<CN100>
Input 64 to 79
Output 64 to 79
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
CN300
1st unit
1
Input: 32 ~ 47
Output: 32 ~ 47
Input: 48 ~ 63
Output: 48 ~ 63
2nd unit
2
Input: 64 ~ 79
Output: 64 ~ 79
Input: 80 ~ 95
Output: 80 ~ 95
3rd unit
3
Input: 96 ~ 111
Output: 96 ~ 111
Input: 112 ~ 127
Output: 112 ~ 127
4th unit
4
Input: 128 ~ 143
Output: 128 ~ 143
Input: 144 ~ 159
Output: 144 ~ 159
5th unit
5
Input: 160 ~ 175
Output: 160 ~ 175
Input: 176 ~ 191
Output: 176 ~ 191
6th unit
6
Input: 192 ~ 207
Output: 192 ~ 207
Input: 208 ~ 223
Output: 208 ~ 223
7th unit
7
Input: 224 ~ 239
Output: 224 ~ 239
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 connector 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
Table 3-22 : Configuration device
Part name
Type
External I/O cable
2A-CBL □□
Qty.
1pc.
Mass(kg)
Remarks
Note1)
0.7(5m)
1.84(15m)
5m or 15m
Note1)Mass indicates one set.
■ Specifications
Table 3-23 : Specifications
Items
Specifications
Number of cables x cable size
50 pairs x AWG #28
Total length
5m or 15m
■ 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
Pin
no.
Cable colors
Pin
no.
Cable colors
1
Orange/Red A
11
Orange/Red C
21
Orange/Red E
31
Orange/Blue B
41
Orange/Blue D
2
Gray/Red A
12
Gray/Red C
22
Gray/Red E
32
Gray/Blue B
42
Gray/Blue D
3
White/Red A
13
White/Red C
23
White/Red E
33
White/Blue B
43
White/Blue D
4
Yellow/Red A
14
Yellow/Red C
24
Yellow/Red E
34
Yellow/Blue B
44
Yellow/Blue D
5
Pink/Red A
15
Pink/Red C
25
Pink/Red E
35
Pink/Blue B
45
Pink/Blue D
6
Orange/Red B
16
Orange/Red D
26
Orange/Blue A
36
Orange/Blue C
46
Orange/Blue E
7
Gray/Red B
17
Gray/Red D
27
Gray/Blue A
37
Gray/Blue C
47
Gray/Blue E
8
White/Red B
18
White/Red D
28
White/Blue A
38
White/Blue C
48
White/Blue E
9
Yellow/Red B
19
Yellow/Red D
29
Yellow/Blue A
39
Yellow/Blue C
49
Yellow/Blue E
10
Pink/Red B
20
Pink/Red D
30
Pink/Blue A
40
Pink/Blue C
50
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 specifications 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
Type of dot mark
Dot pattern
1
A type
Dot pattern
3
F type
18.5
18.5
1.5
B type
3
G type
18.5
18.5
1.5
C type
3
H type
18.5
18.5
1.5
7.5
I type
D type
18.5
18.5
1.5
7.5
J type
E type
Continuous
Continuous
5000
1
50
25
66
76.74
64.53
51.816
2.159
26
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
Table 3-25 : Configuration device
Mass(kg)
Part name
Type
Qty.
Remarks
Personal computer cable (for PC/AT)
RS-MAXY-CBL
1pc.
4
3m, D-SUB 9 pinNote2)
RS-AT-RCBL
1pc.
4
3m, D-SUB 9 pin
For expansion serial I/F at expansion option box(CR1-EB3).
Note1)
Note1)Mass indicates one set.
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
1 (CD)
(SD) 2
2 (RD)
(RD) 3
3 (SD)
(RS) 4
(CS) 5
4 (DTR)
6 (DSR)
(DR) 6
(ER)20
8 (CTS)
7 (RTS)
(SG) 7
5 (GND)
(2) For PC98
Controller side
(Signal name, pin No.)
Personal computer side
25 pin connector
(Signal name, pin No.)
(FG) 1
1 (FG)
(SD) 2
2 (SD)
(RD) 3
3 (RD)
(RS) 4
4 (RS)
(CS) 5
5 (CS)
(DR) 6
(ER)20
6 (DR)
20 (ER)
(SG) 7
7 (SG)
Fig.3-20 : Personal computer cabe connection
3-70 Options
Personal computer side
(Signal name, pin No.)
3Controller
RS-MAXY-CBL
25
13
6
54
31
1
5
1
15
9
P/C side
14
15
39
Robot side
Type:17JE-23250-02(D8A6)-CG(DDK)
RS-AT-RCBL
1
15
39
31
5
P/C side
25
6
9
15
14
54
13
1
Robot side
Type:17JE-23250-02(D18A1)-CG (DDK)
Fig.3-21 : Personal computer cabe connector
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
Table 3-26 : Configuration device
Part name
Type
Qty.
Mass(kg)
Extended serial interface
2A-RZ581-E
1
0.32
Instruction Manual
BFP-A8106
1
-
Ferrite core
E04SR301334
2
-
Remarks
Be sure to install this for noise countermeasure.
Table 3-27 : Procured by the customer
Part name
Type
Personal computer, vision sensor, etc.
Qty.
Remarks
From 1 unit.
Communication cable
(used when the length of the standard RS-232C
cable is too short, or when RS-422
communication is implemented)
RS-232C or RS-422
Two channel per one board.
From 1 cable.
■ Specifications
Table 3-28 : Specifications
Item
Specifications
Mountable optional slots
Slot 1 or 2
Number of mountable interface cards
Maximum 2
Number of channels
2
Communication data
ASCII data Note1)
Communication baud rate
Parity
This has been set to "9600" at shipment.
Notiong / Odd/ Even
This has been set to "even" at shipment.
1/2
End code
CR code/ CR code + LF code
Remarks
Channel 1: Dedicated to RS-232C
Channel 2: Either RS-232C or RS-422
2400 / 4800 / 9600 / 19200
Stop bit
Protocol
Remarks
Nonprocedural / Procedural / Data link
This has been set to "2" at shipment.
This has been set to "CR code" at shipment.
Note2)
This has been set to "nonprocedural" at shipment.
Capable of offering the same functions as
provided by the standard RS-232C interface in
the front of the controller
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 personalcomputer/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)
Pin no.
Abbreviated signal name
Signal name
1
FG
Frame ground
7, 9
SG
Signal ground
13
TXD+(SDA)
Transmission data (+)
25
TXD-(SDB)
Transmission data (-)
11
DTR+(RSA)
Terminal ready (+)
23
DTR-(RSB)
Terminal ready (-)
12
RXD+(RDA)
Reception data (+)
24
RXD-(RDB)
Reception data (-)
10
DSR+(CSA)
Data set ready (+)
22
DSR-(CSB)
Data set ready (-)
Signal direction
2A-RZ581 ⇔ Device on other end
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)
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
Table 3-29 : Configuration deviceon
Part name
Type
Mass(kg)
Qty.
Note1)
CC-Link interface
2A-HR575-E
1
0.32
Instruction Manual
BFP-A8105
1
-
Ferrite core
E04SR301334
2
-
Remarks
Be sure to install this for noise countermeasure.
Note1)Mass indicates one set.
Table 3-30 : Procured by the customer
Part name
Type
Qty.
Remarks
QJ61BT11(Q series)
AJ61QBT11(QnA series)
A1SJ61QBT11(QnAS series)
Master station
AJ61BT11(A series)
1
FX series products are not supported.
A1SJ61BT11(AnS series)
A80BD-J61BT11(personal computer
board)
Communication cable
-
1
Shielded 3-core twisted cable
This cable may be manufactured by the customer.
Terminal resistor
-
1
110Ω or 130Ω is recommended.
3-74 Options
3Controller
Display
I/O unit
Inverter
Robot arm
Sequencer
Partner manufacturers' devices
Personal computer
Cc-Link interface
(this option)
Controller
Fig.3-23 : Example of CC-Link Product Configuration
■ Specifications
Table 3-31 : Specifications
Item
Specifications
Communication function
Remarks
Bit data and word data can be transmitted. Word data are used by the registers.
Intelligent device station Note1)
Station type
Support station
Local station
Mountable option slot
No master station function
Slot 2 only
Number of mountable CC-Link interface cards
1
Multiple CC-Link interface cards cannot be
inserted. Note2)
Number of stations
1 to 64 stations
When four stations are occupied, continuous
station numbers are used. The station
numbers are set by a DIP switch.
Transmission speed
10M/5M/2.5M/625K/156K bps
Number of occupied stations
Remote I/O
Number of
I/O points
Remote
registers
One or four occupied stations can be set.
This is set by the rotary SW.
When four stations are occupied, continuous
station numbers are used. The station
numbers are set by a DIP switch.
When one station is
occupied
Input: 30 points
Output: 30 points
The last two points of 32 points cannot be
used.
When four stations
are occupied
Input: 126 points
Output: 126 points
The last two points of 128 points cannot be
used.
When one station is
occupied
Input: 4 registers
Output: 4 registers
One register consists of 16 bits.
When four stations
are occupied
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.
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 E2 or later.
Also, compatible version differs for each function. Refer to "Table 3-36:
Software Versions and Functions of the Controller" for details.
■ Configuration
Table 3-32 : Configuration deviceon
Part name
Type
Mass(kg)
Qty.
Remarks
Note1)
Ethernet interface
2A-HR533-E
1
0.29
Instruction Manual
BFP-A8108
1
-
Ferrite core
E04SR301334
1
-
Be sure to install this for noise countermeasure.
Note1)Mass indicates one set.
Table 3-33 : Procured by the customer
Part name
Type
Qty.
Remarks
Personal computer
(A network interface is required.)
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.)
From 1 unit.
Ethernet cable
(Select either straight cable or cross cable
depending on the connection mode.)
10BASE-T or 10BASE-5
From 1 cable.
Table 3-34 : Items required as needed
Part name
Hub (Required for use in LAN environment)
Type
(Commercially sold)
Qty.
Remarks
1
Windows compatible robot controller
(Separately sold) Personal computer support software
programming support tool for Mitsubishi CRn500 series controllers
1
Windows compatible development tool
1
(Commercially sold) Microsoft Visual C++, Visual Basic, etc.
■ Specifications
Table 3-35 : Specifications
Item
Specifications
Mountable optional slots
Slot 1 only
Number of mountable interface cards
1
LAN interface
10BASE-T or 10BASE-5(changeover type)
Transmission speed
10Mbps
Connector specification
RJ-45
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 communicating 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
Controller communication
function
Versions A*, B*, C*, D*
and E1
Data link function
(server)
Data link function
(server/client)
Real-time external control
function
The Ethernet option is disabled.
Versions E2 to E4
○
○
×
×
Versions F*, G* and H1 to
H6
○
○
×
○
Versions H7 and later
○
○
○
○
○ ..... 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.
The extended option box (CR1-EB3) is required separately. Refer to Page 57, "(3)
Expansion option box" for ditails.
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
MELSERVO-J2-Super series Note1)
Type
Maker name
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
Table 3-38 : Configuration deviceon
Part name
Type
Qty.
Mass(kg)
Remarks
Note1)
Additional interface
2A-RZ541-E
1
0.29
Instruction Manual
BFP-A8107
1
-
Ferrite core
E04SR301334
2
-
Be sure to install this for noise countermeasure.
Note1)Mass indicates one set.
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".
Table 3-39 : Procured by the customer
Part name
Servo amplifier, servomotor, option, peripheral
device
Type
Refer to "Instruction Manual for Servo Amplifier and
Servomotor".
Battery (for absolute position detection system) MR-BAT or A6BAT
Setup software
(For setup the parameter of servo amplifier and
the graph indication, etc. )
MRZJW3-SETUP131 if the MELSERVO-J2-Super is used.
MRZJW3-SETUP41 or later if the MELSERVO-J2-B is used.
Qty.
Remarks
Amplifier
quantity
1
Communication cable
MR-CPCATCBL3M
(Communication cable between personal
computer and servo amplifier for setup software)
1
Bus cable between controller and amplifier
(Exclusive cable for communication between
controller and servo amplifier)
MR-J2HBUS □ M
(Cable length in : 0.5, 1 and 5 [m])
Note) The MR-J2HBUS □ M-A can't be used, caution.
1
Terminator
MR-A-TM
Bus cable between amplifier and amplifier
(Exclusive cable for communication between
servo amplifier and servo amplifier)
MR-J2HBUS □ M
(Cable length in : 0.5, 1 and 5 [m])
1
Amplifier
quantity-1
Options 3-79
3Controller
■ Specifications
Table 3-40 : Specifications
Item
Specifications
Specification of user mechanism
Number of controllable robots (mechanisms)
3
Number of control axes (total)
Number of control axes (for each mechanism)
Applicable amplifier
Applicable encoder
8 axes
2 axes
3 axes
MELSERVO-J2-Super series
ABS method only (absolute value encoder)
Communication method
SSCNET (differential communication) of Mitsubishi
Mountable optional slots
Slot 1 or 3
Number of mountable interface cards
Control function
Path control method
Acceleration/deceleration
Position control
Minimum command value
Maximum motion range
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
Medium
Mass(kg)
Note1)
Remarks
Personal computer support software
3A-01C-WINE
CD-ROM
0.12
One operation manual included
Personal computer support software mini
3A-02C-WINE
CD-ROM
0.12
One operation manual included
Note1)Mass indicates one set.
■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations
can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry
out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and displays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially
sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the
machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) 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
○
Debugging functions
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 measurementNote2)
○
×
・ 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.)
Monitor functions
Maintenance
function
Remote maintenance function
Details
○
Editing functions
Control functions
Simulation functionNote3)
Functional existenceNote1)
Personal computer support software mini
(3A-02C-WINE)
Personal computer support software
(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.
1
Part name
Lithium battery
Type
ER6
Note1)
Qty.
1
Usage place
RZ182 card
Manufacturer
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
Command example
Robot Status Variable
Function
P_TOOL
keep current tool length
M_SPD
keep current speed (linear/circular interpolation)
ABS
Produces the absolute value
VAL
Converts a character string into a numeric value
ATN
Calculates the arc tangent
STR$
Converts the numeric expression value into a decimal character string
ZONE
Check current position area
P1=P1*P2
Relative calculation of position data
M1=M1*M2
Multiplication of numerical variable
P1.X=10
Operation of the position element data
SELECT CASE
More than one condition branch
ON GOSUB
Condition branch by the value
WHILE WEND
Repeat with condition
Optimum acceleration/
deceleration control
LOADSET
Load condition setting
OADL
valid/invalid setting for the optimum acceleration/deceleration
Float control
(compliance in the XYZ
coordinate system)
CMP POS
Compliance control
CMPG
Force control
Parallel execution
(Multitask)
XRUN, XSTP, XRST,
XLOAD, XCLR
Parallel executions of another task, the stops, the resets the clear, and, the loads
Conveyor trucking
[Special specification]
TRKON, TRKOFF
Valid/invalid of the trucking
TRBASE
Setting the base coordinate for the trucking
Impact detection
COLCHK
Set to enable/disable the impact detection.
COLLVL
Set the detection level of the impact detection.
MVS P1 TYPE 0,2
Pass a singular point using linear interpolation.
Built-in functions
Operation function
Conditional branching
Singular point passage
(1) The procedure of robot language selection
Table 4-2 : Robot language parameter
Parameter
Parameter
name
No. of arrays
No. of characters
Robot language
RLNG
Integer 1
Details explanation
Select the robot language to use
1 : MELFA-BASIC Ⅳ
0 : MOVEMASTER COMMAND
Factory
setting
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
Linear interpolation
Circular interpolation
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
Moves along a designated arc (start point → passing point → start point
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point) with
3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point →
reference point → end point) with 3-dimensional circular interpolation.
Moves along a set arc (start point → end point) with 3-dimensional circular
interpolation.
Designates the speed for various interpolation operations with a percentage
(0.1% unit).
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
Designates the speed for linear and circular interpolation with a numerical
value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in respect to
the predetermined maximum acceleration/deceleration. (1% unit)
Automatically adjusts the acceleration/deceleration according to the parameter setting value.
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.
Position and operation control
Speed designation
Operation
Position control
Pallet
Program control
Branching
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
Repeats until the designated end conditions are satisfied.
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
Operates the pallet grid point position.
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated expression value..
WEND
ON M1 GOTO 100,200,300
SELECT
CASE 1
BREAK
CASE 2
Moves the program process to the next line.
4-86 List of commands
BREAK
END SELECT
SKIP
4Software
Type
Class
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP command.
Executes the subroutine corresponding to the designated expression value.
Interrupt
Defines the interrupt conditions and process.
Program control
Subroutine
End
Hand open
Hand close
Enables/disables the interrupt.
Defines the start line of the program to be executed when an interrupt is
generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output time. (0.01s
unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or servo OFF
can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Assignment
Input
Output
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Wait
Parallel execution
Input/output
Hand
Stop
Input format (example)
GOSUB 200
RETURN
CALLP "P10",M1,P1
FPRM M10,P10
ON M1 GOSUB
100,200,300
DEF ACT 1, M1=1 GOTO
100
ACT 1=1
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
DEF IO PORT1=BIT,0
M1=M_IN (1)
M_OUT(1) =0
Mechanism designation
Selection
Start/stop
Definition
Others
Function
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
List of commands 4-87
4Software
(3) MOVEMASTER commands
Table 4-4 : List of MOVEMASTER command
Type
Class
Joint interpolation
Position and operation control
Linear interpolation
Circular
interpolation
Speed designation
Position
control
Pallet
Program control
Branching
Subroutine
4-88 List of commands
Function
Input format (example)
Moves to the designated position variable with joint interpolation.
MO 1
Moves to the designated position with joint interpolation.
MP 100,200,125.3,0,90
Moves to a position obtained by adding two position variables.
MA 1,2
Turns the joint by the specified angle from the current position.
MJ 10,20,0,0,0,0
Moves the axis by the designated amount from the current position.
Moves by the specified distance from current position.
DJ 1,15
DW 100,80,0
Moves to the next position in number from current position.
IP
Moves to the previous position in number from current position.
DP
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.
MT 1,-50
Moves to the origin in the axis order designated in the parameters.
NT
Moves to the user specified origin position.
OG
Moves to the designated position variable with linear interpolation.
MS 1
Moves by the specified distance from current position.
DS 10,20,0
Continuously moves the position variable with linear interpolation between the two
designated position variables.
MC 10,20
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.
MTS 1,-50
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.
MR 1,2,3
MRA 4
Establishes program over-ride。 (0.1% unit)
OVR 100
Designate the speed level and acceleration/deceleration rate for various interpolation
operations.
SP 25,H
Designate the speed, time constant, acceleration/deceleration rate and CNT setting
validity for linear and circular interpolation.
SD 123.5,50,50,0
It establishes die length to hand nose from hand installation.
TL 128
Designates the tool matrix.
TLM 0,0,128,0,0,0
Waits for in position till all axis ring inward pulse appointing.
PW 10
Memorizes current position as the position number.
Memorizes current position as the origin.
HE 1
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.
PC 1,20
Changes the pose of the robot at position。
CF 1,R,A,F
Defines the pallet.
PA 1,5,3
Operates the designated pallet No. grid point position, and substitutes into the corresponding position variable.
PT 1
Jump to line number.
GT 120
Jump to line number if internal register value/strings equals specified value/strings.
EQ 20,120
EQ "OK",120
Jump to line number if internal register value/strings does not equal specified value/
strings.
NE 20,120
NE "NG",120
Jump to line number if internal register value/strings is greater than specified value/
strings.
LG 20,120
LG "NG",120
Jump to line number if internal register value/strings is smaller than specified value/
strings.
SM 20,120
SM "NG",120
Jump to line number by internal register bit status.
TB +5,100
Jump to line number by external input signal bit status.
TBD +5,100
Repeats the loop specified by command NX.
RC 8
Specifies the range of a loop in a program by command RC.
Executes the subroutine of the line designated in the designated program.
NX
GS 3,10
Returns from the subroutine. (The return line No. can be designated.)
RT
RT 200
4Software
Type
Class
Input/output
Hand
Program control
Interrupt
Input format (example)
Validates the interrupt by the bit designated by the external input terminal, and designated the branching method and branching line at the interrupt.
EA +16,100,1
Disables interrupt by the bit of external input signal.
DA 16
Wait
Stops the operation for the designated time. (0.1 sec unit)
TI 50
Select
Selects the program.
N1
Start
Executes the program between the designated line numbers.
RN 10,50
Stop
Halts the program.
HLT
End
Open
Ends the program.
Opens the specified hand.
ED
GO
Close
Closes the specified hand.
GC
Setting
Sets the motorized hand's gripping force and open/close time.
GP 40,30,50
Sets the hand open/close state when the "PD" command is executed.
GF 1
Input
Gets signal from external input.
ID
Output
Outputs data to external output signal.
OD 20
Outputs the counter value to external output signal.
OC 1
Sets the output signal bit status.
OB +16
Adds the designated value to the internal register value.
ADD 10
Adds 1 to the designated number's counter.
IC 5
Adds the coordinate values of the designated position variable to the coordinate values
of the designated position variable.
SF 1,2
Subtracts the designated value from the designated register value.
SUB 10
Subtracts one from the designated number's counter.
DC 5
addition
Subtraction
Operation/Substitution
Function
Multiplication
Multiples the designated value to the internal register value.
Division
Divides the internal register value by the designated value.
DIV 10
AND
Logical AND of the internal register value and specified value.
AN 7
OR
Logical OR of the internal register value and specified value.
OR 3
XOR
Logical exclusive OR of the internal register value and specified value.
XO 2
Substitution
Substitutes the designated value (character string) in the designated counter.
SC 1,10
SC $1,"OK"
MUL 2
Substitutes the designated position variable coordinate value in the designated position
variable.
PL 1,2
Substitutes the internal register value (character string) in the designated number's
counter.
CL 1
Sets the designated number's counter value (character string) in the internal register.
CP 1
Exchange
Exchanges the coordinate values of two designated position variables.
PX 1,2
RS-232C
read
Reads the selected program No. or designated program information.
QN 1
Reads the program of specified line number.
LR 10
Reads the program of specified step number.
STR 10
Reads the coordinate value of specified position number.
PR 1
Reads the value/strings of specified counter number.
CR 1
Reads the hand input signal, internal register value and the 16-bit width data from the
designated external output signal bit.
Reads the current error No. or error history.
DR 16
ER 10
WH
Reads the value of current tool length.
WT
Reads the current tool matrix.
WTM
Reads the name of system software version.
VR
Reads the value of specified parameter.
PMR "HANDINIT"
Deletes the program between the designated line numbers.
DL 10,90
Deletes the selected program and position variables.
NW
Opens the file.
OPEN 1,1
Reads the data from the file.
INP 1,2,0
Sends the value to the file.
PRN 2
Sets the contents of the designated parameter.
PMW 1,0,1,0,1,0,1,0
Reset
Resets the error, or program line number.
RS
Comment
Describes a comment.
'
Other
Reads the coordinate value of current position.
Clear
File
List of commands 4-89
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
Details
Standard tool coordinates.
MEXTL
Set the default value for the tool data.
Unit: mm or deg.
Standard base coordinates
MEXBS
Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
XYZ operation range
MEPAR
Designate the overrun limit value for the world coordinate system.
JOINT operation range
MEJAR
Set the overrun limit value for each joint axis.
Free plane limit
This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.
SFC1P
:
SFC8P
Eight types of free plane limits can be set in SFC1P to SFC8P.
There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC1ME
:
SFC8ME
Designate which mechanism to use eight types of set free plane limits.
The mechanism No. to use is set with 1 to 8.
SFC1AT
:
SFC8AT
Set the validity of the eight types of set free plane limits.
(Valid 1/Valid 2/invalid = 1/-1/0)
User-defined area
An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to eight types of area can be designated.
AREA1P1
:
AREA8P1
Designated the 1st point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1P2
:
AREA8P2
Designated the 2nd point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1ME
:
AREA8ME
Designate which mechanism to use the eight types of set area.
The mechanism No. to use is set with 1 to 8
AREA1AT
:
AREA8AT
Designate the area check type.
(Invalid/zone/interference = 0/1/2)
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
Automatic return setting
RETPATH
Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
Buzzer ON/OFF
BZR
Designate whether to the turn buzzer ON or OFF.
Jog setting
JOGJSP
Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGPSP
Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGSPMX
Limit the operation speed during the teaching mode. Max. 250[mm/s]
Jog speed limit value
4-90 List of parameters
4Software
Parameter
Details
Hand type
HANDTYPE
Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
Stop input B contact designation
INB
Change the dedicated input (stop) between the A contact and B contact.
User-designated origin
USERORG
Designate the user-designated origin position.
Program selection memory
SLOTON
Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.
Communication setting
CBAU232
Set the baud rate.
CLEN232
Set the character length.
CPRTY232
Set the parity.
CSTOP232
Set the stop bit.
CTERM232
Set the end code.
Slot table
SLT1
:
SLT32
Make settings (program name, operation type, order of priority, etc.) for each slot during slot
initialization.
No. of multi-tasks
TASKMAX
Designate the No. of programs to be executed simultaneously. (Max. 32)
Robot language setting
RLNG
Select the robot language ("MELFA-BASIC Ⅳ "/"MOVEMASTER COMMAND")
Select the function of
singular point adjacent alarm
MESNGLSW
Designate the valid/invalid of the singular point adjacent alarm.
(Invalid/Valid = 0/1)
When this parameter is set up "VALID", this warning sound is buzzing even if parameter:
BZR (buzzer ON/OFF) is set up "OFF".
Display language.Note1)
表示言語 Note1)
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 parameter". (Japanese or English)
Show the details of the parameter in the Table 4-5. Refer to the separate "Instruction Manual/Detailed Explanation 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
Parameter
name
パラ メ ー タ 名
Display language
表示言語設定
LNG
No. of arrays
No. of characters
配列数
文字数
Details explanation
内容説明
Character string 1 Set up the display language.
文字列 1
"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)
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
Default
setting
出荷時
設定
1
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
1
Overload protection function
Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and
the specified value.
an alarm displays.
2
Overcurrent diagnosis
function
Activates when an overcurrent flows to the motor
circuit.
The drive circuit is shut off. The robot stops, and
an alarm displays.
3
Encoder disconnection
diagnosis function
Activates when the encoder cable is disconnected.
The drive circuit is shut off. The robot stops, and
an alarm displays.
4
Deflection over diagnosis
function
Activates when an error occurs between the command value and actual position, and the error
exceeds the specified amount.
The drive circuit is shut off. The robot stops, and
an alarm displays.
5
AC power voltage drop
diagnosis function
Activates when the AC power voltage drops below
the specified value.
The drive circuit is shut off. The robot stops, and
an alarm displays.
6
CPU error detection func- Activates when an error occurs in the CPU.
tion
The drive circuit is shut off. The robot stops, and
an alarm displays.
7
Overrun
prevention
function
Software limit This is the limit provided by the software to enable
detection
operation only in the operation range.
The drive circuit is shut off. The robot stops, and
an alarm displays.
Mechanical
stopper
The robot mechanically stops, and function 1 or 2
activates.
This is the mechanical stopper provided outside the
software.
Remarks
Table 5-2 : List of stop functions
Stop
function
Operation
panel
Teaching
pendant
External
input
Emergency
stop
◯
◯
◯
This is the stop with the highest degree of emergency. The servo power is shut off,
and the mechanical brakes (all axes) activate to stop the robot.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
Stop
◯
◯
◯
This is a stop operation with a high degree of emergency. The robot immediately
decelerates and stops.
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.
Details
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
Input
External emergency stop
Stop
Servo OFF
Automatic operation enable
Output
In servo ON
Command
Functions
(Input signal) This servo power is shut off, and the robot
stops immediately.
STOP
SRVOFF
AUTOENA
SRVON
Waiting
STOP
In alarm
ERRRESET
Usage method
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
The program execution is stopped, and the
robot stops. The servo power is not shut off.
The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
The servo power can be shut off.
The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
Disables automatic operation when inactive.
Door switch on safety protection fence
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.
Outputs when an alarm occurs in the robot.
The alarm state is shown and alerted with the display lamps.
[Caution] The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emergency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to
"Fig. 5-1 Example of safety measures"for details.
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 Committee, 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
External emergency
stop input
RA1
RA3
S/W-EMG
Teaching pendant
deadman switch
RA2
Door switch
input
Door switch
Operation panel
emergency stop
External emergency
stop
24V
1
Teaching pendant
emergency stop
T/B remove
switch
2
RA1
RA1
RA2
RA2
Teaching pendant
deadman switch
3
4
5
6
Software emergency
stop
RA3
External emergency
stop output
MC1
RA4
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/s2 or less during transportation and 5m/s2 or less during operation.)
(5) Installation environment
・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)
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 accuracy 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
Name
Address
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
Robot arm
Standard specifications
Protection
specifications
IP30
Machine cable
Controller
Special shipping specifications
□ 5m fixed type
Controller
structure
□ 10m fixed type
□ 5m flexed type
□ 15m fixed type
□ 10m flexed type
□ 15m flexed type
□ Floor type
■ Options (Installable after shipment)
Item
Controller
Robot arm
Solenoid valve set
Provision, and specifications when provided
1E-VD04-RP
□ Not provided □ 4 sets.
1E-VD04E-RP
□ Not provided □ 4 sets.
Hand output cable
1A-GR200-RP
□ Not provided □ Provided
Hand input cable
1A-HC200-RP
□ Not provided □ Provided
Teaching pendant
R28TB- □□
□ Not provided □ 7m □ 15m
Pneumatic hand interface
Parallel I/O interfaceNote1)
2A-RZ365/2A-RZ375 □ Not provided □ Provided
2A-RZ361/2A-RZ371 □ Not provided □ 1pc. □ 2pcs. □ 3pcs. □ 4pcs. □ 5pcs. □ 6pcs. □ 7pcs.
External I/O cable
2A-CBL □□
□ Not provided □ 5m-1pc.
□ 5m-2pcs. □ 5m-3pcs.
□ 15m-1pcs. □ 15m-2pcs. □ 15m-3pcs. CC-Link interface
2A-HR575-E
□ Not provided □ Provided
Ethernet interface
2A-HR533-E
□ Not provided □ Provided
Extended serial interface
2A-RZ581-E
□ Not provided □ Provided
Additional axis interface
2A-RZ541-E
□ Not provided □ Provided
Personal computer cable
RS-MAXY-CBL/
RS-AT-RCBL
□ Not provided □ RS-MAXY-CBL □ RS-AT-RCBL
Personal computer support
software
3A-01C-WINE
□ Not provided □ Windows98/2000/NT4.0/Me/XP CD-ROM
Personal computer support
software mini
3A-02C-WINE
□ Not provided □ Windows98/2000/NT4.0/Me/XP CD-ROM
Expansion option box
CR1-EB3
□ Not provided □ Provided
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
Wrkpiece mass (
□ Material handring □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
) 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..2009 MEE Printed in Japan on recycled paper.
Specifications are subject to change without notice.
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