RV-2F-D Series Standard Specifications Manual

RV-2F-D Series Standard Specifications Manual

Mitsubishi Industrial Robot

RV-2F-D Series

Standard Specifications Manual

(

CR750-D/CR751-D

Controller)

BFP-A8900-B

Safety Precautions

Always read the following precautions and the separate "Safety

Manual" before starting use of the robot to learn the required measures to be taken.

CAUTION

CAUTION

WARNING

CAUTION

WARNING

CAUTION

CAUTION

CAUTION

All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned

ON.)

Enforcement of safety training

For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.)

Preparation of work plan

Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.)

Setting of emergency stop switch

During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.)

Indication of teaching work in progress

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

Installation of safety fence

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

Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc.

Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors.

Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below.

Refer to the actual "Safety Manual" for details.

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

WARNING

CAUTION

WARNING

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)

Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping.

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

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

Do not apply excessive force on the connector or excessively bend the cable.

Failure to observe this could lead to contact defects or wire breakage.

Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults.

Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation.

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

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

When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands.

Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices.

After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc.

Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries.

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

Failure to observe this could lead to faults or failures.

When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.

CAUTION

CAUTION

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.

Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment

(related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.

*CR751-D or CR751-Q controller

Notes of the basic component are shown.

CAUTION

Please install the earth leakage breaker in the primary side supply power supply of the controller of CR751-D or CR751-Q because of leakage protection.

AC200V

Earth leakage breaker

(NV)

Note) RV-2F series has operation panel.

保護アース端子

(PE)

■Revision history

Date of print Specifications No.

2012-06-14

2012-10-04

2012-10-11

BFP-A8900

BFP-A8900-A

BFP-A8900-B

Details of revisions

・ First print.

・ The power supply capacity was corrected.

・ The notes were added to "Fig 3-24: Example of EMC noise filter installation".

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

Transport of Dangerous Goods.

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

・ ”Fig.2-5 : Wiring and piping for hand” was corrected.

■ Introduction

This series provides compact vertical multi-joint robots for use in machine processes and assemblies.

This series is especially designed to answer the needs of users who want to create compact and highly flexible production facilities to cope with shortened product life cycles as well as the diffusion of small and high density product groups in recent years, such as personal computer related devices, information terminal devices and small car-mounted electronic devices.

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

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

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

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

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

Page 8,

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

Page 35, "3 Controller" , and software functions

and a command list

Page 103, "4 Software"

separately.

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

*RV-2F-D (CR750-D controller) series

*RV-2F-D (CR751-D controller) series

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

Mitsubishi.

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

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

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

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

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

・ This specifications is original.

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

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

Copyright(C) 2012 MITSUBISHI ELECTRIC CORPORATION

i

Contents

Page

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

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

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

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

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

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

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

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

1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-2

1.3 Contents of the structural equipment ............................................................................................................................ 1-3

1.3.1 Robot arm ........................................................................................................................................................................... 1-3

1.3.2 Controller ............................................................................................................................................................................ 1-4

1.4 Contents of the Option equipment and special specification .............................................................................. 1-5

2 Robot arm ........................................................................................................................................................................................... 2-8

2.1 Standard specifications ........................................................................................................................................................ 2-8

2.1.1 Basic specifications ........................................................................................................................................................ 2-8

2.2 Definition of specifications .................................................................................................................................................. 2-9

2.2.1 Pose repeatability ............................................................................................................................................................ 2-9

2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-10

2.2.3 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-11

2.2.4 Collision detection ......................................................................................................................................................... 2-11

2.2.5 Protection specifications ............................................................................................................................................ 2-11

(1) Types of protection specifications .................................................................................................................... 2-11

2.3 Names of each part of the robot .................................................................................................................................... 2-12

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-13

(1) Outside dimension ................................................................................................................................................... 2-13

(2) Operating range .......................................................................................................................................................... 2-14

2.5 Tooling ........................................................................................................................................................................................ 2-15

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-15

2.5.2 Internal air piping ............................................................................................................................................................ 2-16

2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-16

2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-16

2.5.5 Wiring and piping system diagram for hand ......................................................................................................... 2-17

2.5.6 Electrical specifications of hand input/output .................................................................................................. 2-19

2.5.7 Air supply circuit example for the hand ............................................................................................................... 2-20

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-21

2.6.1 Shipping special specifications ................................................................................................................................. 2-21

2.7 Options ....................................................................................................................................................................................... 2-22

(1) Machine cable extension ........................................................................................................................................ 2-23

(2) Stopper for changing the operating range ...................................................................................................... 2-27

(3) Solenoid valve set ..................................................................................................................................................... 2-28

(4) Hand input cable ........................................................................................................................................................ 2-30

(5) Hand output cable ..................................................................................................................................................... 2-31

(6) Hand curl tube ............................................................................................................................................................ 2-32

2.8 About Overhaul ...................................................................................................................................................................... 2-33

2.9 Maintenance parts ................................................................................................................................................................. 2-34

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

3.1 Standard specifications ...................................................................................................................................................... 3-35

3.2 Protection specifications and operating supply ....................................................................................................... 3-36

3.3 Names of each part .............................................................................................................................................................. 3-37

3.3.1 Controller .......................................................................................................................................................................... 3-37

(1) CR750 controller ....................................................................................................................................................... 3-37

(2) CR751 controller ....................................................................................................................................................... 3-39

Contents

Page

3.4 Outside dimensions/Installation dimensions .............................................................................................................. 3-41

3.4.1 Outside dimensions ....................................................................................................................................................... 3-41

(1) CR750 controller ....................................................................................................................................................... 3-41

(2) CR751 controller ....................................................................................................................................................... 3-42

3.4.2 Installation dimensions ................................................................................................................................................. 3-43

(1) CR750 controller ....................................................................................................................................................... 3-43

(2) CR751 controller ....................................................................................................................................................... 3-45

3.5 External input/output .......................................................................................................................................................... 3-47

3.5.1 Types .................................................................................................................................................................................. 3-47

3.6 Dedicated input/output ...................................................................................................................................................... 3-48

3.7 Emergency stop input and output etc. ......................................................................................................................... 3-51

3.7.1 Connection of the external emergency stop ...................................................................................................... 3-51

(1) CR750 controller ....................................................................................................................................................... 3-53

(2) CR751 controller ....................................................................................................................................................... 3-57

3.7.2 Special stop input (SKIP) ........................................................................................................................................... 3-60

(1) CR750 controller ....................................................................................................................................................... 3-60

(2) CR751 controller ....................................................................................................................................................... 3-61

3.7.3 Door switch function .................................................................................................................................................... 3-62

3.7.4 Enabling device function ............................................................................................................................................. 3-62

(1) When door is opening ............................................................................................................................................... 3-62

(2) When door is closing ................................................................................................................................................ 3-63

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-63

3.8 Mode changeover switch input ........................................................................................................................................ 3-64

(1) Specification of the key switch interface ....................................................................................................... 3-64

(2) Connection of the mode changeover switch input ..................................................................................... 3-65

3.9 Additional Axis Function ..................................................................................................................................................... 3-66

3.9.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-66

(1) CR750 controller ....................................................................................................................................................... 3-66

(2) CR751 controller ....................................................................................................................................................... 3-67

3.10 Magnet contactor control connector output (AXMC) for addition axes ..................................................... 3-70

(1) CR750 controller ....................................................................................................................................................... 3-70

(2) CR751 controller ....................................................................................................................................................... 3-71

3.11 Options .................................................................................................................................................................................... 3-72

(1) Teaching pendant (T/B) ......................................................................................................................................... 3-73

(2) Parallel I/O interface ............................................................................................................................................... 3-76

(3) External I/O cable ..................................................................................................................................................... 3-81

(4) Parallel I/O unit ......................................................................................................................................................... 3-83

(5) External I/O cable ..................................................................................................................................................... 3-94

(6) CC-Link interface ..................................................................................................................................................... 3-96

(7) RT ToolBox2/RT ToolBox2 mini ......................................................................................................................... 3-99

(8) Instruction Manual(bookbinding) ....................................................................................................................... 3-101

3.12 Maintenance parts ........................................................................................................................................................... 3-102

4 Software ......................................................................................................................................................................................... 4-103

4.1 List of commands ............................................................................................................................................................... 4-103

4.2 List of parameters .............................................................................................................................................................. 4-106

5 Instruction Manual ..................................................................................................................................................................... 5-108

5.1 The details of each instruction manuals ................................................................................................................... 5-108

6 Safety .............................................................................................................................................................................................. 6-109

6.1 Safety ...................................................................................................................................................................................... 6-109

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-109

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-110

6.1.3 Precautions for using robot .................................................................................................................................... 6-110

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-111

ii

Contents

Page

6.1.5 Safety measures for teaching ............................................................................................................................... 6-111

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-111

6.1.7 Examples of safety measures ................................................................................................................................ 6-112

(1) CR750 controller .................................................................................................................................................... 6-112

(2) CR751 controller .................................................................................................................................................... 6-117

(3) External emergency stop connection [supplementary explanation] ................................................. 6-122

6.2 Working environment ......................................................................................................................................................... 6-125

6.3 Precautions for handling .................................................................................................................................................. 6-125

7Appendix ........................................................................................................................................................................... Appendix-127

Appendix 1 : Specifications discussion material ........................................................................................ Appendix-127

iii

1General configuration

1 General configuration

1.1 Structural equipment

Structural equipment consists of the following types.

1.1.1 Standard structural equipment

The following items are enclosed as a standard.

(1) Robot arm

(2) Controller

(3) Machine cable

(4) Robot arm installation bolts

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

(6) Guarantee card

1.1.2 Special specifications

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

1.1.3 Options

User can install options after their delivery.

1.1.4 Maintenance parts

Materials and parts for the maintenance use.

Structural equipment 1-1

1General configuration

1.2 Model type name of robot

1.2.1 How to identify the robot model

RV - 2F ▲ - ● D -Sxx

(a) (b) (c) (d) (e)

(a). RV-2F....................................... Indicates the RV-2F series

(b). ▲ ............................................... Indicates the existence of the brake.

Ex)

Omitted: J2, J3, J5 axis has brake.

B: All axes have the brake.

(c). ● ............................................... Indicates the controller type.

Ex.)

Omitted: CR750 controller

1: CR751 controller

(d). D................................................. Indicates the controller type.

D: Stand alone type

(e).

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

1.2.2 Combination of the robot arm and the controller

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

Protection specification Axial constitution

Standard specification

Robot arm

RV-2F-D/RV-2FB-D

RV-2F-1D/RV-2FB-1D

6-axis type

Controller

CR750-02VD-1

CR751-02VD-1

1-2 Model type name of robot

1.3 Contents of the structural equipment

1.3.1 Robot arm

The list of structural equipment is shown in below.

Vertical six-axis multiple-jointed type

Machine cable

(Fixed type: 5m)

・ For CR750 controller

Machine cable extension

・ For CR750 controller

Fix type: 1S- □□ CBL-11

Flex type: 1S- □□ LCBL-11

・ For CR751 controller

Fix type: 1F- □□ UCBL-11

Flex type:1F- □□ LUCBL-11

Note1) □□ refer the length.

Refer to

Table 1-2 for details.

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

RV-2F series

* Refer to Page 8, "2.1 Standard specifications"

for details on the specifications.

Solenoid valve set

(Sink type)

(Hand output cable is attached)

・ 1 set: 1E-VD01/1E-VD01E

・ 2 set: 1E-VD02/1E-VD02E

・ For CR751 controller

Stopper for changing the operating range

・ J1 axis: 1S-DH-11J1

・ J2 axis: 1S-DH-11J2

・ J3 axis: 1S-DH-11J3

*Refer to Table 1-2

for the angle which can be changed

*Installed by customer.

Against wall specification

Limit the operation range of the J1 axis.

Hand input cable

・ 1S-HC30C-11

Hand output cable

・ 1E-GR35S

Hand curl tube

・ 1 set: 1E-ST0402C

・ 2 set: 1E-ST0404C

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

[Caution]

Standard configuration equipment

Special specifications

Option

Prepared by customer

Contents of the structural equipment 1-3

1

General configuration

1.3.2 Controller

The devices shown below can be installed on the controller.

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

Model type name of robot" .)

Controller

・ CR750-02VD-1 or

・ CR751-02VD-1

Teaching pendant

(T/B)

Simple T/B

・ R32TB:

For CR750 controller

・ R33TB:

For CR751 controller

CC-Link

2D-TZ576

Parallel I/O interface

2D-TZ368

(Sink)

/

2D-TZ378 (Source)

Parallel I/O unit

2A-RZ361

(Sink)

/

2A-RZ371

(Source)

Highly efficient T/B

・ R56TB:

For CR750 controller

・ R57TB:

For CR751 controller

External I/O cable

External I/O cable

PLC(Programmable Logic

Controller) External device

Prepared by customer

RT Tool Box2

・ 3D-11C-WINJ(CD-ROM)

(MS-Windows2000/XP/Vista/7)

RT Tool Box2 mini

・ 3D-12C-WINJ(CD-ROM)

(MS-Windows2000/XP/Vista/7)

*)Refer to Table

1-4 for USB

cable

Instruction Manual(bookbinding)

・ 5F-FE01-PE01

[Caution]

Standard configuration equipment

Special specifications

Options

Prepared by customer

1-4

Fig.1-2 : Structural equipment

1

General configuration

1.4 Contents of the Option equipment and special specification

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

Table 1-2 : The list of robot option equipment and special

Item Type Specifications

Classification

Note1)

CR750 CR751

Stopper for changing the operating range

1S-DH-11J1

One place selection is possible each for

+ side / - side.

Standard specification is +/-240 deg.

○ ○

1S-DH-11J2

Description

This must be installed by the customer.

1S-DH-11J3

Extended machine cable 1S- □□ CBL-11

1S- □□ LCBL-11

Solenoid valve set

Hand input cable

Hand output cable

1F- □□ UCBL-11

1F- □□ LUCBL-11

1E-VD01/1E-VD01E

1E-VD02/1E-VD01E

1S-HC30C-11

1E-GR35S

One place selection is possible each for

+ side / - side.

Standard specification is +/-120 deg

- side: Nothing

Standard specification is 0 to +160 deg

1 set (Sink type)/(Source type)

2 set (Sink type)/(Source type)

-

-

10, 15m

5, 10, 15m

○ 10, 15m

○ 5, 10, 15m

○ A solenoid valve set for the pneumatic

The cable is connected to the hand output connector by the customer.

Attaches the cable clamp (drip proof

Hand curl tube 1E-ST0402C

1E-ST0404C

For solenoid valve 1set: φ4x2

For solenoid valve 2set: φ4x4

Curl type air tube

Contents of the Option equipment and special specification 1-5

1

General configuration

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

Item Type Specifications

Classification

Note1)

CR750 CR751

Simple teaching pendant R32TB

R32TB-15

Highly efficient teaching pendant

R33TB

R33TB-15

R56TB

R56TB-15

R57TB

R57TB-15

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

Cable length 7m

Cable length 15m

-

-

-

-

Description

-

-

With 3-position enable switch IP65

-

Parallel I/O Interface 2D-TZ368

(Sink type)

Insulated type output signal

(0.1A/24V /point)

○ ○

The card type external input-and-output.

Interface. Install to the slot of controller.

2D-TZ378

(Source type)

External I/O cable

(For

Parallel I/O Interface)

2D-CBL05

2D-CBL15

Insulated type output signal

(9mA/ 24V /point)

5m

15m

Use to connect the external peripheral device to the parallel input/output inter-

○ face.

Parallel I/O Unit

Insulated type output signal

(0.1A/24V /point)

○ ○

CC-Link interface

(

RT ToolBox2 port software)

(

RT ToolBox2 mini port software mini)

Instruction Manual

2A-CBL05

2A-CBL15

2D-TZ576

3D-11C-WINE

3D-12C-WINE

5F-FE01-PE01

Insulated type output signal

(7mA/ 24V /point)

5m

15m

CD-ROM

CD-ROM

RV-2F-D series

MS-Windows2000/XP/Vista/7

1-6 Contents of the Option equipment and special specification

1

General configuration

[Reference]:The recommendation products of the USB cable are shown below

Table 1-4 : Recommendation article of the USB cable

Name Type name

USB cable

(USB A type-USB mini B type)

KU-AMB530

USB-M53

GT09-C30USB-5P

USB adapter

(USB B type-USB mini B type)

MR-J3USBCBL3M

AD-USBBFTM5M

Supplier

SANWA SUPPLY INC.

ELECOM CO., LTD.

MITSUBISHI ELECTRIC SYSTEM & SERVICE CO.,

LTD.

MITSUBISHI ELECTRIC CO., LTD.

ELECOM CO., LTD.

Caution

Be careful to the USB cable to apply neither the static electricity nor the noise.

Otherwise, it becomes the cause of malfunction.

Caution

Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm the operation by customer.

Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.

Contents of the Option equipment and special specification 1-7

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

Table 2-1 : Standard specifications of robot

Structure

Drive system

Item

Type

Degree of freedom

Installation posture

Position detection method

Arm length Upper arm

Operating range

Fore arm

Waist (J1)

Shoulder (J2)

Elbow (J3)

Speed of motion

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Waist (J1)

Shoulder (J2)

Elbow (J3)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Maximum resultant velocity

Note3)

Load Maximum

Note4)

Rating

Pose repeatability

Note5)

Ambient temperature

Mass

Allowable moment load

Wrist twist (J4)

Wrist pitch (J5)

Allowable inertia

Wrist roll (J6)

Wrist twist (J4)

Wrist pitch (J5)

Wrist roll (J6)

Arm reachable radius front paxis center point

Tool wiring

Tool pneumatic pipes

Supply pressure

Protection specification Note6)

Degree of cleanliness

Painting color

Unit mm

Degree

Degree/s mm/sec kg mm

℃ kg

N ・ m kg ・ m

2 mm

MPa

Specifications

RV-2F/2FB

Note1)

6

On floor, hanging

(against wall

Note2)

)

Vertical, multiple-joint type

AC servo motor

(RV-2F: J2, J3, J5 axes have the brake)

(RV-2FB: All axes have the brake)

Absolute encoder

230

270

480 (-240 to +240)

240 (-120 to +120)

160 (0 to +160)

400 (-200 to +200)

240 (-120 to +120)

720 (-360 to +360)

300

150

300

450

450

720

4,950

3.0

2.0

±0.02

0 to 40

19

4.17

4.17

2.45

0.18 (0.27)

0.18 (0.27)

0.04 (0.1)

504

Hand input 4 point / hand output 4 point

Primary side: φ4 x 4 (Base to fore arm section)

0.5±10%

IP30 (All axis)

Light gray (Equivalent to Munsell: 0.08GY7.64/0.81)

Note1) RV-2FB is with the brake to all the axes.

Note2) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.

Please give an order separately.

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

Note4) The maximum load capacity is the mass with the mechanical interface posture facing down word at the ±10°limit.

Note5) The pose repeatability details are given in Page 9, "2.2.1 Pose repeatability"

Note6) The protection specification details are given in

Page 11, "2.2.5 Protection specifications"

.

2-8 Standard specifications

2 Robot arm

2.2 Definition of specifications

The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.

2.2.1 Pose repeatability

For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

[Caution] The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.

[1] Operation pattern factors

1) When an operation that approaches from different directions and orientations are included in relation to the teaching position during repeated operations

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

[2] Load fluctuation factor

1) When work is present/absent in repeated operations

[3] Disturbance factor during operation

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

[4] Temperature factors

1) When the operating environment temperature changes

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

[5] Factors due to differences in accuracy definition

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

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

Definition of specifications 2-9

2 Robot arm

2.2.2 Rated load (mass capacity)

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

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

moment found in Page 8, "2.1.1 Basic specifications" .

(2)

Fig. 2-1

shows the distribution dimensions for the center of gravity in the case where the volume of the load is relatively small. Use this figure as a reference when designing the tooling.

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

Page 8, "Table 2-1 : Standard specifications of robot"

for details of allowable moment value.

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

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

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

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

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

200

1.0kg

100

2.0kg

400 300

200

100

0

100

350 170 70

200

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

2-10

2 Robot arm

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

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

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

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

3) Change the hand mass and hand inertia.

2.2.4 Collision detection

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

The enable/disable of this function can be changed by parameter: COL and command: ColChk, this function is effective for protect of the robot and of the peripheral equipment.

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

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

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

Table 2-2 : Factory-shipments condition

JOG operation

RH-2F series Invalid

Automatic

Invalid

2.2.5 Protection specifications

(1) Types of protection specifications

The robot arm has protection specifications that comply with the IEC Standards. The protection specifications

and applicable fields are shown in Table 2-3

.

Table 2-3 : Protection specifications and applicable fields

Type

RV-2F series Robot arm: IP30

(all axes)

Classification Applicable field

General environment specifications

General assembly

Slightly dusty environment

Remarks

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

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

【Information】

・ The IEC IP30

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

2-11

2 Robot arm

2.3 Names of each part of the robot

J4軸

ツイスト

J6軸

J6 axis

ロール

メカニカルインタフェース

(ハンド取付フランジ面)

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

2-12 Names of each part of the robot

2.4 Outside dimensions ・ Operating range diagram

(1) Outside dimension

depth 6 screw depth 6 screw depth 6 screw

View C screw depth 6

2 Robot arm

screw depth 6 screw

(Grounding)

C

B

Minimum depth 8 depth 8

*1) depth 6 depth 6

(Installation)

Rz 25 installation hole

View A

*1) The depth in which the screw is tightened is 7.5 to 8mm.

View B

Detail of installation dimension

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

Fig.2-3 : Outside dimensions (standard specification/CE marking S16 specification)

Outside dimensions ・ Operating range diagram 2-13

2 Robot arm

(2) Operating range

P-point path

P-point path

Control point

(R-point)

Flange upward

limit line

Flange downward limit line

Flange downward singular point limit

注)側面図の姿勢 degree., J6=0 degree.

各軸の角度が J1=0°,J2=0°,J3=90°,J4=0°,J5=0°,J6=0°の場合を図示しています。

注)動作範囲制限

J1軸が (-75°< J1 < 70°)で,かつJ2軸が (J2 < -110°)の範囲にある時,J3軸は (80°<= J3)に制限されます。

Fig.2-4 : Operating range diagram

2-14 Outside dimensions ・ Operating range diagram

2 Robot arm

2.5 Tooling

2.5.1 Wiring and piping for hand

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

(1)Hand input signal connectors

(CON1H) 

Opposite side of figure

Hand input signal cables

AWG24 (0.2mm

) x 2 core: Four

Solenoid valve set (optional) installation section

Secondary piping hoses (φ4*4)

(φ4×4本)

(3)1 to 4 : Secondary piping couplings (φ4)

AIR OUT

3

4

1

2

Secondary piping pneumatic hoses

(φ4) Note2)

(φ4) 注2)

GR1 to GR4: Connect to the b)

Hand output connector

Primary piping pneumatic hoses(φ6*1)

Note2)

1 2 3 4

(4)AIR IN 1 to 4:Connect to the a)

Secondary piping air coupling(φ4)

GR1

GR3

GR2

GR4

(2)GR1 to GR4:Connect to the b)

Hand output connector

ハンド出力用コネクタ番号

ハンド用継手番号

注1)電磁弁セットに接続するφ4エアホースは

お客様でご準備ください。

Connector and pneumatic coupling

Robot side(Robot arm side)

No Name Qty.

Connectors, couplings

Connector pins

Machine cable connector

(Signals)

Machine cable connector

(Power supply)

Counter side (customer-prepared)

Connector Connector pins

(1) Connector 1 1-1903131-6

(2) Connector 4 SMP-02V-BC

(3) Coupling

(4) Coupling

4 KJS04-M3

4 UKB4

1903112-2 1-1827864-6

BHF-001GI-0.8BS SMR-02V-B

Manufacturer

1827587-2

AMP

BYM-001T-0.6

Japan solderless terminal MFG.

Co.,LTD

SMC. Co.,LTD

Koganei

Fig.2-5 : Wiring and piping for hand

Tooling 2-15

2 Robot arm

2.5.2 Internal air piping

1) The robot has four φ4 x 2.5 urethane hoses from the pneumatic entrance on the base section to the forearm side. The hose end section has four coupling bridges for a φ4 hose on both the base and forearm side

2) The robot can have up to two pneumatic valve sets on the side of base (optional). (Refer to Page 28, "(3)

Solenoid valve set"

)

2.5.3 Internal wiring for the hand output cable

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

(AWG#24(0.2mm

2

) x 2: 8 cables) The cable terminals have connector bridges for four hand outputs. The connector names are GR1 to GR4.

2.5.4 Internal wiring for the hand input cable

The hand check input cable is wired to four points on the forearm side from the base. To extend the wiring to the outside of the arm, a separate cable (optional "hand input cable "1S-HC30C-11" is recommended) is required.

2-16 Tooling

2 Robot arm

2.5.5 Wiring and piping system diagram for hand

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

A5

A6

B1

B2

A1

A2

A3

A4

B3

B4

B5

B6

<Hand check 1>

<Hand check 2>

<Hand check 3>

<Hand check 4>

<+24V>

<0V(COM)>

General-purpose input No.

汎用入力900

901

汎用入力902

903

900

+24V

901

+24V

902

+24V

903

+24V

GR1

GR2

GR3

GR4

Robot controller

AIR OUT1

AIR OUT2

AIR OUT3

AIR OUT4

AIR IN1

AIR IN2

AIR IN3

AIR IN4

電磁弁の

ソレノイド部

電磁弁

セット

(オプション)

取付部

Solenoid valve manifold

1次エアー the primary air supply

ベース部

Refer to

Fig. 2-8

for air supply circuit example.

Fig.2-6 : Wiring and piping system diagram for hand and example the solenoid valve installation (Sink type)

Tooling 2-17

2 Robot arm

A5

A6

B1

B2

A1

A2

A3

A4

B3

B4

B5

B6

<Hand check 1>

<Hand check 2>

<Hand check 3>

<Hand check 4>

<+24V>

<24GND>

General-purpose input No.

汎用入力900

901

汎用入力902

903

900

24GND

901

24GND

902

24GND

903

24GND

GR1

GR2

GR3

GR4

Robot controller

AIR OUT1

AIR OUT2

AIR OUT3

AIR OUT4

電磁弁の

ソレノイド部

AIR IN1

AIR IN2

AIR IN3

AIR IN4

電磁弁

セット

(オプション)

取付部

電磁弁

マニホールド

1次エアー

供給口へ air supply

ベース部

Refer to

Fig. 2-8

for air supply circuit example.

Fig.2-7 : Wiring and piping system diagram for hand and example the solenoid valve installation (Source type)

2-18 Tooling

2 Robot arm

2.5.6 Electrical specifications of hand input/output

Table 2-4 : 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

DC input

8

Photo-coupler insulation

24VDC approx. 7mA

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

8VDC or more/2mA or more

OFF voltage/OFF current

Input resistance

Response time

4VDC or less/1mA or less

Approx. 3.3kΩ

OFF-ON 10ms or less (DC24V)

ON-OFF 10ms or less (DC24V)

<Sink type>

Internal circuit

+24V

+24V

820

3.3K

HCn*

24GND

<Source type>

+24V

3.3K

820

+24V

HCn*

24GND

* HCn = HC1 ~ HC4

Table 2-5 : Electrical specifications of output circuit

Item Specification

Type

No. of output points

Insulation method

Rated load voltage

Transistor output

8

Photo coupler insulation

DC24V

Rated load voltage range

Max. current load

Protects

DC21.6 to 26.4VDC

0.1A/ 1 point (100%)

Current leak with power OFF 0.1mA or less

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

Response time OFF-ON

ON-OFF

2ms or less (hardware response time)

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

Protects the over-current (0.9A)

Internal circuit

<Sink type>

+24V(COM)

(Initial power supply)

GRn

*

過電流

保護機能

24GND

<Source type>

過電流

保護機能

+24V

GRn

*

24GND(COM)

* GRn = GR1 ~ GR4

Tooling 2-19

2 Robot arm

2.5.7 Air supply circuit example for the hand

Fig. 2-8 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. 2-8

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

(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator.

(4) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

Pressure switch

To the solenoid valve primary air supply port

(0.5MPa)

Pneumatic source

0.7MPa or less

Filter

Regurater

Fig.2-8 : Air supply circuit example for the hand

2-20

2 Robot arm

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

■ What are sipping special specifications?

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

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

■ How to order

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

(2) Specify, before shipping from our company.

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

Shipping special specifications, options, and maintenance parts 2-21

2 Robot arm

2.7 Options

■ What are options?

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

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

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

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

Please choose customer's purpose additionally.

2-22 Options

2 Robot arm

(1) Machine cable extension

■ Order type: For CR750 controller..............● Fixed 1S- □□ CBL-11

● Flexed 1S- □□ LCBL-11

For CR751 controller.............● Fixed 1F- □□ UCBL-11

● Flexed 1S- □□ LUCBL-03

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

■ Outline

CR750 controller

CR751 controller

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

A fixed type and flexible type are available.

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

■ Configuration

Table 2-6 : Configuration equipment and types

Part name

Type

Note1)

Fixed

Qty.

Flexed

CR750 controller

Fixed Set of signal and power cables

Motor signal cable

Motor power cable

Flexed Set of signal and power cables

Motor signal cable

Motor power cable

Nylon clamp

Nylon clamp

Silicon rubber

CR751 controller

Fixed Set of signal and power cables

Motor signal cable

Motor power cable

Flexed Set of signal and power cables

Motor signal cable

Motor power cable

Nylon clamp

Nylon clamp

Silicon rubber

1S-□□ CBL-11

1S-□□ CBL(S)-11

1S-□□ CBL(P)-11

1S-□□ LCBL-11

1S-□□ LCBL(S)-11

1S-□□ LCBL(P)-11

NK-14N

NK-18N

1F-□□ UCBL-11

1F-□□ UCBL(S)-11

1F-□□ UCBL(P)-11

1F-□□ ULCBL-11

1F-□□ LUCBL(S)-11

1F-□□ LUCBL(P)-11

NK-14N

NK-18N

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

Note2) Mass indicates one set.

1 set

(1 cable)

(1 cable)

-

-

-

-

-

-

1 set

(1 cable)

(1 cable)

2 pcs.

2 pcs.

-4 pcs.

1 set

(1 cable)

(1 cable)

-

-

-

-

1 set

-

-

-

-

(1 cable)

(1 cable)

2 pcs.

2 pcs.

-4 pcs.

Remarks

7.6(10m)

10.9(15m)

10m, or 15m each

6.2.(5m)

11.0(10m)

15.4(15m)

5m, 10m, or 15m each

for motor signal cable

-

for motor power cable

7.6(10m)

10.9(15m)

10m, or 15m each

6.2.(5m)

11.0(10m)

15.4(15m)

5m, 10m, or 15m each

-

-

for motor signal cable for motor power cable

Options 2-23

2 Robot arm

■ Specifications

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

Shows usage conditions for flexed type cables in

Table 2-7 .

Table 2-7 : Conditions for the flexed type cables

Item

Minimum flexed radius

Cableveyor, etc., occupation rate

Maximum movement speed

Guidance of life count

Environmental proof

Cable configuration Motor signal cable

Motor power cable

Specifications

100R or more

50% or less

2,000mm/s or less

7.5 million times

Oil-proof specification sheath

(for silicon grease, cable sliding lubricant type) IP54

φ6 x 5, φ8.5 x 1 and φ1.7 x 1

φ6.5 x 10

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

Table 2-7

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

■ Cable configuration

The configuration of the flexible cable is shown in

Table 2-8 . Refer to this table when selecting the cableveyor.

Table 2-8 : Cable configuration (CR750/CR751 common)

Item Motor signal cable

Type

No. of cores

Finish dimensions

No.of cables used

1S-□□ LCBL(S)-01/1F-□□ LUCBL(S)-11

AWG#24(0.2mm

2

)-4P AWG#24(0.2mm

2

)-7P AWG#18(0.75mm

2

)

Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm

5 cables 1 cable 1 cable

No. in total 7 cables

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

Motor power cable

1S-□□ LCBL(P)-02/1F-□□ LUCBL(P)-11

AWG #18 (0.75mm2)-3C

Approx. φ6.5mm

10 cables

10 cables

2-24 Options

2 Robot arm

■ Fixing the flexible cable

(1) Connect the connector to the robot arm.

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

sion section as shown in Fig. 2-9

(CR750) or Fig. 2-10

(CR751), and fix with the nylon clamp to protect the cable from external stress.

<CR750 controller>

Motor power

(CN1)

Motor signal

(CN2)

Robot arm

(Opposite side of figure)

Robot controller

CN1

Connection ring

(fixing)

CN2

ラッチ

(固定用 左右)

Nylon clamp

NK-14N

Nylon clamp

NK-14N

CN1

Connection ring

(fixing)

CN2

ラッチ

(固定用 左右)

(For fixing.

Right and left)

300~400mm

標準付属5m固定ケーブル 延長屈曲ケーブル

(Standard attachment)

(オプション)

Nylon clamp

NK-18N

Nylon clamp

NK-18N

300~400mm

CAUTION

The cable should bend and the size should be 300mm or more from the installation surface center.

Cover the extension connection section with the cover etc. so that the connector latch part may not touch easily.

min

Fig.2-9 : Fixing the flexible cable (CR750)

Options 2-25

2 Robot arm

<CR751controller>

AMP1 AMP2

BRK

Motor signal

(CN2)

Robot controller

Robot arm

(Opposite side of figure)

CN2

ラッチ

(固定用 左右)

Nylon clamp

NK-14N

Nylon clamp

NK-14N

CN1

Connection ring

(fixing)

CN2

ラッチ

(固定用 左右)

(For fixing.

Right and left)

300~400mm

標準付属5m固定ケーブル 延長屈曲ケーブル

(Standard attachment)

(オプション)

Nylon clamp

NK-18N

Nylon clamp

NK-18N

300~400mm min

Fig.2-10 : Fixing the flexible cable (CR751)

CAUTION

The cable should bend and the size should be 300mm or more from the installation surface center.

Cover the extension connection section with the cover etc. so that the connector latch part may not touch easily.

2-26 Options

2 Robot arm

(2) Stopper for changing the operating range

■ Order type J1 axis: 1S-DH-11J1

J2 axis: 1S-DH-11J2

J3 axis: 1S-DH-11J3

■ Outline

J3 axis

J1 axis

J2 axis

The operating range of J1, J2 or J3 axis is limited by the robot arm's mechanical stopper and the controller parameters.

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

■ Configuration

Table 2-9 : Configuration devices

Part name

Stopper for changing the operating range

Type

1S-DH-11J1

1S-DH-11J2

1S-DH-11J3

Qty.

2 pcs.

2 pcs.

2 pcs.

Mass(kg)

0.1

0.1

0.1

Remarks

Stopper block Moving side : One Set

Fixing side : Two blocks

Installation bolt (M5 x 20) : Six bolts

Stopper block Plus side : One block

Minus side : One block

Installation bolt (M4 x 10) : Four bolts

Stopper block: One set

Installation bolt (M4 x 8) : One bolt

(M4 x 22) : One bolt

■ Specifications

Table 2-10 : Specifications

Axis Standard

Changeable angle

Note1)

J1

J2

+ side

- side

+ side

- side

+240 degree

-240 degree

+120 degree

-120 degree

Change to +210(+217), +150(+155) or +90 (+93) degree are possible.

Change to -210(-217), -150(-155) or -90 (-93) degree are possible.

Change to +30(+33) degree is possible.

Change to -30(-33) degree is possible.

J3

+ side

- side

+160 degree

0 degree

Change to +70(+69) degree is possible.

Nothing

Note 1) The number in bracket ( ) shows the mechanical stopper's installation position.

Note 2) Change of the operating range has limitation of combination. Change the operating range to

+/-150, +/-90, +210 to -90, +90 to -210, +150 to -90 or +90 to -150 degree are possible.

Table 2-11 : Operating range change combination of the J1 axis.

+210 +150 +90

-

-

210

150

90

×

×

×

○ ○

O: Possible. X: Impossible.

The operating range change stopper installs in the position (near 0 degree) that the J1 axis has turned to the front.

Note 3) Change the operating range to +70 to +160 degree is possible.

(1) The changeable angle shown in

Table 2-10

indicates the operation range by the software. The changeable angle can be set independently on the + side and - side.

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

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

Options 2-27

2 Robot arm

(3) Solenoid valve set

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

Two sets : 1E-VD02(Sink type)1E-VD02E(Source type)

■ Outline

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

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

■ Configuration

Table 2-12 : Configuration equipment

Part name Type

Solenoid valve set (1 set) 1E-VD01/1E-VD01E

Solenoid valve set (2 sets) 1E-VD02/1E-VD02E

One set

1 pc.

Q'ty

Two sets

1 pc.

Remark

M3 x 25 two screws (installation screws).

■ Specifications

Table 2-13 : Valve specifications

Item

Number of positions

Port

Valve function

Operating fluid

Operating method

Effective sectional area (CV value)

Oiling

Operating pressure range

Response time

Max. operating frequency

Ambient temperature

2

5

Note1)

Double solenoid

Clean air

Note2)

Internal pilot method

1.5mm(0.008)

Unnecessary

0.2 to 0.7MPa

12msec or less

5Hz

5 to 50 ℃

Specifications

Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied air will blow out from the couplings, lowering the air pressure of the solenoid valves being used and making them nonfunctional

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

Note2)

CAUTION

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

Table 2-14 : Solenoid specifications

Item

Method

Operation voltage

Current value

Insulation

Insulation resistance

Surge protection

Specifications

Built-in fly-wheel diodes with surge protection

DC24V ±10%

40mA

B type

100MΩ or more

Fly-wheel diode

2-28 Options

2 Robot arm

(1)

GR3

GR1

(12) 2-φ3.3

SOL1A SOL2A

(1)(4) (2)

(6) 35.6

(3)

GR2

GR4

Part no.

Part name

(1)

(2)

(3)

(4)

Solenoid valve

Manifold block

Quick coupling

Block plate

(5)

(6)

Quick coupling

Silencer

(10) Connector

(11) Contact

(12) Installation screw

SOL1B

SOL2B

28.4

36.4

(10)(11)

(20) 以下

(5)

1 sets 2 sets

2

4

1

1

2

2

1

1

1

4

8

1

1

2

4

0

2

1

Specifications

φ4

φ6

SMR-02V-B

SYM-001T-0.6

M3×25

(45) 以下

<Sink type>

SOL1A

SOL1B

SOL2A

SOL2B

<Source type>

Black

Red

Black

Red

Black

Red

Black

Red

General purposes

output 900

Connector name

1 Hand1ON

2 +24V

GR1

General purposes

output 901

1 Hand1OFF

+24V

GR2

General purposes

output 902

1 Hand2ON

+24V

GR3

General purposes

output 903

1 Hand2OFF

+24V

GR4

SOL1A

SOL1B

SOL2A

SOL2B

Red

Black

Red

Black

Red

Black

Red

Black

General purposes

output 900

Connector name

1  Hand1ON

2  24G

GR1

General purposes

output 901

1  Hand1OFF

2  

GR2

General purposes

output 902

1  Hand2ON

2  

GR3

General purposes

output 903

1  Hand2OFF

2  

GR4

Fig.2-11 : Outline dimensional drawing

Options 2-29

2 Robot arm

(4) Hand input cable

■ Order type: 1S-HC30C-11

■ Outline

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

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

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

■ Configuration

Table 2-15 : Configuration equipment

Part name Type

Hand input cable 1S-HC30C-11

Note1) Mass indicates one set.

Qty.

1 cable

Mass (kg)

Note1)

0.2

Remarks

■ Specifications

Table 2-16 : Specifications

Item

Size x cable core

Total length

Specifications

AWG#24 (0.2 mm

2

)×12 cores

700mm (Including the curl section, which is 300mm long)

Remarks

One-sided connector, one-sided cable bridging

15

200

HC

1-1827864-6

300

200±10

(Purple)

(Brown)

(Blue)

(Black)

(Yellow)

(Green)

<

CON1H

>

A5

A6

B1

B2

A1

A2

A3

A4

B3

B4

B5

B6

HC1

HC2

HC3

HC4

+24V

0V(COM)

* Pin assignment of sink and source is the same.

Fig.2-12 : Outside dimensional drawing and pin assignment

2-30 Options

2 Robot arm

(5) Hand output cable

■ Order type: 1E-GR35S

■ Outline

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

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

■ Configuration

Table 2-17 : Configuration equipment

Part name

Hand output cable

Type

1E-GR35S

Note1) Mass indicates one set.

Qty.

1 cable

■ Specifications

Table 2-18 : Specifications

Item

Size x Cable core

Total length

Specifications

AWG#22(0.3mm

2

)×8 cores

350mm

Mass (kg)

Note1)

0.1

Remarks

Remarks

One side connector and one side cable connection

(1)(2)

(3)

350

・ Configuration

Part no.

Part name

( 1 )

( 2 )

( 3 )

Connector

Contact

Twisted cable

Qty.

4

8

4

Specifications

SMR-02V-B

SYM-001T-0.6

AWG#22 (0.3mm

2

)×2 cores

White

Black

White

Black

White

Black

White

Black

Connector

1

2

GR1

Hand 1 ON

+24V

1

2

GR2

Hand 1 OFF

+24V

1

2

GR3

Hand 2 ON

+24V

1

2

GR4

Hand 2 OFF

+24V

Hand 1 ON

+24G

Hand 1 OFF

+24G

Hand 2 ON

+24G

Hand 2 OFF

+24G

Fig.2-13 : Outline dimensional drawing and pin assignment

Options 2-31

2 Robot arm

(6) Hand curl tube

■ Order type: One set :1E-ST0402C

Two sets :1E-ST0404C

■ Outline

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

■ Configuration

Table 2-19 : Configuration equipment

Part name

Hans curl tube (One set: 2 pcs.)

Hans curl tube (Two set: 4 pcs.)

Type

1E-ST0402C

1E-ST0404C

Note1) Mass indicates one set.

Qty.

1 pc.

1 pc.

■ Specifications

Table 2-20 : Specifications

Item

Material

Size

Specifications

Urethane

Outside diameter: φ4 x Inside diameter: φ2.5

Mass(kg)

Note1)

0.1

0.1

Remarks

φ4 tube, 2pcs.

φ4 tube, 4pcs.

250

180

200

Fig.2-14 : Outline dimensional drawing

2-32 Options

2 Robot arm

2.8 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of specified service life or other parts which have been damaged, so that the robots may be put back in shape for continued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot body and 36,000 hours for the controller). (See

Fig. 2-15

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

If overhaul is not performed

Shipment

Predetermined time period

Periodic inspection

Overhaul

If overhaul is performed

Servo-on time

Fig.2-15 : Periodic inspection/overhaul periods

About Overhaul 2-33

2 Robot arm

2.9 Maintenance parts

The consumable parts used in the robot arm are shown in

Table 2-21

. Purchase these parts from the designated maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-21 : Consumable part list

No.

Part name Type

Note1)

Usage place Qty.

Supplier

1

2

Grease

Lithium battery

Reduction gears of each axis

In the battery cover

As needed

4 pcs.

Mitsubishi Electric

ER6

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

2-34 Maintenance parts

3Controller

3 Controller

3.1 Standard specifications

Table 3-1 : Specifications of controller

Item

Type

Number of control axis

Memory capacity

Programmed positions

No. of steps

Number of program

Robot language

Teaching method

External input and output

Input and output

Dedicated input/output

Interface

Hand open/close input/output

Emergency stop input

Door switch input

Enabling device input

Emergency stop output

Mode output

Robot error output

Addition axis synchronization

Mode changeover switch input

RS-422

Ethernet

USB

Additional axis interface

Unit point step point point point point point point point point point point port port port

Channel

Specification

CR750-02VD-1

CR751-02VD-1

Simultaneously 6

39,000

78,000

512

MELFA-BASIC V

Pose teaching method, MDI method

Note1)

0/0

Assigned with general-purpose input/output

8/8

1

1

1

1

1

1

1

1

1

1

1

1

Remarks

Max. 256/256 by option

The signal number of "STOP" input signals is fixing.

Built-in

Dual line

Dual line

Dual line

Dual line

Dual line

Dual line

Dual line

Dual line

Only for T/B

10BASE-T/100BASE-Tx

Ver.2.0 FullSpeed

Only device function

SSCNET III (Connects with MR-J3-

BS, MR-J4-B series)

Power source

Tracking interface

Option slot

Input voltage range

Power capacity

Power supply frequency

Outline dimensions

Note3)

Mass

Construction

Operating temperature range

Ambient humidity

Grounding

Paint color

Channel slot

V kVA

Hz mm kg

%RH

Ω

2

2

1-phase, AC180 to 253

0.5

50/60

CR750: 430(W) x 425(D) x 174(H)

CR751: 430(W) x 425(D) x 98(H)

CR750: Approx. 16

CR751: Approx. 12

Self-contained floor type,

Opened type

0 to 40

45 to 85

100 or less

Dark gray

For option interface

Does not include rush current

Note2)

Excluding protrusions

IP20

Note4)

Without dew drops

100Ωor less (class D grounding)

Note5)

Note1) Pose teaching method: The method to register the current position of the robot arm.

MDI method: The method to register by inputting the numerical value Immediate.

Note2) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The power consumption in the specific operation pattern with the RV-2F is approx. 0.33kW. The short circuit breaker should use the following.

* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip.

Note3) Refer to

Page 41, "3.4 Outside dimensions/Installation dimensions"

for details.

Note4) This controller is standard specification. (Refer to Page 36, "3.2 Protection specifications and operating supply" .)

Note5) The robot must be grounded by the customer.

Standard specifications 3-35

3Controller

3.2 Protection specifications and operating supply

A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.

The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.

【Information】

・ The IEC IP20

It indicates the protective structure that prevents an iron ball 12 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 125, "6.2 Working environment" for details on the working environment.

3-36 Protection specifications and operating supply

3.3 Names of each part

3.3.1 Controller

(1) CR750 controller

Controller (Front side)

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

<18>

3 Controller

<6>

<4>

 

<5>

 

<20>

Fan, Air suction

<7> <8> <9>

<10>

Attached cover

<19>

<2>

1-phase

<1>

L1

<13> <12>

L2: no-CE specifications

N: CE specifications

<21>

<14>

<22> <23>

<20>: The operation panel

<24>

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

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

Names of each part 3-37

3 Controller

<1> ACIN terminal ................................................The terminal box for AC power source (1-phase or 3-phase, AC200V) input. (Inner side of a cover)

<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place)

<3> Power switch..................................................This turns the control power ON/OFF

<4>

Machine cable connector (motor signal) (CN1)

Connect with the CN1 connector of the robot arm.

<5>

Machine cable connector (motor power) (CN2)

Connect with the CN2 connector of the robot arm.

<6> T/B connection connector (TB)............This is a dedicated connector for connecting the T/B. When not using T/

B, connect the attached dummy connector.

<7><8><9><10> CNUSR connector...............The connector for input/ output connection dedicated for robot. (a plug connector attached)

<7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2

<11> LAN connector (LAN)......................... For LAN connection

<12> ExtOPT connector (ExtOPT) .......... Connect the cable for addition axis control.

<13> RIO connector (RIO) ........................... Connect the extension parallel input/output unit.

<14> Option slot (SLOT1, SLOT2)........... Install the interface optional. (Install the cover, when not using.)

<15> Interface cover ...................................... USB interface and battery are mounted.

<16> Mode key switch ................................... This key switch changes the robot's operation mode.

AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the operation mode must be at the external device or T/B are not possible. (Exclude the start of automatic operation.)

MANUAL ..................When the T/B is valid, only operations from the T/B are valid. Operations for which the operation mode must be at the external device or controller are not possible.

<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.

<18> Filter cover.............................................. There is an air filter inside the cover.

<19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2 places)

<20> Operation panel ..................................... The operation panel for servo ON/OFF, START/STOP the program etc.

<21>

Display panel

(STATUS.NUMBER)

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

<22> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order of "Override" → "Program No." → "Line No.".

<23> UP/DOWN button ............................... This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

<24> SVO.ON button...................................... This turns ON the servo power. (The servo turns ON.)

<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)

<26> START button........................................ This executes the program and operates the robot. The program is run continuously.

<27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.

<28> RESET button ........................................ This resets the error. This also resets the program's halted state and resets the program.

<29> END button.............................................. This stops the program being executed at the last line or END statement.

3-38 Names of each part

(2) CR751 controller

Controller (Front side)

<4> <7>

<10>

<15> <9>

3 Controller

<2> <1> <3>

Controller (Rear side)

<5> <6> <14> <13> <12><11> <8>

<15>: The operation panel

<16>

Exhaust

<17> <18>

<19> <20> <21> <22> <23> <24>

Fig.3-2 : Names of controller parts (CR751)

<1> ACIN connector.......................................The connector for AC power source (1-phase, AC200V) input (a socket housing and a terminal are attached)

<2> PE terminal................................................The screw for grounding of the cable. (M4 screw x 2 place)

<3> POWER lamp.............................................Lamp of control power source

<4> Machine cable connector (motor power)

AMP1, AMP2: Motor power, BRK: Motor brake

Names of each part 3-39

3 Controller

<5> Machine cable connector (motor signal)

CN2: Motor signal

<6>T/B connection connector (TB) ........This is a dedicated connector for connecting the R33TB. When not using T/

B, connect the attached dummy plug.

<7>Filter cover..................................................There is an air filter and buttery inside this cover.

<8>CNUSR connector....................................The connector for input/ output connection dedicated for robot.

(CNUSR1、 CNUSR2) (a plug connector attached)

<9>Grounding terminal...................................The grounding terminal for connecting cables of option card. (M3 screw x 2 places)

<10>Power supply charge lamp (CRARGE)

The lamp is to ensure safe timing (prevent electric shocks) when removing the cover (users are not normally required to remove the cover).

This lamp is illuminated (red) when electrical energy accumulates on the controller’s power supply circuit board due to the robot’s servo being ON.

After turning the control power OFF and allowing a few minutes to pass, the lamp will go out.

<11>USB connecting connector (USB)..For USB connection

<12>LAN connector (LAN)...........................For LAN connection

<13>ExtOPT connector (ExtOPT)............Connect the cable for addition axis control.

<14>RIO connector (RIO).............................Connect the extension parallel input/output unit.

<15>Option slot ................................................Install the interface optional. (Install the cover, when not using.)

(SLOT1、 SLOT2)

Caution

Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.

3-40 Names of each part

3.4 Outside dimensions/Installation dimensions

3.4.1 Outside dimensions

(1) CR750 controller

3 Controller

Fig.3-3 : Outside dimensions of controller (CR750)

Outside dimensions/Installation dimensions 3-41

3 Controller

(2) CR751 controller

Fig.3-4 : Outside dimensions of controller (CR751)

3-42 Outside dimensions/Installation dimensions

3.4.2 Installation dimensions

(1) CR750 controller

<Placed horizontally>

145mm 145mm

250mm

以上

<Placed vertically>

3 Controller

Fig.3-5 : Installation of controller (CR750)

CAUTION

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in

Fig. 3-6

.

You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2 mm) surely makes 6.8 mm or less.

CAUTION

When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits. The skin temperature of the controller may rise, and the error may occur.

Outside dimensions/Installation dimensions 3-43

3 Controller

hole

hole

hole

(Controller fixation hole)

Fig.3-6 : Metal plate for fixation to placing vertically (Reference for CR750)

3-44 Outside dimensions/Installation dimensions

(2) CR751 controller

<Placed horizontally>

145mm 145mm

250mm

以上

3 Controller

<Placed vertically>

Fig.3-7 : Installation of controller (CR751)

CAUTION

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in

Fig. 3-8

.

You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2mm) surely makes 6.8mm or less.

CAUTION

When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits. The skin temperature of the controller may rise, and the error may occur.

Outside dimensions/Installation dimensions 3-45

3 Controller

hole

hole

Fig.3-8 : Metal plate for fixation to placing vertically (Reference for CR751)

3-46 Outside dimensions/Installation dimensions

3 Controller

3.5 External input/output

3.5.1 Types

(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and status display.

(2) General-purpose input/output.................These are inputs and outputs that the customer can program for peripheral device control.

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

(4)Emergency stop/Door switch input.........The wiring for the safe security of the emergency stop etc. is shown in

on Page 51, "3.7 Emergency stop input and output etc."

and on Page

112, "6.1.7 Examples of safety measures" .

<For Reference>

Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to control robot controller's input/output from a GOT (graphic operation terminal).

External input/output 3-47

3 Controller

3.6 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-2 . Refer to attached instruction manual

"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.

Table 3-2 : Dedicated input/output list

Parameter name

Name

Input

Function

TEACHMD None

ATTOPMD

ATEXTMD

RCREADY

None

None

None

AUTOENA Automatic operation enabled input signal

START Start input signal

Allows automatic operation.

Starts all slots.

Note1)

Level

L

Name

Teaching mode output signal

Automatic mode output signal

Remote mode output signal

Controller power ON complete signal

Automatic operation enabled output signal

Output

Function

Outputs that the teaching mode is entered.

Outputs that the automatic mode is entered.

Outputs that the remote mode is entered.

Outputs that external input signals can be received.

Outputs the automatic operation enabled state.

E

Operating output signal

Wait output signal

Outputs that the slot is operating.

Outputs that the slot is temporarily stopped.

STOP

STOP2

Stop input signal

Stop input signal

SLOTINIT Program reset input signal

ERRRESET Error reset input signal

CYCLE Cycle stop input signal

SRVOFF

SRVON

Servo ON enabled input signal

Servo ON input signal

IOENA

MELOCK

Operation rights input signal

Machine lock input signal

SAFEPOS Evasion point return input signal

OUTRESET General-purpose output signal reset

EMGERR

Stops all slots.

The input signal No. is fixed to 0.

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

The program during operation is stopped.

Unlike the STOP parameter, change of the signal number is possible.

Notes) Specification is the same as the STOP parameter.

Resets the wait state.

Resets the error state.

Carries out cycle stop.

Turns the servo OFF for all mechanisms.

Turns the servo ON for all mechanisms.

Requests the operation rights for the external signal control.

Sets/resets the machine lock state for all mechanisms.

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

S1START

:

S32START

Start input Starts each slot.

L

L

E

E

E

L

E

L

E

E

E

E

Wait output signal Outputs that the slot is temporarily stopped.

Notes) Specification is the same as the

STOP parameter.

Program selection enabled output signal

Error occurring output signal

In cycle stop operation output signal

Servo ON enabled output signal

In servo ON output signal

Operation rights output signal

In machine lock output signal

In evasion point return output signal

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

Outputs that an error has occurred.

Outputs that the cycle stop is operating.

Outputs servo-on disable status.

(Echo back)

Outputs the servo ON state.

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

Outputs the machine lock state.

Outputs that the evasion point return is taking place.

None

Emergency stop output signal

In operation output

Outputs that an emergency stop has occurred.

Outputs the operating state for each slot.

3-48 Dedicated input/output

3 Controller

Parameter name

Name

Input

Function

S1STOP

:

S32STOP

PRGSEL

Stop input Stops each slot.

OVRDSEL

IODATA

Note2)

PRGOUT

Program selection input signal

Override selection input signal

Numeric value input

(start No., end No.)

Program No. output request

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

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

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

Requests output of the program name.

Note1)

Level

L

E

E

L

E

LINEOUT Line No. output request

OVRDOUT Override value output request

Requests output of the line No.

Requests the override output.

E

E

Name

In wait output

Program No. output signal

Override value output signal

Output

Function

Outputs that each slot is temporarily stopped.

None

None

Numeric value output

(start No., end No.)

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

Outputs that the program name is being output to the numeric value output signal.

-

ERROUT

JOGENA

JOGM

JOG+

Error No. output request

Jog valid input signal

Jog mode input 2bit

Jog feed + side for

8-axes

JOG-Jog feed -

8-axes

HNDCNTL1

Requests the error No. output.

Validates jog operation with the external signals

Designates the jog mode.

Requests the + side jog operation.

Requests the - side jog operation.

E

E

L

L

L

Error No. output signal

Jog valid output signal

Jog mode output 2bit

Outputs that the override value is being output to the numeric value output signal.

Outputs that the error No. is being output to the numeric value output signal.

Outputs that the jog operation with external signals is valid.

Outputs the current jog mode.

None

None

:

HNDCNTL3

HNDSTS1

:

HNDSTS3

None

None

Mechanism 1 hand output signal status

:

Mechanism 3 hand output signal status

Mechanism 1 hand input signal status

:

Mechanism 3 hand input signal status

Mechanism 1: Outputs the status of general-purpose outputs

900 to 907.

Mechanism 2: Outputs the status of general-purpose outputs

910 to 917.

Mechanism 3: Outputs the status of general-purpose outputs

920 to 927.

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

Mechanism 2: Outputs the status of hand inputs 910 to 917.

Mechanism 3: Outputs the status of hand inputs 920 to 927.

HNDERR1

:

HNDERR3

Mechanism 1 hand error input signal

:

Mechanism 3 hand error input signal

Requests the hand error occurrence.

L

Mechanism 1 hand error output signal

:

Mechanism 3 hand error output signal

Outputs that a hand error is occurring.

Dedicated input/output 3-49

3 Controller

Parameter name

AIRERR1

:

AIRERR3

M1PTEXC

Input

Name Function

Pneumatic pressure error 1 input signal

:

Pneumatic pressure error 3 input signal

Request the pneumatic pressure error occurrence.

None

:

M3PTEXC

USERAREA

Note3)

None

Note1)

Level

L

L

Name

Pneumatic pressure error 1 output signal.

:

Pneumatic pressure error 3 output signal.

Maintenance parts replacement time warning signal

Output

Function

Outputs that a pneumatic pressure error is occurring.

Outputs that the maintenance parts have reached the replacement time.

User-designated area

8-points

Outputs that the robot is in the userdesignated area.

Note1) The level indicates the signal level.

L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the signal is OFF.

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

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

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

3-50 Dedicated input/output

3 Controller

3.7 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from the "special input/output" terminal connector.

Table 3-3 : Special input/output terminal

Item Name Function

Input

Input

Input

Input

Emergency stop

Special stop input

Door switch

Enabling device

Output Robot error output

Output Emergency stop output

Applies the emergency stop. Dual emergency line

Applies the stop. (Refer to Page 60, "3.7.2 Special stop input (SKIP)"

Servo-off. Dual line, normal close ( Page 62, "3.7.3 Door switch function"

)

Servo-off. Dual line, normal close ( Page 62, "3.7.4 Enabling device function"

)

Contactor is opening during error occurrence.

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

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

Output Mode output

Output Magnet contactor control connector output for addition axes

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

with the robot arm. ( Page 70, "3.10 Magnet contactor control connector output (AXMC) for addition axes" )

*At the time of the power supply OFF, the output point of contact is always open.

[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the equipment except for this range. The use exceeding contact capacity causes failure.

Pin number assignment of each terminal and the circuit diagram are shown in

Fig. 3-10

(CR750) or Fig. 3-13

(CR751).

3.7.1 Connection of the external emergency stop

The external emergency stop input and door switch input and enabling device input are opened at shipment as

shown in Fig. 3-10

(CR750) or

Fig. 3-13

(CR751).

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

And, the example of the connection and notes of the emergency stop are described in Page 112, "6.1.7 Examples of safety measures"

Refer to it together

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of the pins is connected.

1) Please prepare the emergency stop switch, door switch and enabling device.

a) External emergency switch

・ CR750 controller ..........CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4".

・ CR751 controller ..........CNUSR1 connector "between 2 and 27" and "between 7 and 32".

b) Door switch

・ CR750 controller ..........CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".

・ CR751 controller ..........CNUSR1 connector "between 4 and 29" and "between 9 and 34".

c) Enabling device

・ CR750 controller ..........CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".

・ CR751 controller ..........CNUSR1 connector "between 5 and 30" and "between 10 and 35".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environment that is easily affected by noise, be sure to fix the attached ferrite core (model number:

E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than

30 cm from the connecting terminal section.

CAUTION

Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions

Emergency stop input and output etc. 3-51

3 Controller

(such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.

CAUTION

You should always connect doubly connection of the emergency stop, the door switch, and the enabling switch. (Connect with both of side-A and side-B of the controller rear connector) In connection of only one side, if the relay of customer use should break down, it may not function correctly.

And, the output contacts from the robot controller (robot error output, emergency stop output, mode output, addition axis contactor control output) are dual contacts (synchronizes). You should connect surely by dual line with the customer's equipment as well as connection of the emergency stop and the door switch.

CAUTION

Please make sure to wire the multiple emergency stop switches so that they each function independently. Check and make sure that the emergency stop doesn't only function under an AND condition (when multiple emergency stop switches are ON at the same time).

3-52 Emergency stop input and output etc.

(1) CR750 controller

Note) Note)

CNUSR11コネクタ

CNUSR12コネクタ

フェライトコア

2回通し

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

Note) The form of the machine cable connector

(CN1/CN2) may differ in RV-2F series.

3 Controller

Emergency stop input and output etc. 3-53

3 Controller

内部回路構成

OP

非常停止

CNUSR11

11

12

13

14

CNUSR12

11

12

13

14

+24V

RA

Relay

CNUSR11

1

2

3

4

5

6

24GND

+24V

RA

Relay

+24V

24GND

RA

Relay

24GND

+24V

7

8

9

10

Enabling device input

CNUSR2

16

41

17

RA

Relay

CNUSR12

1

2

3

4

5

6

24GND +24V

RA

Relay

+24V

24GND

RA

Relay

24GND

警告

絶縁耐圧試験は行なわないでください。

また誤って接続した場合は故障の原因となります。

7

8

9

10

Enabling device input

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

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

CAUTION

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing

Page 112, "6.1.7 Examples of safety measures"

.

This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

3-54 Emergency stop input and output etc.

<CR750 controller>

CNUSR11/12 connector

Note) Note)

3 Controller

CNUSR11

CNUSR12

Reference: CNUSR13

(Connect the encoder, when using the tracking function)

Note) The form of the machine cable connector (CN1/CN2) may differ in RV-2F series.

Connector for user wiring

Connector fixing screw

(Two places)

Driver

*Recommendation driver size: 2.5mm.

Cable fixing screw

Pin number of connector

A

Cable insert point

1

16

7mm

View A

Connecting cable

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

2

))

Connection procedure

Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the controller.

Please use an AWG #26 to 16 (0.14 to 1.5mm

2

) connector cable.

1) Prepare the user wiring connector that accompanies the product.

2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head with a width of 2.5mm to loosen the screw.

3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding connector.

4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.

(tightening torque of 0.22 to 0.25Nm)

5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that corresponds with the controller. Connect so that the cable fixing screw is comes on top, and make sure to fix securely by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should be used to fix screws (tightening torque of 0.22 to 0.25Nm).

This concludes the connection procedure.

Fig.3-11 : Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))

CAUTION

The connector on the controller side that connects to the user wiring connector is

CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not operate properly.

Emergency stop input and output etc. 3-55

3 Controller

<CR750 controller>

CNUSR2 connector

Note) Note)

Cover fixing screw (Two places)

Connector cover

CNUSR2

Plug

25

View A

Pin number of plug

1

Remove the connector cover

Connector for user wiring

50

Soldering

26

A

3mm

Note) The form of the machine cable connector (CN1/CN2) may differ in

RV-2F series.

Connecting cable

(AWG #30-24 (0.05mm

2

-0.2mm

2

))

Connection procedure

Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the

CNUSR2 connector at the back of the controller. For the connection cables, please use AWG #30 to 24 (0.05 to

0.2mm

2

).

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

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.

3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and make sure it is fastened securely.

4) Connect the connector to the corresponding connector (CNUSR2) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

Fig.3-12 : Method of wiring for external emergency stop connection (CR750 (CNUSR2))

CAUTION

When soldering please take care to only connect to the specified pin number.

Connecting to a different pin number or short-circuiting with another pin will result in the robot breaking down or malfunctioning.

3-56 Emergency stop input and output etc.

3 Controller

(2) CR751 controller

フェライトコア

2回通し

Fig.3-13 : Emergency stop cable connection (CR751)

Note) RV-2F series has operation panel.

Emergency stop input and output etc. 3-57

3 Controller

CNUSR1

18

43

20

45

17

42

19

44

TB

非常停止

+24V

RA

Relay

24GND

+24V

RA

Relay

+24V

24GND

RA

Relay

24GND

+24V

CNUSR1

1

26

2

27

3

28

4

29

5

30

Enabling device input

CNUSR2

16

41

17

RA

Relay

6

31

7

32

8

33

24GND +24V

RA

Relay

+24V

24GND

RA

Relay

24GND

警告

絶縁耐圧試験は行なわないでください。

また誤って接続した場合は故障の原因となります。

9

34

10

35

Enabling device

デバイス入力

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

Fig.3-14 : External emergency stop connection (CR751)

CAUTION

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing

Page 112, "6.1.7 Examples of safety measures"

.

This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

3-58 Emergency stop input and output etc.

3 Controller

<CR751 controller>

CNUSR1/2 connector

Note) RV-2F series has operation panel.

Cover fixing screw (Two places)

Connector cover

Plug

CNUSR1

CNUSR2

25

View A

Pin number of plug

1

Connector for user wiring

Soldering

Remove the connector cover

50

26

A

3mm

Connecting cable

(AWG #30 ~ #24(0.05mm ~ 0.2mm

2

))

Connection procedure

Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the

CNUSR1 or CNUSR2 connector at the back of the controller. For the connection cable, please use AWG #30 to 24

(0.05 to 0.2mm

2

).

1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.

3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.

4) Connect the connector to the corresponding connector (CNUSR1 or CNUSR2) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

Fig.3-15 : Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))

CAUTION

When soldering please take care to only connect to the specified pin number.

Connecting to a different pin number or short-circuiting with another pin will result in the robot breaking down or malfunctioning.

The connectors on the controller side are CNUSR1 (upper side) and CNUSR2 (lower side). Makes sure that there is no mistake when connecting to the target connectors.

Connecting incorrectly will result in the robot breaking down or malfunctioning.

Emergency stop input and output etc. 3-59

3 Controller

3.7.2 Special stop input (SKIP)

The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-16

(CR750) or Fig. 3-17

(CR751).

Table 3-4 : Special stop input electric specification

Item Specifications

Type

No. of input point

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

OFF voltage/OFF current

Input resistance

Response time

OFF → ON

ON → OFF

Common method

External wire connection method

DC input

1

Photo-coupler insulation

DC24V

Approx. 11mA

DC 21.6 ~ 26.4V

(Ripple rate within 5%)

DC 8V or more / 2mA or more

DC 4V or less / 1mA or less

Approx. 2.2 k Ω

1ms or less

1ms or less

1 point per common

Connector

Internal circuit

330

2.2k

+24V(COM)

(1) CR750 controller

Note) Note)

Note) The form of the machine cable connector (CN1/CN2) may differ in RV-2F series.

* Connects with CNUSR2 connector with soldering.

Refer to

Page 56 "Fig. 3-12: Method of wiring for external emergency stop connection (CR750 (CNUSR2))" .

Fig.3-16 : Connection of the special-stop-input (CR750)

3-60 Emergency stop input and output etc.

フェライトコア

2回通し

3 Controller

(2) CR751 controller

Note) RV-2F series has operation panel.

フェライトコア

2回通し

Fig.3-17 : Connection of the special-stop-input (CR751)

* Connects with CNUSR2 connector with soldering.

Refer to Page 59 "Fig. 3-15: Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))"

.

Emergency stop input and output etc. 3-61

3 Controller

3.7.3 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur. Follow the wiring example shown in

Page 54 "Fig. 3-10: External emergency stop connection (CR750)" or

Page 57 "Fig. 3-13: Emergency stop cable connection (CR751)",

and Page 112,

"6.1.7 Examples of safety measures"

. Those figure explains the wire is contact closes when the door is closed.

Details of this function according to the robot status are shown below.

*During automatic operation ...............When the door is opened, the servo turns OFF and the robot stops. An error occurs.

The process of the restoration: Close the door, reset the alarm, turn on the servo, and restart

*During teaching........................................Even when the door is opened, the servo can be turned ON and the robot moved using the teaching pendant.

① Auto executing

Safeguard

STOP!!

Open

Robot arm

(Example)

Turns OFF the servo

② Teaching

Safeguard

Open

Robot arm

(Example)

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

Fig.3-18 : Door switch function

3.7.4 Enabling device function

When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by switch operation of the enabling device

*1)

(servo-off), and the safety increases. To use the robot safely, please be sure to connect the enabling device.

(1) When door is opening

Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device.

And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the enabling device is released.

*1) Recommendation products: HE1G-L20MB (IDEC)

3-62 Emergency stop input and output etc.

3 Controller

(2) When door is closing

You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the safeguard sure.

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

The following is a description of various operations performed on the robot and switch settings that are required.

Table 3-5 : Various operations and necessary switch settings

Related switch settings

Note1)

No Operation

Mode of controller

T/B enable/ disable

T/B enable switch

Enabling device input terminal

Door switch input terminal

Description

1 Jog operation

2

3

4

Jog operation

Note2)

Brake release

Note3)

Automatic operation

Manual

Manual

Manual

Automatic

Enable

Enable

Enable

Disable

ON

ON

ON

Close(ON)

Open(OFF)

Close(ON)

Close

(Door Close)

Close

(Door Close)

If the enabling device input is set to

Close (On), the state of door switch input does not matter.

If the enabling device input is set to

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

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

Door switch input must always be in a state of Close (Door Close).

Note1) "-" in the table indicates that the state of switch concerned does not matter.

Refer to the following for operation of each switch.

・ Mode of controller: ...........................................................................

Page 64, "3.8 Mode changeover switch input"

・ T/B enable/disable:

........................................................................................ Page 73, "(1) Teaching pendant (T/B)"

・ T/B enable switch:

......................................................................................... Page 73, "(1) Teaching pendant (T/B)"

・ Enabling device input terminal:

.................................................Page 112, "6.1.7 Examples of safety measures"

・ Door switch input terminal:

........................................................Page 112, "6.1.7 Examples of safety measures"

Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety barrier.

Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake release can be effected only when both of the enabling switch device and the T/B enable switch are placed in intermediate position (lightly gripped position). At this point, the state of door switch input does not matter.

T/B being manipulated

CAUTION

Door in

Open state

Upon the release of brake, the robot arm may fall under its own weight depending on the axis which has been released. For added safety, provide support or take other precaution to prevent the falling of the arm.

Enabling device being manipulated

Fig.3-19 : Brake release operation

Emergency stop input and output etc. 3-63

3 Controller

3.8 Mode changeover switch input

Connect the key switch of customer prepared and change the right of robot’s operation by switch operation.

The key switch can be installed in the operation panel of customer preparation.

<Right of operation (mode)>

AUTOMATIC.......................The operation from external equipment becomes available. Operation which needs the right of operation from T/B cannot be performed. It is necessary to set the parameter for the rights of operation to connection with external equipment. Refer to the separate volume, "Instruction Manual/Detailed Explanation of Functions and

Operations" for detail.

MANUAL ..............................When T/B is available, only the operation from T/B becomes available. Operation which needs the right of operation from external equipment cannot be performed.

MANUAL

MODE

AUTOMATIC

Mode changeover switch

(Customer-prepared)

CNUSR1

Fig.3-20 : Mode changeover switch image figure (CR751)

(1) Specification of the key switch interface

The function and specification of the key switch interface are shown below.

Table 3-6 : Function of the key switch interface

Pin number and Function (Connector: CNUSR1) Change mode

Note1)

Pin number

49

24

50

25

Function

1st line KEY input

Power supply +24V of pin number 49

2nd line KEY input

Power supply +24V of pin number 50

MANUAL

Open

Open

AUTOMATIC

Close

Close

Note1) The mode changes by both opening or both closing between 30-5 pin and between 35-10 pin. Maintain the current mode except it.

Table 3-7 : Specification of the mode changeover switch input

Rated voltage

Current rating

Input resistance

Response time (OFF->ON)

Common method

Connection method

Conformity electric wire size

Maker/Type

Item Specification

DC24V

Approx. 10mA

Approx. 2.2kΩ

Approx. 15ms

1 point per common

Connector

AWG#24 to #18

-

Remarks

Supply from the controller.

Select the switch or button which operates normally in 24V/10mA.

Example: The response time the program starts, after pushing the run button.

0.2 to 0.75mm

2

Maker: PHOENIX CONTACT/ Type: FKC2.5/4-STF-5.0B

3-64 Mode changeover switch input

3 Controller

(2) Connection of the mode changeover switch input

Cover fixing screw (Two places)

Connector cover

Plug

CNUSR1

25

View A

Pin number of plug

1

Remove the connector cover

Connector for user wiring

50

Soldering

26

A

3mm

Connecting cable

(AWG #30 ~ #24(0.05mm

2

to 0.2mm

2

))

Connection procedure

Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the

CNUSR1 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to

0.2mm

2

).

1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.

2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.

3) After the necessary cable has been soldered, re-fix the connector cover sing the same fixing screws and make sure it is fastened securely.

4) Connect the connector to the corresponding connector (CNUSR1) on the controller. With pin number 1 facing to the upper right, insert firmly until you hear the connector’s latch click in to place.

This concludes the connection procedure.

Fig.3-21 : Connection of the mode changeover switch input (CR751)

Mode changeover switch input 3-65

3 Controller

3.9 Additional Axis Function

This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET

III.

Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

3.9.1 Wiring of the Additional Axis Interface

Table 3-8 shows the connectors for additional axes inside the controller. Fig. 3-22

(CR750) and Fig. 3-23

(CR751) shows a connection example (configuration example).

Table 3-8 : Dedicated connectors inside the controller

Name Connector name

Connector for additional axes ExtOpt

Details

The connector for connecting the general-purpose servo amplifier.

(1) CR750 controller

CNUSR11コネクタ

CNUSR12 connector

Note) Note)

Note) The form of the machine cable connector (CN1/CN2) may differ in RV-2F series.

ExtOPT

To CN1A connector

To CN1B connector

To CN1A connector

To CN1B connector

Fig.3-22 : Example of addition axis connection (CR750)

3-66 Additional Axis Function

(2) CR751 controller

Note) RV-2F series has operation panel.

ExtOPT

CNUSR1

(非常停止出力)

To CN1A connector

To CN1B connector

To CN1A connector

To CN1B connector

Fig.3-23 : Example of addition axis connection (CR751)

3 Controller

Additional Axis Function 3-67

3 Controller

(3) Example of the installation of the noise filter

1) EMC filter (recommended)

Please install the recommendation filter shown below according to the example of connection.

1)

2)

Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open.

There is no L3 for 1-phase 100 to 120 VAC power supply.

Note2) The example is when a surge protector is connected.

Fig.3-24 : Example of EMC noise filter installation

3-68 Additional Axis Function

3 Controller

2) Line noise filter

This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

Fig.3-25 : Example of noise filter installation

Additional Axis Function 3-69

3 Controller

3.10 Magnet contactor control connector output (AXMC) for addition axes

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open.

An example circuit and an image of how to connect the controller connector are shown below. When you are using an additional axis, please perform appropriate circuit connections by referring to these drawings.

Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please do not connect this output signal. Servo-on of the user mechanism may be unable.

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

MC同期用電源を取り出す。

NV

MC MC1 MC2

88

NV

CNUSRコネクタ

DC24V

内部回路へ circuit

AXMC11

AXMC12

AXMC21

AXMC22

<走行軸(付加軸)アンプボックス>

内部サーボ電源用

コンタクタ接点より

AXMC出力

コネクタ

AXMC11

AXMC12

AXMC21

AXMC22

CNUSR2

CNUSR2

20

19

44

注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。

<接点容量>

DC24V/10mA~100mA

Fig.3-26 : Example of circuit for addition axes of Magnet contactor control output

(1) CR750 controller

Note) Note)

Note) The form of the machine cable connector (CN1/

CN2) may differ in RV-

2F series.

*Connects with CNUSR2 connector

with soldering. Refer to

Page 56 "Fig.

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

(CNUSR2))"

.

Fig.3-27 : AXMC terminal connector (CR750)

3-70 Magnet contactor control connector output (AXMC) for addition axes

Ferrite core

Pass twice

3 Controller

(2) CR751 controller

フェライトコア

2回通し

Fig.3-28 : AXMC terminal connector (CR751)

Note) RV-2F series has operation panel.

* The CNUSR2 connector is connected by

soldering. Refer to Page 59 "Fig. 3-15:

Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))"

.

Magnet contactor control connector output (AXMC) for addition axes 3-71

3 Controller

3.11 Options

■ What are options?

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

User installation is required for the options.

Options come in two types: "set options" and "single options".

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

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

Please choose user's purpose additionally.

3-72

3 Controller

(1) Teaching pendant (T/B)

■ Order type: CR750 controller......R32TB: Cable length 7m

R32TB-15: Cable length 15m

CR751 controller......R33TB: Cable length 7m

R33TB-15: Cable length 15m

■ Outline

This is used to create, edit and control the program, teach the operation position and for jog feed, etc.

For safety proposes, a 3-position enable switch is mounted.

*1)

■ Configuration

Table 3-9 : Configuration device

Part name

CR750 controller

Teaching pendant

Type

R32TB

R32TB-15

CR751 controller

Teaching pendant R33TB

R33TB-15

Note1) Mass indicates one set.

Qty.

Either one pc.

Either one pc.

Mass (kg)

Note1)

1.7

2.8

1.7

2.8

Cable length is 7m. Hand strap is attached.

Cable length is 15m. Hand strap is attached.

Cable length is 7m. Hand strap is attached.

Cable length is 15m. Hand strap is attached.

■ Specifications

Table 3-10 : Specifications

Items

Outline dimensions

Body color

Mass

Connection method

Interface

Display method

Operation section

Specifications

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

Dark gray

Approx. 0.9kg (only arm, excluding cable)

Connection with controller and connector.

RS-422

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

36 keys

Remarks

Remarks

At 8x8 font

*1) <3-position enable switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.

With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".

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

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

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

c) "Pressed with force" ............The robot does not operate.

*)

*) Operations, such as program editing and status display, other than robot operation are possible.

Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.

Teaching pendant (T/B) 3-73

3 Controller

195.2

133

LCD

Emergency stop

Operetion key

105.5

Enable/Disable switch

<Front>

Body

Cable (with connector)

<side>

Enable switch

<Back>

<Bottom>

Fig.3-29 : Outside dimensions of teaching pendant

■ Installation method

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

3-74 Teaching pendant (T/B)

3 Controller

■ Key layout and main functions

① [Emergency stop] switch................ The robot servo turns OFF and the operation stops immediately.

② [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and disable.

③ [Enable] switch.................................... When the [Enable/Disable] switch " ② " is enabled, and this key is released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.

④ LCD display panel .............................. The robot status and various menus are displayed.

⑤ Status display lamp ........................... Display the state of the robot or T/B.

⑥ [F1], [F2], [F3], [F4].......................... Execute the function corresponding to each function currently displayed on LCD.

⑦ [FUNCTION] key ................................ Change the function display of LCD.

⑧ [STOP] key........................................... This stops the program and decelerates the robot to a stop.

⑨ [OVRD ↑ ][OVRD ↓ ] key ........... Change moving speed. Speed goes up by [OVRD ↑ ] key. Speed goes down by [OVRD ↓ ] key

⑩ [JOG] operation key......................... Move the robot according to jog mode. And, input the numerical value.

⑪ [SERVO] key........................................ Press this key with holding AA key lightly, then servo power will turn on.

⑫ [MONITOR] key .................................. It becomes monitor mode and display the monitor menu.

⑬ [JOG] key.............................................. It becomes jog mode and display the jog operation.

⑭ [HAND] key........................................... It becomes hand mode and display the hand operation.

⑮ [CHARCTER] key............................... This changes the edit screen, and changes between numbers and alphabetic characters.

⑯ [RESET] key......................................... This resets the error. The program reset will execute, if this key and the EXE key are pressed.

⑰ [ ↑ ][ ↓ ][ ← ][ → ] key................ Moves the cursor each direction .

⑱ [CLEAR] key ........................................ Erase the one character on the cursor position.

⑲ [EXE] key............................................... Input operation is fixed. And, while pressing this key, the robot moves when direct mode.

⑳ Number/Character key.................... Erase the one character on the cursor position . And, inputs the number or character

Fig.3-30 : Teaching pendant key layout and main functions

Teaching pendant (T/B) 3-75

3 Controller

(2) Parallel I/O interface

■ Order type : ● 2D-TZ368 (Sink type)/2D-TZ378 (Source type)

■ Outline

This is used to expand the external inputs and outputs

・ The connecting cable with external equipment is not attached. Since we are preparing the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.

Notes)Although the combined use with the parallel input-and-output unit (2A-RZ361/2A-

RZ371) of another option is also possible, please use the setup of the station number by the different number separately. The station number is automatically determined by the position of the option slot which installed this interface. (station number 0 to 2)

■ Configuration

Table 3-11 : Configuration device

Part name Type

Qty.

Mass (kg)

Note1)

Remarks

Parallel I/O interface 2D-TZ368

2D-TZ378

Either one pc.

0.4

Input/output 32 points/32 points

2D-TZ368 is sink type. 2D-TZ378 is source type.

Note1) Mass indicates one set.

■ Specifications

Table 3-12 : Electrical specifications of input circuits

Item

Specification

Type

Number of input points

Insulation method

Rated input voltage

Rated input current

Working voltage range

DC input

32

Photo coupler insulation

DC12V DC24V

Approx. 3mA Approx.9mA

DC10.2 ~ 26.4V

(Ripple factor should be less than 5%)

ON voltage/ON current

OFF voltage/ OFF current

Input resistance

Response time

DC8V or more/2mA or more

DC4V or less/1mA or less

Approx. 2.7kΩ

OFF-ON 10ms or less(DC24V)

ON-OFF 10ms or less(DC24V)

Common method

External cable connection method

32 points per common

Connector

<Sink type>

Internal circuit

+24V/+12V

(COM)

820

2.7K

<Source type>

2.7K

820

Input

Input

0V(COM)

3-76 Parallel I/O interface

3 Controller

Table 3-13 : Electrical specifications for the output circuits

Item

Specification

Type

No. of output points

Insulation method

Rated load voltage

Transistor output

32

Photo-coupler insulation

DC12V/DC24V

Rated load voltage range DC10.2 ~ 30V (peak voltage DC30V)

Max. load current 0.1A/point (100%)

Leakage current at OFF Within 0.1mA

Max. voltage drop at ON DC0.9V(TYP.)

Note1)

Respons e time

Fuse rating

OFF-ON

ON-OFF

10ms or less(Resistance load) (hardware response time)

10ms or less(Resistance load) (hardware response time)

Fuse 1.6A(one per common)

Replacement possible (max. 3)

Common method

External wire connection method

External power supply

Voltage

Current

16 points per common (common terminal: 2points)

Connector

DC12/24V(DC10.2 ~ 30V)

60mA(TYP.DC24V per common)(base drive current)

Note1) The maximum voltage drop value at signal ON.

Refer to it for the equipment connected to the output circuit.

<Sink type>

Internal circuit

<Source type>

Fuse

Fuse

+24V/+12V

Output

0V

+24V/+12V

Output

0V

Caution

The protection fuse of the output circuit prevents the failure at the time of the load short circuit and incorrect connection. The load connected of the customer should be careful not to exceed maximum rating current. The internal transistor may be damaged if maximum rating current is exceeded.

■ Installation method

The expansion parallel input/output interface is installed in the controller. Refer to separate "Instruction Manual/

Controller setup, basic operation, and maintenance" for details on the installing method.

If it installs in the option SLOT of the controller, the station number will be assigned automatically.

SLOT1: station number 0(0 to 31)

SLOT2: station number 1(32 to 63)

Caution

If it uses together with parallel input-and-output unit 2A-RZ361/2A-RZ371, please do not overlap with the station number of the parallel input-and-output interface.

<CR750 controller>

Note) Note)

SLOT1

SLOT2

Note) The form of the machine cable connector (CN1/CN2) may differ in RV-2F series.

Fig.3-31 : Parallel I/O interface installation position (CR750)

Parallel I/O interface 3-77

3 Controller

<CR751 controller>

SLOT1

SLOT2

Note)

Note) RV-2F series has operation panel.

Fig.3-32 : Parallel I/O interface installation position (CR751)

■ Pin layout of connector

1B

1A

1D

1C

20B

20A

20D

20C

Connector<2>

Output 16 to 31

Input 16 to 31

(when station number 0)

Connector<1>

Output 0 to 15

Input 0 to 15

(when station number 0)

Fig.3-33 : Pin layout of connector

■ Connector pin No. and signal assignment

The station number is fixed by the slot to install and the allocation range of the general-purpose input-andoutput signal is fixed.

Table 3-14 : The slot number and the station number

Slot number

Station number

Range of the general-purpose input-and-output signal

Connector <1> Connector <2>

SLOT1 0

SLOT2 1

Input : 0 to 15

Output : 0 to 15

Input : 32 to 47

Output : 32 to 47

Input : 16 to 31

Output : 16 to 31

Input : 48 to 63

Output : 48 to 63

The connector pin number of the parallel input-and-output interface installed in SLOT1 and signal number allocation are shown in

Table 3-15

and

Table 3-16

. If it installs in other slots, please interpret and utilize.

3-78 Parallel I/O interface

3 Controller

Table 3-15 : Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Function name Function name

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

1C

Orange/Red

a 0V : For pins 5D-20D 1D

Orange/

Black a

2D

Gray/

Black a

12V/24V : For pins

5D-20D

Reserved 2C

Gray/Red

a COM : For pins

5C-20C

Note1)

Reserved 3C

White/Red a

4C

Yellow/Red

a

5C

Pink/Red

a

General-purpose input

15

6C

Orange/Red

b

General-purpose input

14

7C

Gray/Red

b

General-purpose input

13

8C

White/Red b

General-purpose input

12

9C

Yellow/Red

b

General-purpose input

11

10C

Pink/Red

b

General-purpose input

10

11C

Orange/Red c

General-purpose input

9

12C

Gray/Red

c

General-purpose input

8

Reserved

13C

White/Red

c

General-purpose input

7

14C

Yellow/Red

c

General-purpose input

6

15C

Pink/Red

c

General-purpose input

5 Operation rights input signal

Note2)

16C

Orange/Red

d

General-purpose input

4 Servo ON input signal

Note2)

3D

White/

Black a

4D

Yellow/

Black a

5D

Pink/

Black a

General-purpose output

15

6D

Orange/

Black b

General-purpose output

14

7D

Gray/

Black b

General-purpose output

13

8D

White/

Black b

General-purpose output

12

9D

Yellow/

Black b

General-purpose output

11

10D

Pink/

Black b

General-purpose output

10

11D

Orange/

Black c

General-purpose output

9

12D

Gray/

Black c

General-purpose output

8

13D

White/

Black c

General-purpose output

7

14D

Yellow/

Black c

General-purpose output

6

15D

Pink/

Black c

General-purpose output

5

16D

Orange/

Black d

General-purpose output

4

Reserved

Reserved

17C

Gray/Red

d

General-purpose input

3

Start input

Note2)

18C

White/Red

d

General-purpose input

2 Error reset input signal

Note2)

19C

Yellow/Red

d

General-purpose input

1 Servo OFF input signal

Note2)

20C

Pink/Red

d

General-purpose input

0

Stop input

Note3)

17D

Gray/

Black d

General-purpose output

3 Operation rights output

signal

Note2)

18D

White/

Black d

General-purpose output

2 Error occurring output

signal

Note2)

19D

Yellow/

Black d

General-purpose output

1 In servo ON output

signal

Note2)

20D

Pink/

Black d

General-purpose output

0 Operating output Note2)

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

Note2) The dedicated signal is assigned at shipping. It can change with the parameter.

Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

Table 3-16 : Connector<2> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Function name Function name

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

1A

Orange/Red

a

2A

Gray/Red

a

0V : For pins 5B-20B 1B

Orange/

Black a

2B

Gray/

Black a

12V/24V : For pins 5B-

20B

Reserved COM : For pins 5A-

20A

Note1)

Reserved

Reserved

3A

White/Red a

4A

Yellow/Red

a

5A

Pink/Red

a

General-purpose input

31

6A

Orange/Red

b

General-purpose input

30

7A

Gray/Red

b

General-purpose input

29

8A

White/Red b

General-purpose input

28

9A

Yellow/Red

b

General-purpose input

27

10A

Pink/Red

b

General-purpose input

26

11A

Orange/Red c

General-purpose input

25

12A

Gray/Red

c

General-purpose input

24

13A

White/Red

c

General-purpose input

23

14A

Yellow/Red

c

General-purpose input

22

15A

Pink/Red

c

General-purpose input

21

16A

Orange/Red

d

General-purpose input

20

17A

Gray/Red

d

General-purpose input

29

18A

White/Red

d

General-purpose input

18

19A

Yellow/Red

d

General-purpose input

17

20A

Pink/Red

d

General-purpose input

16

3B

White/

Black a

4B

Yellow/

Black a

5B

Pink/

Black a

General-purpose output

31

6B

Orange/

Black b

General-purpose output

30

7B

Gray/

Black b

General-purpose output

29

8B

White/

Black b

General-purpose output

28

9B

Yellow/

Black b

General-purpose output

27

10B

Pink/

Black b

General-purpose output

26

11B

Orange/

Black c

General-purpose output

25

12B

Gray/

Black c

General-purpose output

24

13B

White/

Black c

General-purpose output

23

14B

Yellow/

Black c

General-purpose output

22

15B

Pink/

Black c

General-purpose output

21

16B

Orange/

Black d

General-purpose output

20

17B

Gray/

Black d

General-purpose output

19

18B

White/

Black d

General-purpose output

18

19B

Yellow/

Blackc d

General-purpose output

17

20B

Pink/

Black d

General-purpose output

16

Reserved

Reserved

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

Parallel I/O interface 3-79

3 Controller

<Reference> The example of connection with our PLC

<Sink>

Parallel I/O interface

(Output)

60mA

(24/12V)

Output

Output

24V

Fuse

(0V)

External power supply

(Input)

(COM)

X

QX41

(Mitsubishi programmable controller)

COM

QY41P

(Mitsubishi programmable controller)

+24V

3.3K

Input

Input

24V

Y

External power supply

Table 3-17 : 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>

(Output)

(Output)

Fuse

60mA

(24/12V)

Output

Output

(0V)

24V

X

QX41

(Mitsubishi programmable controller)

COM

(Input)

QY81P

+24V

(Mitsubishi programmable controller)

3.3K

Input

Input

(COM)

24V

Y

24G(24GND)

Table 3-18 : Connection with a Mitsubishi PLC (Example of source type)

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

3-80 Parallel I/O interface

3 Controller

(3) External I/O cable

■ Order type : ● 2D-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 I/O interface. For parallel I/O unit is another option 2A-CBL.**.

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 3-19 : Configuration device

Part name

External I/O cable

Type

2D-CBL □□

Qty.

1 pc.

Mass (kg)

Note1)

0.7(5m)

1.84(15m)

5m or 15m

Remarks

Note1) Mass indicates one set.

■ Specifications

Table 3-20 : Specifications

Items

Number of cables x cable size

Total length

AWG #28 x 20P (40 pairs)

5m, 15m

Specifications

■ Connector pin numbers and cable colors

Table 3-21 : Connector pin numbers and cable colors

Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors

1A/C

2A/C

3A/C

4A/C

5A/C

6A/C

7A/C

8A/C

9A/C

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

11A/C

12A/C

13A/C

14A/C

15A/C

16A/C

17A/C

18A/C

19A/C

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

1B/D

2B/D

3B/D

4B/D

5B/D

6B/D

7B/D

8B/D

9B/D

Orange/Black a

Gray/Black a

White/Black a

Yellow/Black a

Pink/Black a

Orange/Black b

Gray/Black b

White/Black b

Yellow/Black b

11B/D

12B/D

13B/D

14B/D

15B/D

16B/D

17B/D

18B/D

19B/D

Orange/Black c

Gray/Black c

White/Black c

Yellow/Black c

Pink/Black c

Orange/Black d

Gray/Black d

White/Black d

Yellow/Black d

10A/C Pink/Red b 20A/C Pink/Red d 10B/D Pink/Black b 20B/D Pink/Black d

Notes) Pin number of connector<1> are 1C, 2C, ....20C, 1D, 2D, ....20D, connector<2> are 1A, 2A, ....20A, 1B,

2B, ....20B.

External I/O cable 3-81

3 Controller

■ Connections and outside dimensions

The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color speci-

fications in "Table 3-32: 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

Line color type a type

Pattern of the print mark

One dot

b type

Two dots

c type

Three dots

d type

Four dots or

20A/C

20B/D

1A/C 1B/D

Fig.3-34 : Connections and outside dimensions

Plug (Fujitsu Ltd) Connector : FCN-361J040-AU

Cover : FCN-360C040-B

3-82 External I/O cable

3 Controller

(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. One one equal with this unit is built into the control unit among controllers the standard.

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

・ Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2A-

RZ371 for source type signal logic.

Notes) Although the combined use with the parallel I/O interface (2D-TZ368) of another option is also possible, please use the setup of the station number by the different number separately. The station number is automatically fixed by the position of the option slot which installed the parallel I/O interface in 0-2.

■ Configuration

Table 3-22 : Configuration device

Part name Type

Parallel I/O unit

2A-RZ361

2A-RZ371

Robot I/O link connection connector

Power connection connector

Terminator

NETcable-1

DCcable-2

R-TM

Note1) Mass indicates one set.

Qty.

Either one pc.

2 sets

1 set

1 pc.

Mass (kg)

Note1)

0.7

0.7

-

-

-

Remarks

Input/output 32 points/32 points

2A-RZ361 is the sink type.

2A-RZ371 is the source type.

Connector with pins.

The cable must be prepared and wired by the customer.

Connector with pins.

The cable must be prepared and wired by the customer.

100Ω(1/4W)

■ Specifications

1) The parallel I/O interface (2D-TZ368) of another option, and the a maximum of eight pieces in all. (One station occupies one unit.)

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.

Table 3-23 : Electrical specifications of input circuits

Item Specification

Type

Number of input points

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

DC input

32

Photo coupler insulation

24VDC

Approx 3mA

24VDC

Approx 7mA

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

8VDC or more/ 2mA or more

OFF voltage/ OFF current

Input resistance

Response time OFF-ON

ON-OFF

4VDC or less/ 1mA or less

Approx. 3.3kΩ

10ms or less (24VDC)

10ms or less (24VDC)

Common method 8 points per common

External cable connection method Connector

Internal circuit

<Sink type>

820

3.3K

<Source type>

3.3K

820

+24V/+12V

(COM)

0V(COM)

Parallel I/O unit 3-83

3 Controller

Table 3-24 : Electrical specifications for the output circuits

Item

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

Response time

OFF-ON

ON-OFF

Fuse rating

Common method

External wire connection method

Specification

Transistor output

32

Photo-coupler insulation

12VDC/24VDC

10.2 to 30VDC(peak voltage 30VDC)

0.1A/point (100%)

0.1mA or less

0.9VDC(TYP.)

Note1)

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: 4 points)

Connector

External power supply

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

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

Note1) The maximum voltage drop value at signal ON.

Refer to it for the equipment connected to the output circuit.

Internal circuit

<Sink type>

<Source type>

+24V/+12V

0V

+24V/+12V

0V

CAUTION

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

3-84 Parallel I/O unit

3 Controller

NETcable-1 (Network cable)

Pin No.

RIO1/2

1 TXRXH

TXRXL

SG(GND)

Note 2)

RIO1/2

TXRXH

TXRXL

SG(GND)

Pin No.

FG

DCcable-2 (Power cable)

Pin No.

DCIN

1 24V

24G(RG)

FG(PE )

Connected the frame ground or protect ground

R-TM (Terminator)

Pin No.

RIO1/2

1 TXRXH

TXRXL

SG(GND)

List of parts and manufacturer

Type

NETcable-1

DCcable-2

R-TM

Connector type

51103-0300 (1)

2-178288-3 (1)

1-178288-3 (1)

100Ω

Contact type

50351-8100 (3)

175218-3 (3)

175218-3 (2)

Resistant

100Ω(1/4W) (1)

Manufacturer

MOLEX (White connector)

Tyco Electronics (Black connector)

Equivalent to KOA.

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

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

AWG#22(0.3mm

2

) or more.

Fig.3-35 : Spacifications for the connection cable

Parallel I/O unit 3-85

3 Controller

■ Installation method

The expansion parallel input/output unit is installed outside of the controller. Connect with the network connection cable (NETcable-1) from the RIO connector in the rear/into of the controller.(Terminator is connected at the time of shipment)

<CR750 controller>

Note) The form of the machine cable connector

(CN1/CN2) may differ in RV-2F series.

Note) Note)

(4 0 )

Wiring space

(1 7 5 )

1 2 8

6

< 2 A - R Z 3 6 1 >

Fig.3-36 : Installing the parallel I/O unit (CR750)

5 4

6 0

6

3-86 Parallel I/O unit

<CR751 controller>

Note) RV-2F series has operation panel.

(4 0 )

Wiring space

(1 7 5 )

1 2 8

6

< 2 A - R Z 3 6 1 >

Fig.3-37 : Installing the parallel I/O unit (CR751)

5 4

6 0

6

3 Controller

Parallel I/O unit 3-87

3 Controller

<CR750 controller>

Note) The form of the machine cable connector (CN1/CN2) may differ in

RV-2F series.

Note) Note)

*1)

Within 100mm

Ferrite core

(Only for CE specification)

Station No. setting

1 . . . 6

Metal braid section

Peel the sheath in the position about 200-300mm from the connector end of the cable, so you can install and remove the cover.

* Don't damage the shield line.

Station No. setting

7

FG

*2)

<CN100>

Note)

NETcable-1 cable

<CN300>

<CN100>

<CN300>

FG connector

DCcable-2 cable

RIO2コネクタ

Note)

NETcable-1 cable

FG

DCcable-2 cable

R-TM terminator

*1) Install the ferrite core in within

100mm from each connector.

I/O unit the bottom connector layout

Connect the NET cable-1 to the RIO 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. Install the attached ferrite core in both ends.

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

3-88 Parallel I/O unit

3 Controller

<CR751 controller>

Note) RV-2F series has operation panel.

*1)

Within 100mm

フェライトコア

(CEのみ)

Station No. setting

1 . . . 6

20~30mm

シースはケーブルのコネクタ端から200~300mmの箇所を目安に

カバーの着脱ができる程度の位置で剥いてください。

※シールド線に傷をつけないようにご注意願います。

Station No. setting

7

局番設定

7

FG

*2)

<CN100>

Note)

NETcable-1 cable

<CN300>

<CN100>

<CN300>

FG connector

DCcable-2 cable

RIO2コネクタ

注)

Note)

NETcable-1 cable

FG

DCcable-2

ケーブル

R-TM terminator

*1) Install the ferrite core in within

100mm from each connector.

I/O unit the bottom connecter layout

Connect the NET cable-1 to the RIO 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. Install the attached ferrite core in both ends.

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

Fig.3-38 : Connection method of expansion parallel I/O unit (CR751)

Parallel I/O unit 3-89

3 Controller

■ Pin arrangement of the connector

Channel No. setting

TXD

LED display

50

25

<CN100>

Input 0 to 15

Output 0 to 15

<CN300>

Input 16 to 31

Output 16 to 31

26

1

*2A-RZ361/2 A-RZ371 are 32/32 input-and-output units. (One-station occupancy)

Fig.3-39 : Pin arrangement of the parallel I/O unit

■ Assignment of pin number and signal

The assignment range of the general-purpose input-and-output signal is fixed by the setup of the station number.

Table 3-25 : Assignment of pin number and signal

Unit Number

Station number

CN100

1st set 0

2nd set

3rd set

4th set

5th set

6th set

7th set

8th set

1

2

3

4

5

6

7

Input : 0 to 15

Output : 0 to 15

Input : 32 to 47

Output : 32 to 47

Input : 64 to 79

Output : 64 to 79

Input : 96 to 111

Output : 96 to 111

Input : 128 to 143

Output : 128 to 143

Input : 160 to 175

Output : 160 to 175

Input : 192 to 207

Output : 192 to 207

Input : 224 to 239

Output : 224 to 239

CN300

Input : 16 to 31

Output : 16 to 31

Input : 48 to 63

Output : 48 to 63

Input : 80 to 95

Output : 80 to 95

Input : 112 to 127

Output : 112 to 127

Input : 144 to 159

Output : 144 to 159

Input : 176 to 191

Output : 176 to 191

Input : 208 to 223

Output : 208 to 223

Input : 240 to 255

Output : 240 to 255

The connector pin number of the parallel I/O unit of the station number 0 and signal number assignment are

shown in Table 3-26

and Table 3-27 . If it is set as other station number, please interpret and utilize.

3-90 Parallel I/O unit

3 Controller

■ Parallel I/O interface (First expansion unit)

Table 3-26 : Connector CN100pin No. and signal assignment list (2A-CBL

□□

)

Function name

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

Pin

No.

Line color

Function name

General-purpose

Dedicated/power supply, common

3

4

1 Orange/Red A

2 Gray/Red A

5

White/Red A

Yellow/Red A General-purpose output 0

FG

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

12V/24V:For pins 4-7

Operating output

Note1)

Pink/Red A General-purpose output 1 In servo ON output signal

Note1)

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A

29 Yellow/Blue A General-purpose output 4

30 Pink/Blue A General-purpose output 5

FG

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

12V/24V:For pins 29-32

31 Orange/Blue B General-purpose output 6 6 Orange/Red B General-purpose output 2 Error occurring output signal

Note1)

7

8

9

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

Note1)

White/Red B

Yellow/Red B

10 Pink/Red B General-purpose output 8

11 Orange/Red C General-purpose output 9

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

12V/24V:For pins 10-13

12 Gray/Red C General-purpose output 10

13 White/Red C General-purpose output 11

14 Yellow/Red C

15 Pink/Red C General-purpose input 0

16 Orange/Red D General-purpose input 1

COM0:For pins 15-22

Stop input

Note3)

Note2)

Servo OFF input signal

Note1)

17 Gray/Red D General-purpose input 2

18

19

20

White/Red D General-purpose input 3

Yellow/Red D General-purpose input 4

Pink/Red D General-purpose input 5

Error reset input signal

Note1)

Start input

Note1)

Servo ON input signal

Note1)

Operation rights input signal

Note1)

21 Orange/Red E General-purpose input 6

22 Gray/Red E General-purpose input 7

23 White/Red E

24 Yellow/Red E

25 Pink/Red E

Reserved

Reserved

Reserved

32 Gray/Blue B General-purpose output 7

33 White/Blue B

34 Yellow/Blue B

35 Pink/Blue B General-purpose output 12

36 Orange/Blue C General-purpose output 13

37 Gray/Blue C General-purpose output 14

38 White/Blue C General-purpose output 15

39 Yellow/Blue C

40 Pink/Blue C General-purpose input 8

41 Orange/Blue D General-purpose input 9

42 Gray/Blue D General-purpose input 10

43 White/Blue D General-purpose input 11

44 Yellow/Blue D General-purpose input 12

45 Pink/Blue D General-purpose input 13

46 Orange/Blue E General-purpose input 14

47 Gray/Blue E General-purpose input 15

48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

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

12V/24V:For pins 35-38

COM1:For pins 40-47

Note2)

Reserved

Reserved

Reserved

Note1) The dedicated signal is assigned at shipping. It can change with the parameter.

Note2) Sink type:12V/24V(COM),Source type:0V(COM)

Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

Parallel I/O unit 3-91

3 Controller

Table 3-27 : Connector CN300pin No. and signal assignment list (2A-CBL

□□

)

Function name

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

Pin

No.

Line color

Function name

General-purpose

Dedicated/power supply, common

3

4

1 Orange/Red A

2 Gray/Red A

White/Red A

Yellow/Red A General-purpose output 16

5 Pink/Red A General-purpose output 17

6 Orange/Red B General-purpose output 18

7 Gray/Red B General-purpose output 19

8

9

10

White/Red B

Yellow/Red B

Pink/Red B General-purpose output 24

11 Orange/Red C General-purpose output 25

12

13

Gray/Red C General-purpose output 26

White/Red C General-purpose output 27

14 Yellow/Red C

15 Pink/Red C General-purpose input 16

16 Orange/Red D General-purpose input 17

17

18

Gray/Red D General-purpose input 18

White/Red D General-purpose input 19

19 Yellow/Red D General-purpose input 20

20 Pink/Red D General-purpose input 21

21 Orange/Red E General-purpose input 22

22 Gray/Red E General-purpose input 23

23 White/Red E

24 Yellow/Red E

25 Pink/Red E

FG

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

12V/24V:For pins 4-7

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

12V/24V:For pins 10-13

COM0:For pins 15-22

Note1)

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A

29 Yellow/Blue A General-purpose output 20

30 Pink/Blue A General-purpose output 21

31 Orange/Blue B General-purpose output 22

32 Gray/Blue B General-purpose output 23

33 White/Blue B

34 Yellow/Blue B

35 Pink/Blue B General-purpose output 28

36 Orange/Blue C General-purpose output 29

37 Gray/Blue C General-purpose output 30

38 White/Blue C General-purpose output 31

39 Yellow/Blue C

40 Pink/Blue C General-purpose input 24

41 Orange/Blue D General-purpose input 25

42 Gray/Blue D General-purpose input 26

43 White/Blue D General-purpose input 27

44 Yellow/Blue D General-purpose input 28

45 Pink/Blue D General-purpose input 29

46 Orange/Blue E General-purpose input 30

47 Gray/Blue E General-purpose input 31

48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

FG

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

12V/24V:For pins 29-32

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

12V/24V:For pins 35-38

COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved

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

3-92 Parallel I/O unit

3 Controller

<Reference> The example of connection with our PLC

<Sink>

Parallel I/O interface

(Output)

60mA

(24/12V)

Output

Output

24V

Fuse

(0V)

External power supply

(Input)

(COM)

X

QX41

(Mitsubishi programmable controller)

COM

QY41P

(Mitsubishi programmable controller)

+24V

3.3K

Input

Input

24V

Y

External power supply

Table 3-28 : 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>

(Output)

(Output)

Fuse

60mA

(24/12V)

Output

Output

(0V)

24V

X

QX41

(Mitsubishi programmable controller)

COM

(Input)

QY81P

+24V

(Mitsubishi programmable controller)

3.3K

Input

Input

(COM)

24V

Y

24G(24GND)

Table 3-29 : Connection with a Mitsubishi PLC (Example of source type)

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

Parallel I/O unit 3-93

3 Controller

(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 3-30 : Configuration device

Part name

External I/O cable

Type

2A-CBL □□

Qty.

1pc.

Mass(kg)

Note1)

0.7(5m)

1.84(15m)

5m or 15m

Remarks

Note1) Mass indicates one set.

■ Specifications

Table 3-31 : Specifications

Items

Number of cables x cable size

Total length

50 pairs x AWG #28

5m or 15m

Specifications

■ Connector pin numbers and cable colors

Table 3-32 : Connector pin numbers and cable colors

Cable colors Cable colors Cable colors

7

8

5

6

9

10

3

4

1

2

Orange/Red A

Gray/Red A

White/Red A

Yellow/Red A

Pink/Red A

Orange/Red B

Gray/Red B

White/Red B

Yellow/Red B

Pink/Red B

15

16

17

18

11

12

13

14

19

20

Orange/Red C

Gray/Red C

White/Red C

Yellow/Red C

Pink/Red C

Orange/Red D

Gray/Red D

White/Red D

Yellow/Red D

Pink/Red D

25

26

27

28

21

22

23

24

29

30

Orange/Red E31

Gray/Red E32

White/Red E33

Yellow/Red E34

Pink/Red E35

Orange/Blue A 36

Gray/Blue A

White/Blue A

37

38

Yellow/Blue A

Pink/Blue A

39

40

Cable colors

Orange/Blue B

Gray/Blue B

White/Blue B

Yellow/Blue B

Pink/Blue B

Orange/Blue C

Gray/Blue C

White/Blue C

Yellow/Blue C

Pink/Blue C

45

46

47

48

41

42

43

44

49

50

Cable colors

Orange/Blue D

Gray/Blue D

White/Blue D

Yellow/Blue D

Pink/Blue D

Orange/Blue E

Gray/Blue E

White/Blue E

Yellow/Blue E

Pink/Blue E

3-94 External I/O cable

3 Controller

■ 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 3-32: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

1 : Orange / Red / A

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Type of dot mark

A type

B type

C type

D type

E type

1

1.5

1.5

1.5

1.5

Dot pattern

18.5

18.5

18.5

18.5

Continuous

Type of dot mark

F type

G type

H type

I type

J type

Dot pattern

3

18.5

3

18.5

3

7.5

18.5

18.5

7.5

Continuous

5000

26

1

50

25

13.54

16.2 9.27 35.7

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

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

Note1)

Maker

……DDK

……DDK

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

The following connector is recommended when user make the cable.

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

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

Fig.3-40 : Connections and outside dimensions

External I/O cable 3-95

3 Controller

(6) CC-Link interface

■ Order type: ● 2D-TZ576

■ Outline

The CC-Link interface is the optioninterface 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.

■ Configuration

Table 3-33 : Configuration device

Part name Type

CC-Link interface

Manual

Ferrite core

Cable clamp

TZ576

BFP-A8701

E04SR301334

AL4

AL5

Note1) Mass indicates one set.

Qty.

2

2

1

1

2

Table 3-34 : Procured by the customer

Part name

Master station

Type

QJ61BT11(Q series)

QJ61BT11N(Q series)

AJ61QBT11(QnA series)

A1SJ61QBT11(QnAS series)

AJ61BT11(A series)

A1SJ61BT11(AnS series)

A80BD-J61BT11(personal computer board)

Communication cable

Terminal resistor

-

-

Mass(kg)

Note1)

-

-

0.6

-

-

Qty.

1

1

1

Remarks

Be sure to install this for noise countermeasure.

Remarks

FX series products are not supported.

Shielded 3-core twisted cable

This cable may be manufactured by the customer.

110Ω or 130Ω is recommended.

I/O unit

Robot arm

CC-Link インタフェースカード

(本オプション)

Controller

(The fugure is CR751)

Fig.3-41 : Example of CC-Link Product Configuration

3-96 CC-Link interface

3 Controller

■ Specifications

Table 3-35 : Specifications

Item

Communication function

Station type

Support station

The version corresponding to CC-Link

Mountable option slot

Number of mountable CC-Link interface cards

Number of stations

Transmission speed

Station number

Number of occupied stations

Extended cyclic setup

Maximum link point

Extended cyclic setup

Remote I/O

(RX, RY).

Remote register

(RWr, RWw)

-

Specifications Remarks

Bit data and word data can be transmitted.

Word data are used by the registers.

Intelligent device station

Note1)

Local station

Ver.2

No master station function

The extended cyclic setup is possible.

Slot 1, 2

1

1 to 64 stations

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

1 to 64

1/2/3/4

1/2/4/8

Each 896 points

Multiple CC-Link interface cards cannot be inserted.

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

This is set by the rotary SW.

When two or more stations are occupied, continuous station numbers are used.

The two last cannot be used.

Each 128 register 16 bits/register

Link point per set

When one station is occupied

When two stations is occupied

Remote I/O

(RX, RY).

Remote register

( RWw)

Remote register

(RWr)

Remote I/O

(RX, RY).

Remote register

( RWw)

Remote register

(RWr)

When three stations is occupied

Remote I/O

(RX, RY).

Remote register

( RWw)

Remote register

(RWr)

Remote I/O

(RX, RY).

When four stations is occupied

Remote register

( RWw)

Remote register

(RWr)

Number of the maximum occupancy station

The I/O first number of the robot controller.

1 fold setup

2 fold setup

3 fold setup

4 fold setup

32 point 32 point 64 point 128 point

4 word

4 word

64 point 96 point 192 point 384 point

8 word

8 word

8 word

8 word

16 word

16 word

16 word 32 word

16 word 32 word

32 word

32 word

64 word

64 word

96 point 160 point 320 point 640 point

12 word 24 word 48 word

12 word 24 word 48 word

96 word

96 word

128 point 224 point 448 point 896 point

16 word 32 word 64 word 128 word

16 word 32 word 64 word 128 word

4 stations

No. 6000 -.

The number corresponding to the station number by the setup of the parameter

"CCFIX."

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

CC-Link interface 3-97

3 Controller

■ Functions

(1) Communication function

・ The number of usable points is 896 points maximum for bit control and 128 points maximum for word control.

(2) Easy setup

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

・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 V (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.

3-98 CC-Link interface

3 Controller

(7) RT ToolBox2/RT ToolBox2 mini

■ Order type : ●

RT ToolBox2

*For windows CD-ROM

RT ToolBox2 mini

*For windows CD-ROM

■ Outline

: 3D-11C-WINE

: 3D-12C-WINE

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

(creation and editing of programs), start up support (execution, control and debugging of program), and maintenance.

The "personal computer support software" which supports these function fully, and the

"personal computer support software mini" which does not have the simulation function are available.

■ Configuration

Table 3-36 : Product configuration

Part name

RT ToolBox2

RT ToolBox2 mini

Type Medium

3D-11C-WINECD-ROM

3D-12C-WINECD-ROM

Note1) Mass indicates one set.

Mass (kg)

Note1)

0.2

0.2

Remarks

■ Features

(1) Simple operation with guidance method and menu method

The Windows standard is used for windows operation, so the controller initialization and startup operations can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry out the series of operations from program creation to execution.

(2) Increased work efficiency with ample support functions

The work efficiency is greatly improved with the multi-window method that carries out multiple steps and displays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially sufficient, and are extremely useful when editing or debugging the program.

With the simulation function support, the program can be debugged and the tact checked before starting the machine at the site. This allows the on-site startup work efficiently to be greatly improved.

(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubrication and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs can be reduced.

(4) The position recovery support function increases the recovery efficiency in the event of origin position displacement. This function compensates the origin settings and position data by just reproducing several previous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or when reloading the robot. This function can reduce the time required for recovery.

RT ToolBox2/RT ToolBox2 mini 3-99

3 Controller

■ Functions

Table 3-37 : Functions

Function

Compatible model

Program editing functions

Editing functions

Simulation function

Monitor functions

Maintenance function

Control functions

Debugging functions

Functional existence

Note1)

×

Details

Personal computer running Microsoft Windows2000/XP/Vista/7.

Note2)

・ MELFA BASIC V language compatible

・ Multiple editing screen simultaneously display

・ Command input, comment writing

・ Position data editing

・ File operation (writing to controller, floppy disk, personal computer)

・ Search and replace function (using characters, line Nos., labels)

・ Copy, cut, paste, insert (per character, line), undo (per command statement, position conversion)

・ Line No. automatic generation, renumbering

・ Batch syntax check

・ Command template

・ Position conversion batch editing

・ Position variable template

・ Print, print preview

・ Program file control (list, copy, movement, delete, content comparison, name change, protect)

・ Direct editing of program in controller

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

・ Off-line simulation of robot program operation using CG (computer graphics)

・ Tact time calculation

・ Robot operation monitor (robot operation state, stop signal, error monitor, program monitor (execution program, variables), general-purpose input/output signals (forced output possible), dedicated input/ output signals, operation confirmation (operation range, current position, hand, etc.)

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

・ Servo monitor (load)

・ Parameter setting

・ Batch, divided backup

RT ToolBox2 mini

(3D-12C-WINE)

RT ToolBox2

(3D-11C-WINE)

Note1) The functions included with the RT ToolBox2 and the RT ToolBox2 mini are shown below.

○ : Function provided ×: Function not provided

Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.

3-100 RT ToolBox2/RT ToolBox2 mini

3 Controller

(8) Instruction Manual(bookbinding)

■ Order type: ● 5F-FE01-PE01 ..............RV-2F-D series

■ Outline

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

■ Configuration

Table 3-38 : Product configuration

Name

Instruction Manual

Safety Manual

Standard Specifications

Robot Arm Setup & Maintenance

Controller Setup, Basic Operation and Maintenance

Detailed Explanation of Functions and Operations

Troubleshooting

Additional axis function

Tracking Function Manual

GOT Direct Connection Extended Function

Note1)

Mass indicates one set.

Type

5F-FE01-PE01

BFP-A8006

BFP-A8900

BFP-A8904

BFP-A8867

BFP-A8869

BFP-A8871

BFP-A8863

BFP-A8664

BFP-A8849

Mass (Kg)

Note1)

2.6

-

-

-

-

-

-

-

-

-

Specifications

The instructions manual set of "RV-2F-D series".

Items relating to safety in handling the robot

Specification of the robot arm and controller

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

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

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

Causes of errors occurred and their countermeasures

Function of the additional axis, operation method.

Function of the Tracking, operation method.

Explains of data configuration of shared memory, monitoring, and operating procedures, between the

GOT and controller.

Instruction Manual(bookbinding) 3-101

3 Controller

3.12 Maintenance parts

The consumable parts used in the controller are shown in Table 3-39 . 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 3-39 : Controller consumable parts list

No. Name

Type

Note1)

Qty.

Usage place Supplier

1 Lithium battery Q6BAT 1 CR750 controller:

Inside of the interface cover

CR751 controller:

Inside of the filter cover

Mitsubishi Electric

2 Filter CR750 controller:

BKOFA0773H42

CR751 controller:

BKOFA0773H41

1

Inside the filter cover

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

3-102 Maintenance parts

4Software

4 Software

4.1 List of commands

The available new functions in MELFA-BASIC V are given in

Table 4-1 .

Table 4-1 : List of MELFA-BASIC V commands

Type Class Function Input format (example)

Joint interpolation Moves to the designated position with joint interpolation.

Linear interpolation Moves to the designated position with linear interpolation.

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

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

Speed designation

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

Moves along the arc on the opposite side of a designated arc (start point

→ reference point → end point) with 3-dimensional circular interpolation.

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

Designates the speed for various interpolation operations with a percentage (0.1% unit).

Operation

Mov P1

Mvs P1

Mvc P1,P2,P1

Mvr P1,P2,P3

Mvr2 P1,P9,P3

Mvr3 P1,P9,P3

Ovrd 100

Designate the speed for joint interpolation operation with a percentage

(0.1% unit).

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

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

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

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

Adds a process unconditionally to the operation.

Adds a process conditionally to the operation.

Designates smooth operation.

JOvrd 100

Spd 123.5

Accel 50,80

Oadl ON

Loadset 1,1

Wth

WthIf

Cnt 1,100,200

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

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

Fine 200

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

Designates the positioning completion conditions with a joint interpolation.

Fine 1, P

Fine 0.5, J, 2

Position control

Float control

Pallet

Singular point passage

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.

Servo OFF

Torq 4,10

Base P1

Tool P1

The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011

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

Cmp Jnt ,&B00000011

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

The robot arm rigidity is returned to the normal state.

The robot arm rigidity is designated.

Defines the pallet.

Operates the pallet grid point position.

Move to a specified position using linear interpolation passing through a singular point.

Cmp Tool ,&B00000011

Cmp Off

CmpG

1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

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

Plt 1,M1

Mvs P1 Type 0,2

List of commands 4-103

4Software

Type Class

Branching

Collision detection

Subroutine

Interrupt

Wait

Stop

End

Hand open

Hand close

Assignment

Input

Output

Mechanism designation

Selection

Start/stop

Function

Branches unconditionally to the designated place.

Branches according to the designated conditions.

Input format (example)

GoTo 120

If M1=1 Then GoTo *L100

Else GoTo 20

End If

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

Repeats while the designated conditions are satisfied.

Branches corresponding to the designated expression value.

Executes program block corresponding to the designated expression value..

Next M1

While M1<10

WEnd

On M1 GoTo *La1, *Lb2, *Lc3

Select

Case 1

Break

Case 2

Moves the program process to the next line.

Set to enable/disable the collision detection.

Set the detection level of the collision detection.

Executes the designated subroutine. (Within program)

Returns from the subroutine.

Executes the designated program.

Defines the program argument executed with the CALLP command.

Executes the subroutine corresponding to the designated expression value.

Defines the interrupt conditions and process.

Enables/disables the interrupt.

Defines the start line of the program to be executed when an interrupt is generated from the communication line.

Enables the interrupt from the communication line.

Disables the interrupt from the communication line.

Stops the interrupt from the communication line.

Designates the wait time, and the output signal pulse output time. (0.01s unit)

Waits until the variable becomes the designated value.

Stops the program execution.

Generates an error. During program execution, continue, stop or servo

OFF can be designated.

Ends the program execution.

Opens the designated hand.

Closes the designated hand.

Defines the input/output variables.

Retrieves the general-purpose input signal.

Calls out the general-purpose output signal.

M_Out(1) =0

Break

End Select

Skip

ColChk ON/OFF

ColLvl 100,80,,,,,,

GoSub *L200

Return

CallP "P10",M1,P1

FPrm M10,P10

On M1 GoSub *La1, *Lb2, *Lc3

Def Act 1, M1=1 GoTo *L100

Act 1=1

On Com(1) GoSub *L100

Com(1) On

Com(1) Off

Com(1) Stop

Dly 0.5

Wait M_In(1)=1

Hlt

Error 9000

End

HOpen 1

HClose 1

Def IO PORT1=BIT,0

M1=M_In(1)

Acquires the mechanism with the designated mechanism No.

Releases the mechanism with the designated mechanism No.

Selects the designated program for the designated slot.

Carries out parallel execution of the designated program.

Stops parallel execution of the designated program.

Returns the designated program's execution line to the head and enters the program selection enabled state.

GetM 1

RelM 1

XLoad 2,"P102"

XRun 3,"100",0

XStp 3

XRst 3

4-104 List of commands

4Software

Type Class

Definition

Clear

File

Comment

Label

Function

Defines the integer type or real number type variable.

Defines the character string variable.

efines the layout variable. (Up to 3-dimensional possible)

Defines the joint variable.

Defines the position variable.

Defines the function.

Clears the general-purpose output signal, variables in program, variables between programs, etc.

Opens a file.

Closes a file.

Inputs data from a file.

Outputs data to a file.

Describes a comment.

Indicates the branching destination.

Input format (example)

Def Inte KAISUU

Def Char MESSAGE

Dim PDATA(2,3)

Def Jnt TAIHI

Def Pos TORU

Def FN TASU(A,B)=A+B

Clr 1

Open "COM1:" AS #1

Close #1

Input# 1,M1

Print# 1,M1

Rem "ABC"

*SUB1

List of commands 4-105

4Software

4.2 List of parameters

show the main parameter in the Table 4-2

.

Table 4-2 : List of parameters

Parameter Details

Standard tool coordinates.

Standard base coordinates

XYZ operation range

JOINT operation range

Free plane limit

User-defined area

Automatic return setting

Buzzer ON/OFF

Jog setting

Jog speed limit value

MEXTL

MEXBS

MEPAR

MEJAR

Set the default value for the tool data.

Unit: mm or deg.

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

Unit: mm or deg.

Designate the overrun limit value for the world coordinate system.

Set the overrun limit value for each joint axis.

This is the overrun limit set with the free plane.

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

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

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

SFC1P

:

SFC8P

SFC1ME

:

SFC8ME

SFC1AT

:

SFC8AT

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

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

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

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

AREA1CS

:

AREA32CS

AREA1P1

:

AREA32P1

AREA1P2

:

AREA32P2

AREA1ME

:

AREA32ME

An area (cube) defined with two XYZ coordinate points can be designated and that area set as the outside operation range. Furthermore, a signal can be output when the axis enters that area. Up to 32 types of area can be designated.

Specify the coordinate system of the user definition area *.

0: Base coordinate system (conventional compatibility)

1: Robot coordinate system

Designated the 1st point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

Designated the 2nd point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

Designate which mechanism to use the 32 types of set area.

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

AREA1AT

:

AREA32AT

Designate the area check type.

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

Zone: The dedicated output signal USRAREA turns ON.

Interference: An error occurs..

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

Designate whether to the turn buzzer ON or OFF.

BZR

JOGJSP

JOGPSP

Designate the joint jog and step operation speed.

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

Designate the linear jog and step operation speed.

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

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

4-106 List of parameters

4Software

Hand type

Parameter Details

HANDTYPESet the hand type of the single/double solenoid, and the signal No.

(Single/double = S/D)

Set the signal No. after the hand type. Example) D900

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

Stop input B contact designation

User-designated origin

Program selection memory

Communication setting

Slot table

No. of multi-tasks

Select the function of singular point adjacent alarm

Display language.

USERORG Designate the user-designated origin position.

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

CBAU232 Set the baud rate.

CLEN232 Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

SLT1

:

SLT32

TASKMAX

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

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

MESNGLSW Designate the valid/invalid of the singular point adjacent alarm.

(Invalid/Valid = 0/1)

When this parameter is set up "VALID", this warning sound is buzzing even if parameter:

BZR (buzzer ON/OFF) is set up "OFF".

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

List of parameters 4-107

5Instruction Manual

5 Instruction Manual

5.1 The details of each instruction manuals

The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

Instruction manuals enclosed in dashed lines in the list below are for optional products.

For special specifications, a separate instruction manual describing the special section may be enclosed.

Safety Manual

Explains the common precautions and safety measures to be taken for robot handling, system design and manufacture to ensure safety of the operators involved with the robot.

Standard

Specifications

Explains the product's standard specifications, factory-set special specifications, option configuration and maintenance parts, etc. Precautions for safety and technology, when incorporating the robot, are also explained.

Robot Arm

Setup &

Maintenance

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

Controller

Setup, Basic

Operation and

Maintenance

Detailed

Explanation of

Functions and

Operations

Troubleshooting

Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to automatic operation, and the maintenance and inspection procedures.

Explains details on the functions and operations such as each function and operation, commands used in the program, connection with the external input/output device, and parameters, etc.

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

Additional axis function

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

Tracking Function Manual

Explains the control function and specifications of conveyor tracking

Extended Function Instruction Manual

Explains the detailed description of data configuration of shared memory, monitoring, and operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-

D/CR751-D controller).

5-108 The details of each instruction manuals

6Safety

6 Safety

6.1 Safety

Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation

Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2

for safe use.

Table 6-1 : Self-diagnosis stop functions

No. Function

1 Overload protection function

2 Overcurrent diagnosis function

3 Encoder disconnection diagnosis function

4 Deflection over diagnosis function

5 AC power voltage drop diagnosis function

6 CPU error detection function

7 Overrun prevention function

Software limit detection

Mechanical stopper

Details Remarks

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

Activates when an overcurrent flows to the motor circuit.

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

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

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

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.

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

Activates when an error occurs in the CPU.

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

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

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

This is the mechanical stopper provided outside the software.

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

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

Table 6-2 : List of stop functions

Stop function

Operation panel

Teaching pendant

External input

Emergency stop

◯ ◯ ◯

Stop ◯ ◯ ◯

Details

This is the stop with the highest degree of emergency. The servo power is shut off, and the mechanical brakes (all axes) activate to stop the robot.

To recover, reset the alarm, and turn the servo ON with the servo ON command.

This is a stop operation with a high degree of emergency. The robot immediately decelerates and stops.

Note that the servo power is not shut off. Use this when using the collision evasion sensor, etc.

Safety 6-109

6Safety

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

Table 6-3 : External input/output signals that can be used for safety protection measures

Signal

External emergency stop

Note1)

Door switch

Enabling device input

Stop

Servo OFF

Connection point

Connector

(CR750 controller:

CNSUSR11/12)

(CR751 controller:

CNSUSR1)

Parallel I/O unit or interface

Parameter

-

-

-

Functions

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

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

SRVOFF The servo power can be shut off.

Usage method

Externally installed emergency stop switch.

Door switch on safety protection fence.

Stopping at high-level error occurrence.

The door switch of the safe protection fence

Enabling device.

The safety switch during teaching work

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

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

Door switch on safety protection fence Automatic operation enable

Emergency stop output

In servo ON

Connector

(CR750 controller:

CNSUSR11/12)

(CR751 controller:

CNSUSR1)

Parallel I/O unit or interface

Waiting

In alarm Connector

CR750/CR751 controller:

(CNUSR2)

AUTOENA Disables automatic operation when inactive.

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

SRVON

STOP

The servo power ON/OFF state is output.

Outputs that the robot is temporarily stopped.

ERRRESET Outputs when an alarm occurs in the

robot.

Display and warn the pilot lamp, the input signal of external emergency stop or the emergency stop switch of T/B turned on.

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

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

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

Note1) The external emergency stop input is prepared as a normal close for safety proposes. Thus, if the emergency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to

Page 112, "6.1.7 Examples of safety measures"

for details.

And, refer to

Page 63, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings" for the function of the door switch input and the enabling device input.

6.1.3 Precautions for using robot

The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below.

(1) Robot installation

・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the robot.

・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)

・ Install the controller where the entire robot operation can be viewed.

・ Install display lamps, etc., to indicate the robot's operation state.

・ Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator

・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.

・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures

・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.

・ Create hand signals to be followed when several operators are working together.

・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is in the robot's motion space so that other operators will not operate the operation panel (controller, control panel).

(4) Training

・ Train the operators about the operations, maintenance and safety required for the robot work.

6-110 Safety

6Safety

・ 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.

6.1.4 Safety measures for automatic operation

(1) Install safety fences so that operators will not enter the operation area during operation and indicate that automatic operation is in progress with lamps, etc.

(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the operator follows the signals.

6.1.5 Safety measures for teaching

Observe the following measures when teaching, etc., in the robot's operation range.

(1) Specify and follow items such as procedures related to teaching work, etc.

(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.

(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.

(4) Always inspect that stop functions such as the emergency stop device before starting the work.

(5) Immediately stop the work when trouble occurs, and correct the trouble.

(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.

(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial robots and work methods, etc.)

(8) Create signals to be used when several operators are working together.

6.1.6 Safety measures for maintenance and inspections, etc.

Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the start switch when performing inspections, repairs, adjustments, cleaning or oiling.

If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.

(1) Specify and follow items such as procedures related to maintenance work, etc.

(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.

(3) Take measures with the robot start switch, etc., to indicate that work is being done.

(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.

(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and work methods, etc.)

(6) Create signals to be used when several operators are working together.

Safety 6-111

6Safety

6.1.7 Examples of safety measures

Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emergency stop state.

[Caution] Since we have omitted the information in part because of explanation, there is the section different from the product. Also refer to

Page 122, "(3) External emergency stop connection [supplementary explanation]"

and

Page 51, "3.7.1 Connection of the external emergency stop"

.

[Note] ・ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay prepared by the customer is connected to the controller, please be sure to implement the measure against the noise by the customer in the coil section. And, please also take the lifetime of noise suppression parts into consideration.

・ Electric specification of the emergency-stop-related output terminal: 100mA/24V or less

(1) CR750 controller

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.

The power supply for emergency stop input uses the power supply in the controller.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Controller

非常停止スイッチ

(2接点タイプ)

OP非常停止

*6)

TB非常停止

*3)

RA

*4)

RA

1

2

3

4

5

6

7

8

9

10

短絡

RA

*5)

*7)

13

14

11

12

CNUSR2

16/17

41/42

}

}

}

*2)

*1) Each of the connectors,

CNUSR11 and CNUSR12, are assigned with the same pin number, creating two systems for each terminal. It is absolutely necessary to connect the two systems.

*2) You can see in the diagram that connector CNUSR2 has two terminals and two systems (16/

17 indicates two terminals at pin number 16 and pin number 17).

It is absolutely necessary to connect the two systems.

*3) The T/B emergency stop button connected with the controller.

*4) Emergency stop input relay.

*5)

Refer to Standard specification manual for the enabling device.

*6) The emergency stop button of the robot controller.

(Only specification with the operation panel.)

*7) The emergency stop input detection relay is used the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-1 : Example of safety measures (CR750 wiring example 1)

6-112 Safety

6Safety

<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller.

The power supply for emergency stop input uses the power supply of peripheral equipment.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Controller

Emergency stop switch

(2接点タイプ)

OP非常停止

*6)

TB非常停止

*3)

RA

*4)

RA

RA

CNUSR11/CNUSR12

*1)

1

2

3

4

5

6

7

8

9

10

周辺装置側電源

24V

*5)

*7)

13

14

}

11

12

CNUSR2

16/17

41/42

}

}

*2)

*1) Each of the connectors,

CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2 terminals at pin number 16 and pin number 17).

It is absolutely necessary to connect the 2 systems.

*3) The T/B emergency stop button connected with the controller.

*4) Emergency stop input relay.

*5)

Refer to Standard specification manual for the enabling device.

*6) The emergency stop button of the robot controller.

(Only specification with the operation panel.)

*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-2 : Example of safety measures (CR750 wiring example 2)

Safety 6-113

6Safety

<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of controller OFF, peripheral equipment state can be the emergency stop also.

Controller

非常停止スイッチ

(2接点タイプ)

OP非常停止

*6)

TB非常停止

*3)

RA

*4)

RA

RA

1

2

3

4

5

6

7

8

9

10

*7)

*5)

13

14

11

12

}

CNUSR2

*2)

16/17

41/42

}

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2 terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.

*4) Emergency stop input relay.

*5)

Refer to Standard specification manual for the enabling device.

*6) The emergency stop button of the robot controller.

(Only specification with the operation panel.)

*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-3 : Example of safety measures (CR750 wiring example 3)

6-114 Safety

6Safety

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of controller OFF, peripheral equipment state can be the emergency stop also.

OP

Emergency stop button

*6)

*3)

TB

Emergency stop button

Controller #1

Internal emergency stop circuit

RA

*4)

*7)

RA

RA

CNUSR11/CNUSR12

*1)

1

2

3

4

5

6

7

8

9

10

イネーブリング

デバイス

*5)

13

14

11

12

}

16/17

41/42

}

の非常停止

出力

ドアスイッチ出力

周辺装置側

電源24V

周辺装置内部

Circuit

Controller #2

OP

Emergency stop button

*6)

*3)

TB

Emergency stop button

RA

*4)

*7)

RA

RA

CNUSR11/CNUSR12

*1)

1

2

3

4

5

6

7

8

9

10

イネーブリング

デバイス

*5)

13

14

11

12

}

16/17

41/42

}

周辺装置

の非常停止

出力

*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2 terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.

*3) The T/B emergency stop button connected with the controller.

*4) Emergency stop input relay.

*5) Refer to Standard specification manual for the enabling device.

*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)

*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-4 : Example of safety measures (CR750 wiring example 4)

Safety 6-115

6Safety

<Wiring example 5>: Connect the controller to the safety relay

Use the controller’s emergency stop button command as an input to the safety relay.

Controller

OP

E-stop

TB

E-stop

CNUSR11

1

No connection

2

24V DC

3

4

5

6

0V DC

例)オムロン社 G9SX-AD

G9SX-AD series *OMRON

No connection T11

T12

13

14

24V DC

No connection

T21

T22

CNUSR12

5

非常停止出力

6

13

14

2

3

4

24V DC

*2)

0V DC

24V DC

A1 A2

24V DC 0V DC

[Caution]

1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.

2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples, particularly for emergency stop button output when using user equipment. Connect the positive side of the user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop button (or contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately connect the negative side (0V DC).

3) When installing a safety relay to use it as an input point of the controller's emergency stop button command, use a safety relay that is activated by an input from one of the two systems (i.e. Omron’s G9S Series).

4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.

If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

5) When connecting emergency stop button output to an external safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If the polarity is setup incorrectly, this function will not operate correctly. Please connect the terminal 13 of CNUSR11/12 to 24V.

Fig.6-5 : Example of safety measures (CR750 wiring example 5)

6-116 Safety

6Safety

(2) CR751 controller

<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.

The power supply for emergency stop input uses the power supply in the controller.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Emergency stop switch

(2接点タイプ)

*2)

TB非常停止

ボタン

RA

*3)

RA

RA

CNUSR1

*1)

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

*6)

*4)

*5)

20/19

45/44

18/17

43/42

}

}

CNUSR2

*1)

16/17

41/42

}

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) The T/B emergency stop button connected with the controller.

*3) Emergency stop input relay.

*4)

Refer to Standard specification manual for the enabling device.

*5) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-6 : Example of safety measures (CR751 wiring example 1)

Safety 6-117

6Safety

<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller.

The power supply for emergency stop input uses the power supply of peripheral equipment.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

Emergency stop switch

(2接点タイプ)

TB非常停止

*2)

RA

*3)

RA

RA

CNUSR1

*1)

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

*6)

周辺装置側電源

24V

*4)

*5)

20/19

45/44

18/17

43/42

}

}

CNUSR2

*1)

16/17

41/42

}

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) The T/B emergency stop button connected with the controller.

*3) Emergency stop input relay.

*4)

Refer to Standard specification manual for the enabling device.

*5) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

*6) Connect the 24V power supply to 26/31 terminals.

Fig.6-7 : Example of safety measures (CR751 wiring example 2)

6-118 Safety

6Safety

<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of controller OFF, peripheral equipment state can be the emergency stop also.

非常停止スイッチ

(2接点タイプ)

TB非常停止

*2)

RA

*5)

*3)

RA

RA

*1)

CNUSR1

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

イネーブリング

デバイス

*4)

*6)

Power supply

電源24V

Circuit

20/19

45/44

18/17

43/42

}

CNUSR2

*1)

16/17

41/42

}

*1) Each terminal assigned with the respectively same pin number as connector: CNUSR1 and CNUSR2 and each is dual line. Always connect the two lines.

*2) The T/B emergency stop button connected with the controller.

*3) Emergency stop input relay.

*4)

Refer to Standard specification manual for the enabling device.

*5) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

*6) Connect the 24V power supply to 26/31 terminals.

Fig.6-8 : Example of safety measures (CR751 wiring example 3)

Safety 6-119

6Safety

<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.

<Operation of the emergency stop>

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of controller OFF, peripheral equipment state can be the emergency stop also.

非常停止スイッチ

(4接点タイプ)

周辺装置

の非常停止

出力

Power supply

電源24V

TB emergency stop button

*2)

RA

*3)

*5)

RA

RA

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

イネーブリング

デバイス

*4)

20/19

45/44

18/17

43/42

}

CNUSR2

*1)

41/42

}

ドアスイッチ出力

TB emergency stop button

*2)

RA

*3)

*5)

RA

RA

CNUSR1

*1)

1/ 6

26/31

2/ 7

27/32

3/ 8

28/33

4/ 9

29/34

5/10

30/35

イネーブリング

デバイス

*4)

20/19

45/44

18/17

43/42

}

CNUSR2

*1)

16/17

41/42

}

周辺装置

の非常停止

出力

*1) Each of the connectors, CNUSR1 and CNUSR2, are assigned with the same pin number, creating 2 systems in each terminal. It is absolutely necessary to connect the 2 systems.

*2) The T/B emergency stop button connected with the controller.

*3) Emergency stop input relay.

*4) Refer to Standard specification manual for the enabling device.

*5) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

Fig.6-9 : Example of safety measures (CR751 wiring example 4)

6-120 Safety

6Safety

<Wiring example 5>: Connect the controller to the safety relay

Use the controller’s emergency stop button to input safety relay.

Controller

OP

E-stop

TB

E-stop

CNUSR1

1

No connection

26

24V DC

2

27

3

28

0V DC

例)オムロン社 G9SX-AD

G9SX-AD series *OMRON

No connection T11

T12

20

24V DC

45

No connection T21

6

No connection

31

7

24V DC

外部非常停止スイッチ

32

T22

A1 A2

8

非常停止出力

33

19

44

0V DC

24V DC

24V DC 0V DC

[Caution]

1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.

2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples, particularly for emergency stop button output when using user equipment. Connect the positive side of the user equipment (24V DC) to the two terminals 26/31, then connect the emergency stop button (or contact points) in the user equipment to the 2-27 and 7-32 terminals, and ultimately connect to the negative side

(0V DC).

3) Setup a safety relay on the user equipment, and when using to input the emergency stop button on the controller, please only use a safety relay that functions when connecting the input to the one end of the 2 systems (i.e. Omron’s G9S Series).

4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.

If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.

5) When connecting emergency stop button output to an exterior safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If the polarity is setup incorrectly this function will not operate correctly. Please connect 20/19 terminal to 24V.

Fig.6-10 : Example of safety measures (CR751 wiring example 5)

Safety 6-121

6Safety

(3) External emergency stop connection [supplementary explanation]

(1) Use a 2-contact type switch for all switches.

(2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF

(is opened) when the door is open.

(3) Use a manual-return type of normal close which have two lines for the emergency stop button.

(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and major faults (faults that cause the entire system to stop immediately, and that require care in restoration), and wire accordingly.

[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for safety measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity and cable length, so refer to the following and install.

・ Switch contact.......................... Prepare a 2-contact type.

*1)

・ Switch contact capacity....... Use a normal open contact that operates with a switch contact

capacity of approx. 1mA to 100mA/24V.

*1)

If you connect the relay etc., rated current of the coil should use the relay which is 100mA/24V or less. (Refer to

Fig. 6-11

and

Fig. 6-12 )

・ Cable length............................... The length of the wire between the switch and terminal block must be max. 15m or less. Please use the shield line, in case of the cable may receive the noise etc. by other equipment, such as servo amplifier.

And, since the ferrite core is attached as noise measures parts, please utilize.

The size of the wire that fits to use is shown below.

・ CR750 controller.................................. CNUSR11/12/13 connector:

AWG #26 to #16 (0.14mm

2

to 1.5mm

2

)

・ CR750 controller.................................. CNUSR2 connector:

・ CR751 controller.................................. CNUSR1/2 connector: the equipment except for this range.

AWG #30 to #24 (0.05mm

AWG #30 to #24 (0.05mm

2

2

to 0.2mm

2

to 0.2mm

2

)

)

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

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

6-122 Safety

6Safety

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

Internal fuse

非常停止スイッチ

(2接点タイプ)

OP非常停止

ボタン

TB非常停止

ボタン

ロボットコント

ローラ内電源

   24V

RA

F2

F1

CNUSR11/12

3

4

5

6

1

2

RA

Power supply24V

Relay

Note)

Rated-current is 100mA or less

RA

RA

9

10

7

8

イネーブリング

デバイス

13

14

11

12

}

}

Internal emergency

内部非常停止回路

CNUSR2

16/17

41/42

}

付加軸用コンタクタ

コントロール出力

Note) If you connect the relay etc., rated current of the coil should use the relay which is 100mA/24V or less.

If the electric current of the further flows, internal fuse 1 may cut. And, although the example of the connection which uses the external power source is shown in the figure, if the coil is connected using the internal power supply of the robot controller, internal fuse 2 may cut.

Fig.6-11 : Limitations when connecting the relay etc. (CR750)

The electric-current value limitation when connecting the coils, such as the Relays (CR751 controller)

Internal fuse

非常停止スイッチ

(2接点タイプ)

OP非常停止

ボタン

TB非常停止

ボタン

ロボットコント

ローラ内電源

   24V

RA

F2

F1

CNUSR1

1/6

26/31

2/7

27/32

3/8

28/33

RA

周辺装置

Power

Relay

Note)

100mA or less

RA

RA

4/9

29/34

5/10

30/35

イネーブリング

デバイス

20/19

45/44

18/17

43/42

}

}

Internal emergency

内部非常停止回路

CNUSR2

16/17

41/42

}

付加軸用コンタクタ

コントロール出力

Note) If you connect the relay etc., rated current of the coil should use the relay which is 100mA/24V or less.

If the electric current of the further flows, internal fuse 1 may cut. And, although the example of the connection which uses the external power source is shown in the figure, if the coil is connected using the internal power supply of the robot controller, internal fuse 2 may cut.

Fig.6-12 : Limitations when connecting the relay etc. (CR751)

Safety 6-123

6Safety

[Supplementary explanation regarding emergency stop circuit]

The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly shuts off the emergency stop detection relay when the emergency stop button is pressed.

OP

非常停止

TB

非常停止

24V

+

-

非常停止検出

リレー

OP

非常停止

検出

TB

非常停止

検出

外部

非常停止

検出

0V

CAUTION

Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may not stop when the emergency stop button is pressed and there will be a risk of damage or personal injury occurring.

After wiring, be sure to press each of the installed emergency stop switches and check whether the emergency stop circuit works properly.

CAUTION

Be sure to duplicate connection of the emergency stop, door switch and enabling switch. If not duplicated, these functions may fail due to a broken relay used by customer, etc.

6-124 Safety

6Safety

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures.

(1) Power supply

・ Where the voltage fluctuation will exceed the input voltage range.

・ Where a momentary power failure exceeding 20ms may occur.

・ Where the power capacity cannot be sufficiently secured.

CAUTION

Please use the controller with an input power supply voltage fluctuation rate of 10% or less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC during the day and 220 VAC during the night, turn the servo off once and then on again.

If this is not performed, an excessive regeneration error may occur.

(2) Noise

・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this product is used near radios or televisions. Keep the robot away from these items.

(3) Temperature and humidity

・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.

・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.

・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

(4) Vibration

・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s tation and 5m/s

2

or less during operation.)

2

or less during transpor-

(5) Installation environment

・ Where strong electric fields or magnetic fields are generated.

・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)

・ Where there is heavy powder dust and oil mist present.

6.3 Precautions for handling

(1) RV-2F series robot has brakes on J2, J3 and J5 axes. And RV-2FB series 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. Moreover, when the axis without the brake is servo-off, take care to falling by the self-weight.

(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accuracy may drop due to an excessive backlash, or the backed up data may be destroyed.

(3) Note that depending on the posture, even when within the movement range, the wrist section could interfere with the base section. Take care to prevent interference during jog.

*1)

(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.

When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy may drop or servo alarms may occur. If these problems occur, perform a 5 to 10 minute running-in operation at a low speed (about a half of normal operating speed).

(5) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise resistance and to prevent electric shocks.

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

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

Working environment 6-125

6Safety

(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard configuration may break due to the fixed installation specifications. In this case, use the machine cable extension (for flexed)" factory shipment special specifications or options.

(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.

Take care to prevent interference with the workpiece or peripheral devices during operation.

(9) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

(10) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It would not result in burns, however, it may cause secondary accidents if touched carelessly.

(11) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the program data may be destroyed.

(12) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices.

Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce interference.

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

(14) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes about once every day the 30 degree or more, or the 30mm or more.

(15) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for transborder transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mitsubishi industrial robots contain less than 1 g of lithium and are not classified as dangerous goods. However, if the quantity of lithium batteries exceeds 24 batteries for storage, etc., they will be classified as Class 9: Miscellaneous dangerous substances and articles. Shipping less than 24 batteries is recommended to avoid having to carry out transport safety measures as the customer’s consignor. Note that some transportation companies may request an indication that the batteries are not dangerous goods be included on the invoice. For shipping requirement details, please contact your transportation company.

(16) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

6-126 Precautions for handling

7Appendix

7 Appendix

Appendix 1 : Specifications discussion material

■ Customer information

Company name

Address

Name

Telephone

■ Purchased mode

Specification

Standard specification □ RV-2F-D □ RV-2FB-D

Type

Note1)

□ RV-2F-1D □ RV-2FB-1D

Note1) Refer to the

Page 2, "1.2 Model type name of robot"

for the details of the robot arm type name.

■ Options (Installable after shipment)

Item Type Provision, and specifications when provided.

Stopper for changing the operating range

Machine cable extension

(For CR750 controller)

Machine cable extension

(For CR751 controller)

1S-DH-11J1

1S-DH-11J2

1S-DH-11J3

1S- □□ CBL-11

1S- □□ LCBL-11

1F- □□ UCBL-11

1F- □□ LUCBL-11

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ Provided

Fixed type:

□ Not provide □ 10m □ 15m

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

Fixed type:

□ Not provide □ 10m □ 15m

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

Solenoid valve set

Hand input cable

Hand output cable

Hand curl tube

Simple teaching pendant

1S-HC30C-11

1E-GR35S

1E-ST040 □ C

R32TB- □□

(For CR750 controller

R33TB- □□

(For CR751 controller

Highly efficient teaching pendant R56TB- □□

(For CR750 controller

R57TB- □□

(For CR751 controller

Parallel I/O interface 2D-TZ368/

2D-TZ378

□ Not provided □ Provided

□ Not provided □ Provided

□ Not provided □ 1set □ 2set

□ Not provided

R32TB: □ 7m □ 15m

R33TB: □ 7m □ 15m

□ Not provided

R56TB: □ 7m □ 15m

R57TB: □ 7m □ 15m

2A-RZ361/

2A-RZ371

(

2A-CBL □□

2A-RZ361/RZ371

)

□ Not provided

2D-TZ368(Sink type)/ □ -1pc. □ -2pc.

2D-TZ378(Source type)/ □ -1pc. □ -2pc.

□ Not provided □ 5m-( )pc. □ 15m-( )pc.

External I/O cable

(For parallel I/O interface)

Parallel I/O unit

External I/O cable

(For Parallel I/O unit)

CC-Link interface

RT ToolBox2

RT ToolBox2 mini

Network vision sensor

(

2D-CBL □□

2D-TZ368/TZ378

)

2D-TZ576

3D-11C-WINJ

3D-12C-WINJ

4D-2CG5***-PKG

□ Not provided □ 2A-RZ361(Sink type)/( ) unit

□ 2A-RZ371(Source type)/( ) unit

□ Not provided □ 5m-( )pc. □ 15m-( )pc.

□ Not provided □ Provided

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

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

□ Not provided □ Provided

Instructions manual 5F-FE01-PE01

■ Maintenance parts (Consumable parts)

□ Not provided □ Provided ( ) sets

Maintenance parts

□ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

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

Remarks

Specifications discussion material Appendix-127

7Appendix

Appendix-128 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., 2012 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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