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Mitsubishi Industrial Robot
CR750-D/CR751-D Controller
RV-2F-D Series
Standard Specifications Manual
BFP-A8900-W
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
DANGER
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.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc. must be designed by the customer.
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.
WARNING
When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture.
CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.
CAUTION
Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters, the internal information of the robot controller may be damaged.
DANGER
Do not connect the Handy GOT when using the GOT direct connection function of this product. Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.
DANGER
Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER
Attach the cap to the SSCNET III connector after disconnecting the SSCNET
III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, and leading to malfunction.
CAUTION
Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.
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.
*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.
Primary
Earth leakage breaker
(NV)
Note 2)
Secondary
Three phase Single phase
AC200V AC200V
* The controller is an example.
ACIN connector
For single phase
Grounding screw
ACIN connector
For three phase
Grounding screw
ACIN connector
1 2 3
PE terminal
<3> LINE/LOAD
<1> LINE/LOAD
<2> LINE/LOAD
PE terminal
Note 1)
ACIN connector or power cable
(Attachment)
Label
<4> LINE/LOAD
1 2 3
Noise filter
Note 3)
Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible)
Recommendation compression tools: 234171-1(Tyco Electronics)
Note 2) The earth leakage breaker is the customer preparation. Always use the cover below.
Recommendation: For single primary power supply ......... NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)
For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3)
Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.
(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)
1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the primary power supply (AWG #14 (2mm
2
or above), cables to ground the primary power supply (AWG #12
(3.5mm
2
or above).
The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with the product to match the specifications. When you build a cable suitable for your environment using the ACIN connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm
2
) or above).
2) Confirm that the primary power matches the specifications.
3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.
4) Connect the secondary power cable.
a) When using the supplied power cable with the ACIN connector
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
b) When building a power cable using the ACIN connector and the ACIN terminals supplied
Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to connect the ACIN terminals.
For single phase: 1 and 3
For three phase: 1, 2, and 3
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
5) Connect this ACIN connector to the ACIN connector on the front of the controller.
6) Connect the grounding cable to the PE terminal. (M4 screw)
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
■Revision history
Date of print Specifications No.
2012-06-14
2012-10-04
2012-10-11
2012-10-18
2012-11-26
2012-12-21
2013-02-15
2013-03-19
2013-07-19
2013-09-14
2014-01-08
2014-03-31
2014-08-20
BFP-A8900
BFP-A8900-A
BFP-A8900-B
BFP-A8900-C
BFP-A8900-D
BFP-A8900-E
BFP-A8900-F
BFP-A8900-G
BFP-A8900-H
BFP-A8900-J
BFP-A8900-K
BFP-A8900-M
BFP-A8900-N
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.
･ "1.3 CE marking specifications" was added.
･ "Declaration of Incorporation" was added.
･ The user's guide of KC mark was added.
・ The statement about trademark registration was added.
･ The machine-cable extension option was corrected to the replacement type.
･ The machine-cable extension option of CE specification was added.
･ The RIO cable was added to Wiring and piping system diagram for hand.
･ The notes about the input-output connected to the controller were added. (do not ground the + side of 24V power supply prepared by customer)
・ ”Declaration of Incorporation” was updated.
･ The robot type of KC mark was added.
･ ”Fig.2-13: Outside dimensions (CE marking/KC mark specification)” was added.
・ EC-Statement of Compliance was updated.
・ Note of the external emergency stop were added (opens the connector terminal at factory shipping).
･ The terminator was added to the connector of the hand input cable.
・ The connection place of machine cable connector CN2 of the CR751 controller was corrected. (Error in writing)
・ The operation panel of CR751 controller was deleted.
・ 1.2.1 How to identify the robot model was corrected.
・ The metal plate which fixes CR750 controller vertically was changed. (upward compatibility)
・ ”6.4 EMC installation guideline” was added.
・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated.
・The cautions of operating in a low temperature environment or after a prolonged stop in ”6.3
Precautions for handling” were modified.
・ The caution about fumigation of wood packing was added to ”6.3 Precautions for handling”.
・ ”Fig.6-11: Limitations when connecting the relay etc. (CR750)” and ”Fig.6-12: Limitations when connecting the relay etc. (CR751)” were corrected.
(Error output → Emergency stop output, Contactor controleoutput for additional axes →
Error output)
・ ”Table 2-2: Value of each counter-force” was added.
・ Distinction of the sink/sauce of “Fig.2-8 : Wiring and piping system diagram for hand and example the solenoid valve installation” was eliminated.
・ The cable fixation plate was added to ”Fig.3-4: Outside dimensions of controller (CR751)”.
・ An illustration of hand output cable was corrected.
・ Conditions for the flexed type cables were corrected.
・ The explanation of Allowable inertia (Maximum) is added.
・ The note about an ambient temperature was added to “2.1.1 Basic specifications”.
・ The station numbers of the parallel I/O interface and the parallel I/O unit was corrected.
・ The description of "MELFA BASIC IV" was added to “Table 3-1: Specifications of controller”.
・ The description of stopper for operating range change was modified.
・ The grounding representation was corrected.
・ The dimension which installed the solenoid valve set (option) was added to the outside dimensions.
・ The types of the ACIN terminal were added.
・ The cover and corporate logo mark of this manual was changed.
・ The statement about trademark registration was modified.
・ The explanation of CR751 controller was modified.
・ A connection space for a machine cable was added.
・ The description about screw holes using for tooling wiring and piping was added.
・ The note of turning ON the power supply for control (DCcable-2) for parallel I/O unit was added.
・ A safety relay in “example of safety measures （wiring example 5） ” both CR750 and
CR751 controller were changed.
・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated.
Date of print Specifications No.
2014-12-18 BFP-A8900-P
2015-03-10
2015-11-17
2015-12-14
2016-04-07
2017-05-22
BFP-A8900-S
BFP-A8900-T
BFP-A8900-U
BFP-A8900-V
BFP-A8900-W
Details of revisions
・ Correction of errors in the Specifications discussion materials. (Network vision sensor: 4D-
2CG5***-PKG was deleted.)
・ The corporate logo mark of illustrations in this manual was changed.
・ The number of Hand open/close input/output points was corrected. (error: 8/8)
・ The description about the specification of RV-2FL/2FLB were added.
・ ”Declaration of Incorporation” and “EC-Statement of Compliance” were updated. (RV-2FL series was added)
・ Maximum resultant velocity of RV-2FL/2FLB was corrected. (error. 4,206mm/sec)
・ Transportation precaution of the lithium battery was modified.
・ List of parts and manufacturer of parallel I/O unit was corrected.
・ Note1) in “Table3-6: Function of the key switch interface” was corrected.
・ The figures of “Position of center of gravity for loads” were modified.
・ Circuit diagrams in “3.6.1 Connection of the external emergency stop” and “6.1.7 Examples of safety measures” were modified.
・ Windows10 was supported by RT ToolBox2.
・ ”EC DECLARATION OF CONFORMITY” pages were deleted.
・ Configuration device of CC-Link interface option was modified.
・ Contact information of the authorized representative was updated.
■ 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
"2 Robot arm" , the specifications related to the controller
Page 44, "3 Controller" , and software func-
tions and a command list
separately.
This document has indicated the specification of the following types robot.
*RV-2F-D/RV-2FB-D/RV-2FL-D/RV-2FLB-D series
Note) Indicates it as RV-2F series.
･ About CE Marking in the automization system
The Guidelines of the measures against EMC in the automization system manufactured by the customer is shown in
Page 135, "6.4 EMC installation guideline" .
Please refer to it and carry out the measures against EMC of the automization system of the customer.
・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ The specifications values are based on Mitsubishi standard testing methods.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・ This specifications is original.
・ Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10 are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.
・ The official name of Windows® is Microsoft®Windows®Operating System.
・ Windows®XP, Windows Vista®, Windows® 7, Windows® 8, Windows® 8.1, Windows® 10 are either product names of Microsoft Corporation in the United States.
・ Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.
・ All other company names and production names in this document are the trademarks or registered trademarks of their respective owners.
Copyright(C) 2012-2017 MITSUBISHI ELECTRIC CORPORATION
i
Contents
Page
(1) RV-2F/2FB (standard specification (CR750/CR751), CE Marking specification (CR751)) ...... 2-15
(3) RV-2F/2FB operating range (Common to the standard/CE Marking/KC mark specification) 2-17
(4) RV-2FL/2FLB (standard specification (CR750/CR751), CE Marking specification (CR751)) . 2-18
(3) Connection with the CR751 controller (For standard/CE Marking/KC mark specification) ..... 2-21
Contents
Page
ii
Contents
Page
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 L ▲ - ● D ◆ -Sxx
(a) (b) (c) (d) (e) (f) (g)
(a). RV-2F....................................... Indicates the RV-2F series
(b). L.................................................. Indicates long arm type.
Ex)
Omitted: Standard type
L: Long arm type
(c). ▲ ............................................... Indicates the existence of the brake.
Ex)
Omitted: J2, J3, and J5 axse have a brake.
B: All axes have a brake.
(d). ● ............................................... Indicates the controller type.
Ex.）
Omitted: CR750 controller
1: CR751 controller
(e). D ................................................. Indicates the controller type.
D: Stand alone type
(f). ◆
............................................... Technical standard of Conformity.
Ex.）
Omitted: No conformity of technical standard.
1: Conforms to the CE Marking specification.
(g).
-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
Robot arm
Type name
Protection specification
Arm length
RV-2F-D
RV-2FL-D
RV-2FB-D
RV-2FLB-D
RV-2F-1D
RV-2FL-1D
RV-2FB-1D
RV-2FLB-1D
Standard specification
Standard arm
Long arm
Standard arm
Long arm
Standard arm
Long arm
Standard arm
Long arm
Brake
Only J2, J3, and J5 axes
Axial constitution
All axes
Only J2, J3, and J5 axes
6-axis type
All axes
Controller
CR750-02VD-1
CR751-02VD-0
1-2
Model type name of robot
1General configuration
1.3 CE marking/KC mark specifications
The robot shown in Table 1-2 is the CE marking/KC mark specification.
Table 1-2 ： Robot models with CE marking/KC mark specifications
Specification Robot type Controller
CE marking
KC mark
RV-2FB-D1-S15
RV-2FLB-D1-S15
RV-2FB-1D1-S15
RV-2FLB-1D1-S15
RV-2FB-1D1-S19
CR750-02VD1-1-S15
CR751-02VD1-0-S15
CR751-02VD1-0-S19
External signal logic
Source type
Language setting
English (ENG)
1.4 Indirect export
The display in English is available by setting parameter LNG as "ENG."
1.5 Instruction manuals
The instruction manuals supplied in CD-ROM, except for the Safety Manual. This CD-ROM (electronic manual) includes instruction manuals in both Japanese and English versions.
CE marking/KC mark specifications
1-3
1
General configuration
1.6 Contents of the structural equipment
1.6.1 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
<Standard specification>
<CE marking specification>
・ CR751 controller
RV-2F series
* Refer to Page 9, "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 CR750 controller
<Standard specification>
Fix type: 1S- □□ CBL-11
Flex type: 1S- □□ LCBL-11
<CE marking specification>
Fix type: 1S- □□ CBL-03
Flex type: 1S- □□ LCBL-03
・ For CR751 controller
Fix type: 1F- □□ UCBL-11
Flex type:1F- □□ LUCBL-11
Note1) □□ refer the length.
for details.
Stopper for changing the operating range
・ J1 axis: 1S-DH-11J1
・ J2 axis: 1S-DH-11J2
・ J3 axis: 1S-DH-11J3
for the angle which can be changed
*Installed by customer.
Against wall specification
Limit the operation range of the J1 axis.
・ 1S-HC30C-11
・ 1E-GR35S
・ 1 set: 1E-ST0402C
・ 2 set: 1E-ST0404C
［Caution］
Standard configuration equipment
Special specifications
Option
Prepared by customer
Fig.1-1 ： Structural equipment (Robot arm)
1-4
Contents of the structural equipment
1
General configuration
1.6.2 Controller
The devices shown below can be installed on the controller.
Controller
・ CR750-02VD-1 or
・ CR751-02VD-0
Simple T/B
・ R32TB:
For CR750 controller
・ R33TB:
For CR751 controller
2D-TZ576
2D-TZ368
(Sink)
/
2D-TZ378
(Source)
2A-RZ361
(Sink)
/
2A-RZ371
(Source)
Highly efficient T/B
・ R56TB:
For CR750 controller
・ R57TB:
For CR751 controller
・ 2D-CBL05 (5m)
・ 2D-CBL15 (15m)
・ 2A-CBL05 (5m)
・ 2A-CBL15 (15m)
PLC(Programmable Logic
Controller) External device
Prepared by customer
Personal computer
Prepared by customer
RT Tool Box2
・ 3D-11C-WINE(CD-ROM)
(Windows XP, Windows Vista, Windows 7,
Windows 8, Windows 8.1, Windows 10)
RT Tool Box2 mini
・ 3D-12C-WINE(CD-ROM)
(Windows XP, Windows Vista, Windows 7,
Windows 8, Windows 8.1, Windows 10)
cable
Instruction Manual (bookbinding)
・ 5F-FE01-PE01
［Caution］
Standard configuration equipment
Special specifications
Options
Prepared by customer
Fig.1-2 ： Structural equipment
1-5
1
General configuration
1.7 Contents of the Option equipment and special specification
A list of all Optional equipment and special specifications are shown below.
Table 1-3 ： The list of robot option equipment and special
Item
Stopper for changing the operating range
Solenoid valve set
Hand input cable
Hand output cable
Hand curl tube
Type
1S-DH-11J1
1S-DH-11J2
1S-DH-11J3
Extended machine cable 1S- □□ CBL-11
1S- □□ LCBL-11
1S- □□ CBL-03
1S- □□ LCBL-03
1F- □□ UCBL-11
1F- □□ LUCBL-11
1E-VD01/1E-VD01E
1E-VD02/1E-VD01E
1S-HC30C-11
1E-GR35S
1E-ST0402C
1E-ST0404C
Specifications
J1 axis
+ side: +210、 +150、 +90 deg.
- side: -210、 -150、 -90 deg.
One place selection is possible each for
+ side / - side.
Standard specification is +/-240 deg.
J2 axis
+ side: +30 deg.
- side: -30 deg.
One place selection is possible each for
+ side / - side.
Standard specification is +/-120 deg
J3 axis
+ side: +70 deg.
- side: Nothing
Standard specification is 0 to +160 deg
For fixing
(Set of power and signal)
Classification
Note1)
CR750 CR751
Description
This must be installed by the customer.
○
○
○
○
○
○
For flexing
(Set of power and signal)
For fixing
(Set of power and signal)
For flexing
(Set of power and signal)
For fixing
(Set of power and signal)
For flexing
(Set of power and signal)
1 set (Sink type)/(Source type)
2 set (Sink type)/(Source type)
Robot side: connector.
Hand side: wire.
Robot side: connector
Hand side: wire
For solenoid valve 1set: φ4x2
For solenoid valve 2set: φ4x4
○
○
○
○
-
-
○
○
○
○
○
○
-
-
-
-
○
" □□ " in type shows the length of the cables as follows.
10=10m, 15=15m
For standard specification
" □□ " in type shows the length of the cables as follows.
05=5m, 10=10m, 15=15m
For standard specification
" □□ " in type shows the length of the cables as follows.
10=10m, 15=15m
For CE marking specification
" □□ " in type shows the length of the cables as follows.
05=5m, 10=10m, 15=15m
For CE marking specification
" □□ " in type shows the length of the cables as follows.
10=10m, 15=15m
○
" □□ " in type shows the length of the cables as follows.
05=5m, 10=10m, 15=15m
○
A solenoid valve set for the pneumatic hand
○
○
○
The cable is connected to the sensor by the customer.
The cable is connected to the hand output connector by the customer.
Attaches the cable clamp (drip proof type)
Straight cable 600mm (total length)
○ Curl type air tube
○
Note1) Distinction of ○ (is option) and □ (is special specification at shipping) is shown for each pair with the controller.
1-6
Contents of the Option equipment and special specification
1
General configuration
Table 1-4 ： The list of controller option equipment and special specification
Item Type Specifications
Classification
Note1)
CR750 CR751
Simple teaching pendant R32TB
R32TB-15
R33TB
R33TB-15
Highly efficient teaching pendant
R56TB
R56TB-15
R57TB
R57TB-15
Parallel I/O Interface 2D-TZ368
(Sink type)
2D-TZ378
(Source type)
Cable length 7m
Cable length 15m
Cable length 7m
Cable length 15m
Cable length 7m
Cable length 15m
Cable length 7m
Cable length 15m
DO: 32 point
DI: 32 point
Insulated type output signal
(0.1A/24V /point)
DO: 32 point/
DI: 32 point
Insulated type output signal
(9mA/ 24V /point)
-
-
○
○
-
-
○
○
○ ○
Description
○
○
-
-
○
○
With 3-position enable switch IP65
-
The card type external input-and-output.
Interface. Install to the slot of controller.
External I/O cable
(For
Parallel I/O Interface)
2D-CBL05
2D-CBL15
Parallel I/O Unit 2A-RZ361
(Sink type)
5m
15m
○
○
○
○ Use to connect the external peripheral device to the parallel input/output inter-
○ face.
The unit for expansion the external input/output.
Electrical isolated Type
(100mA/Point)
○
External I/O cable
(For Parallel I/O Unit)
CC-Link interface
RT ToolBox2
(
Personal computer Support software)
RT ToolBox2 mini
(
Personal computer Support software mini)
Instruction Manual
2A-RZ371
(Source type)
2A-CBL05
2A-CBL15
2D-TZ576
3D-11C-WINE
3D-12C-WINE
5F-FE01-PE01
DO: 32 point/
DI: 32 point
Insulated type output signal
(0.1A/24V /point)
DO: 32 point/
DI: 32 point
Insulated type output signal
(7mA/ 24V /point)
5m
15m
Only Intelligent device station,
Local station
CD-ROM
CD-ROM
RV-2F-D series
○
○
○
○
○
○
○ Use to connect the external peripheral
○ device to the parallel input/output unit
○
For MELSEC PLC with CC-Link connection.
○
Windows XP, Windows Vista, Windows 7,
Windows 8, Windows 8.1, Windows 10
(With the simulation function)
○
Windows XP, Windows Vista, Windows 7,
Windows 8, Windows 8.1, Windows 10
○
Note1) Distinction of ○ (is option) and □ (is special specification at shipping) is shown for each pair with the controller.
Contents of the Option equipment and special specification
1-7
1
General configuration
[Reference]:The recommendation products of the USB cable are shown below
Table 1-5 ： 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
MR-J3USBCBL3M
Supplier
SANWA SUPPLY INC.
ELECOM CO., LTD.
MITSUBISHI ELECTRIC SYSTEM & SERVICE CO.,
LTD.
MITSUBISHI ELECTRIC CO., LTD.
USB adapter
(USB B type-USB mini B type)
AD-USBBFTM5M 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.
1-8
Contents of the Option equipment and special specification
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
Unit
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
Note6)
Mass
Allowable moment load
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Wrist twist (J4) Allowable inertia
(Maximum)
Note7)
Wrist pitch (J5)
Wrist roll (J6)
Arm reachable radius front paxis center point
Tool wiring
Tool pneumatic pipes
Supply pressure
Protection specification
Note8)
Degree of cleanliness
Painting color 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/2FL: J2, J3, J5 axes have the brake)
(RV-2FB/2FLB: All axes have the brake)
Absolute encoder
230
270
310
335
480 (-240 to +240)
240 (-120 to +120) 237 (-117 to +120)
160 (0 to +160)
400 (-200 to +200)
240 (-120 to +120)
720 (-360 to +360)
300
150
300
450
225
105
165
412
450
720
4,950 4,200
3.0
2.0
±0.02
0 to 40
19 21
4.17
4.17
2.45
0.18 (0.27)
0.18 (0.27)
0.04 (0.1)
504 649
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: 0.6B7.6/0.2)
Note1) RV-2FB/2FLB 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 11, "2.2.1 Pose repeatability"
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note7) The allowable inertia values are the values at the rated load mass. The values in parentheses are the values at the maximum load mass. By controlling the optimum acceleration/deceleration, the allowable inertia (maximum) can be supported.
Standard specifications
2-9
2Robot arm
Note8) The protection specification details are given in
Page 13, "2.2.5 Protection specifications"
.
2.1.2 The counter-force applied to the installation surface
The counter-force applied to the installation surface for the strength design of the robot installation surface is shown.
Table 2-2 ： Value of each counter-force
Item
Falls moment: M
L
Torsion moment: M
T
Horizontal translation force: F
H
Vertical translation force: F
V
Unit
N ･ m
N ･ m
N
N
Value
240
150
700
820
2-10
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 B 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
2-11
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 9, "2.1.1 Basic specifications"
.
(2)
shows the distribution dimensions for the center of gravity in the case where the volume of the load is relatively small. Use this figure as a reference when designing the tooling.
(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allowable moment. Refer to
Page 9, "2.1 Standard specifications"
for details of allowable moment value.
[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.
Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/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 70
200
170
Fig.2-1 ： Position of center of gravity for loads (for loads with comparatively small volume)
2-12
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 2-3 ： Factory-shipments condition
JOG operation
RV-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 2-4
.
Table 2-4 ： Protection specifications and applicable fields
Type
Protection specifications
(IEC Standards value)
Classification
RV-2F series Robot arm: IP30
（all axes）
General environment specifications
Applicable field
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.
The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the robot with the liquids.
【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.
2-13
２ Robot arm
2.3 Names of each part of the robot
＋
J4軸
ツイスト
－
＋
＋
－
J6軸
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
2-14
Names of each part of the robot
２ Robot arm
2.4 Outside dimensions ・ Operating range diagram
(1) RV-2F/2FB (standard specification (CR750/CR751), CE Marking specification (CR751))
2-M3 screw depth 6
2-M3 screw depth 6
2-M3 screw depth 6
2-M3 screw depth 6
View C
2-M3 screw depth 6
2-M5 screw
(Grounding)
Solenoid valve
(Option) installation space
C
Solenoid valve
(Option) installation space
B
Minimum
*2)
*3)
depth 8
screw depth 8
*1)
installation hole
(Installation)
φ20H7 depth 6
φ40 h8 de pth 6
View A
Detail of mechanical interface
*1) The depth in which the screw is tightened is 7.5 to 8mm.
*2) The distance to a minimum bendable radius of the machine cable.
*3) Ensure the cable connection space to connect machine cables.
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 ： RV-2F/2FB outside dimensions (standard specification (CR750/CR751), CE Marking specification
(CR751))
Outside dimensions ・ Operating range diagram
2-15
２ Robot arm
(2) RV-2F/2FB (CE Marking/KC mark specification (CR750))
2-M3 screw depth 6
2-M3 screw depth 6
2-M3 screw depth 6
View C
2-M3 screw depth 6
2-M5 screw
(Grounding)
2-M3 screw depth 6
Solenoid valve (Option) installation space
Solenoid valve (Option) installation space
Minimum
*2)
*3)
depth 8
screw depth 8
*1)
depth 6
View A
Detail of mechanical interface
dept h 6
(Installation)
installation hole
*1) The depth in which the screw is tightened is 7.5 to 8mm.
*2) The distance to a minimum bendable radius of the machine cable.
*3) Ensure the cable connection space to connect machine cables.
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.2-4 ： RV-2F/2FB outside dimensions (
CE Marking/KC mark specification (CR750)
)
2-16
Outside dimensions ・ Operating range diagram
２ Robot arm
(3) RV-2F/2FB operating range (Common to the standard/CE Marking/KC mark specification)
P-point path
P-point
P-point path
Control point
(R-point)
Flange upward limit line
Flange downward limit line
Flange downward singular point limit line
Note) The posture of side view
Note) Restriction of operating range
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.2-5 ： RV-2F/2FB operating range diagram (Common to the standard/CE Marking/KC mark specification)
Outside dimensions ・ Operating range diagram
2-17
２ Robot arm
(4) RV-2FL/2FLB (standard specification (CR750/CR751), CE Marking specification (CR751))
2-M3 screw depth 6
2-M3 screw depth 6
2-M3 screw depth 6
2-M3 screw depth 6
View C
2-M3 screw depth 6
2-M5 screw
(Grounding)
Solenoid valve
(Option) installation space
Solenoid valve
(Option) installation space
Minimum
*2)
*3)
depth 8
screw depth 8
*1)
4-φ9 installation hole
(Installation)
φ20H7 depth 6
φ40 h8 de pth 6
View A
Detail of mechanical interface
View B
Detail of installation dimension
*1) The depth in which the screw is tightened is 7.5 to 8mm.
*2) The distance to a minimum bendable radius of the machine cable.
*3) Ensure the cable connection space to connect machine cables.
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
Fig.2-6 ： RV-2FL/2FLB outside dimensions (standard specification (CR750/CR751), CE Marking specification
(CR751))
2-18
Outside dimensions ・ Operating range diagram
２ Robot arm
(5) RV-2FL/2FLB (CE Marking specification (CR750))
2-M3 screw depth 6
2-M3 screw depth 6
2-M3 screw depth 6
View C
2-M3 screw depth 6
2-M5 screw
(Grounding)
2-M3 screw depth 6
Solenoid valve
(Option) installation space
Solenoid valve (Option) installation space
Minimum
*2)
*3)
depth 8
screw depth 8
*1)
depth 6
View A
Detail of mechanical interface
depth
6
(Installation)
installation hole
View B
Detail of installation dimension
*1) The depth in which the screw is tightened is 7.5 to 8mm.
*2) The distance to a minimum bendable radius of the machine cable.
*3) Ensure the cable connection space to connect machine cables.
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.2-7 ： RV-2FL/2FLB outside dimensions (
CE Marking specification (CR750)
)
Outside dimensions ・ Operating range diagram
2-19
２ Robot arm
(6) RV-2FL/2FLB operating range (Common to the standard/CE Marking specification)
P-point path
P-point
P-point path
Control point
(R-point)
Flange upward limit line
Flange downward limit line
Flange downward singular point limit line
Note) The posture of side view
The case where the angle of each axis is the following is shown
J1=0 degree, J2=0 degree, J3=90 degree, J4=0 degree, J5=0 degree., J6=0 degree.
Note) Restriction of operating range
If the angle of J1 axis is -75 degree < J1 < 70 degree and J2 axis is J2 < -110 degree, the operating range of J3 axis is limited to 80 degree <= J3.
Fig.2-8 ： RV-2FL/2FLB operating range diagram (Common to the standard/CE Marking specification)
2-20
Outside dimensions ・ Operating range diagram
２ Robot arm
2.4.1 Outside dimensions of machine cables
(1) Connection with the CR750 controller (For standard specification)
1) Power cable
[Controller side]
[Robot arm side]
A pp ro x.
φ
41
Approx. 95 Approx. 95
A pp ro x.
φ
41
Note) If using an optional machine cable extension, refer to
Page 31, "(1) Machine cable extension" in a diameter of the cable.
2) Signal cable
[Controller side] [Robot arm side]
Approx. 12
Approx. 45 Approx. 45
Approx. 12
(2) Connection with the CR750 controller (For CE Marking/KC mark specification)
1) Power cable
Approx. 90
Approx. 50
[Controller side]
[Robot arm side]
Approx. 50
App rox
. φ
80
Approx. 90
App rox
. φ
80
Note) If using an optional machine cable extension, refer to
Page 31, "(1) Machine cable extension" in a diameter of the cable.
2) Signal cable
Approx. 90 Approx. 45
[Controller side]
Approx. 45
App rox
. φ
78 Approx. 90
[Robot arm side]
App rox
. φ
78
(3) Connection with the CR751 controller (For standard/CE Marking/KC mark specification)
1) Power cable
Approx. 15
Approx. 23
[Controller side]
Approx. 15
Approx. 95
A pp ro x.
φ
41
[Robot arm side]
Approx. 20
Outside dimensions ・ Operating range diagram
2-21
２ Robot arm
2) Signal cable
[Controller side]
[Robot arm side]
Approx. 14
Approx. 40
Approx. 12
Approx. 45
2-22
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) RV-2F series (standard specification (CR750/751), CE Marking specification (CR751))
(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 x 4)
（φ４×４本）
(3)1 to 4 : Secondary piping couplings (φ4)
AIR OUT
1
2
3
4
Secondary piping pneumatic hoses
(φ4)
（φ４）
*1)
GR1～GR4 （イと接続）
Hand output connector
（φ６×１本）
1 2 3 4
Magnification
[拡大図]
(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
※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)
Note1)
Connector Connector pins
Manufacturer
(1)
(2)
Connector
Connector
(3) Coupling
(4) Coupling
1
4
4
4
1-1903131-6
SMP-02V-BC
KJS04-M3
UKB4
1903112-2
BHF-001GI-0.8BS
－
－
1-1827864-6
SMR-02V-B
－
－
1827587-2
BYM-001T-0.6
－
－
AMP
Japan solderless terminal
MFG. Co.,LTD
SMC. Co.,LTD
Koganei
Note1) The resistance (100-ohm, 1/4W) is installed to B1 and B2 terminal at factory shipping. When hand input signal line is wired by the customer, please install the resistance.
Fig.2-9 ： Wiring and piping for hand (standard specification (CR750/751), CE Marking specification (CR751))
Tooling
2-23
２ Robot arm
(2) RV-2F series (CE Marking/KC mark specification (CR750))
(1)Hand input signal connectors
(CON1H)
Note) Opposite side of figure
Hand input signal cables
AWG24 (0.2mm
2
) x 2 core: Four
Solenoid valve set (optional) installation section
Secondary piping hoses (φ4 x 4)
(3)1 to 4 : Secondary piping couplings (φ4)
（φ4用）
AIR OUT
1
2
3
4
Secondary piping pneumatic hoses (φ4)
（φ４） 注２） *1)
GR1～GR4 （イと接続）
Hand output connector
Primary piping pneumatic hoses(φ6 x 1)
（φ６×１本） 注２）
(4)AIR IN 1～4 （アと接続）
２次配管用継手（φ４）
注１）ハンド出力をご使用になる場合は、オプションの
エアハンドインタフェース（2A-RZ365）が必要です。
注２）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。
機器間ケーブル connector
(Power supply)
(Signals)
Connector and pneumatic coupling
Robot side(Robot arm side)
No Name Qty.
Connectors, couplings
Connector pins
(1) Connector
(2) Connector
1 1-1903131-6
4 SMP-02V-BC
1903112-2
BHF-001GI-0.8BS
Counter side (customer-prepared)
Note1)
Connector Connector pins
Manufacturer
(3) Coupling
(4) Coupling
4
4
KJS04-M3
UKB4
－
－
1-1827864-6
SMR-02V-B
－
－
1827587-2
BYM-001T-0.6
－
－
AMP
Japan solderless terminal MFG. Co.,LTD
SMC. Co.,LTD
Koganei
Note1) The resistance (100-ohm, 1/4W) is installed to B1 and B2 terminal at factory shipping. When hand input signal line is wired by the customer, please install the resistance.
Fig.2-10 ： Wiring and piping for hand (CE Marking/KC mark specification (CR750))
2-24
Tooling
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
)
2.5.3 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.
Note) Refer to
Page 39, "(4) Hand input cable"
for wiring diagram, and always should connect the 100-ohm resistance to B1 and B2 terminals .
Tooling
2-25
２ Robot arm
2.5.5 Wiring and piping system diagram for hand
Shows the wiring and piping configuration for a standard-equipped hand.
100Ω (1/4W)
A1
A2
A3
A4
A5
A6
B1
B2
B3
B4
B5
B6
＜ハンドチェック １＞
<Hand check 2>
＜ハンドチェック ３＞
<Hand check 4>
＜TXRXDH＞
＜TXRXDL＞
＜+24V＞
＜24G＞
General-purpose input No.
900
+24V
901
+24V
902
+24V
903
+24V
GR1
１
２
GR2
１
２
GR3
１
２
GR4
１
２
Robot controller
コントローラ
AIR OUT1
AIR OUT2
AIR OUT3
AIR OUT4
Solenoid valve section
AIR IN1
AIR IN2
AIR IN3
AIR IN4
電磁弁
セット
（オプション）
取付部
Solenoid valve manifold
1次エアー
供給口へ air supply
ベース部
Refer to
for air supply circuit example.
Fig.2-11 ： Wiring and piping system diagram for hand and example the solenoid valve installation
2-26
Tooling
２ Robot arm
2.5.6 Electrical specifications of hand input/output
Table 2-5 ： Electrical specifications of input circuit
Item Specifications
Type
No. of input points
Insulation method
Rated input voltage
Rated input current
Working voltage range
ON voltage/ON current
DC input
8
Photo-coupler insulation
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*
24G
<Source type>
+24V
3.3K
820
+24V
HCn*
24G
* HCn ＝ HC1 to HC4
Table 2-6 ： Electrical specifications of output circuit
Item Specification
Type
No. of output points
Insulation method
Rated load voltage
Transistor output
8
Photo coupler insulation
DC24V
Rated load voltage range
Max. current load
DC21.6 to 26.4VDC
0.1A/ 1 point (100%)
Current leak with power OFF 0.1mA or less
Maximum voltage drop with power ON DC0.9V(TYP.)
Response time OFF-ON
ON-OFF
2ms or less (hardware response time)
2ms or less (resistance load) (hardware response time)
Protects Protects the over-current (0.9A)
Internal circuit
<Sink type>
+24V(COM)
(Initial power supply)
GRn
*
過電流
保護機能
<Source type>
24G
過電流
保護機能
+24V
GRn
*
24G
* GRn ＝ GR1 to GR4
Tooling
2-27
2 Robot arm
2.5.7 Air supply circuit example for the hand
An example of pneumatic supply circuitry for the hand is shown below.
(1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in parallel.
(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be
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
Fig.2-12 ： Air supply circuit example for the hand
2.5.8 About the Installation of Tooling Wiring and Piping
The customer is required to provide tooling wiring, piping and metal fixtures.
Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to the
Page 15, "2.4 Outside dimensions ・ Operating range diagram"
.)
The length of wiring and piping and the installation position on the robot must be adjusted according to the work to be done by the robot. Please use the following example as reference.
<Precautions>
･ A hand input cable and a hand curl cable are available as optional accessories for your convenience.
･ After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part does not interfere with the robot arm and the peripheral devices.
･ Please be aware that dust may be generated from friction if wires and pipes come into contact with the robot arm when using it according to the clean specifications.
･If you install metal fixtures and a solenoid valve using the screw holes on the No.2 arm portion, add the mass of the metal fixtures and the solenoid valve to mass of a hand and set to parameter: HNDDAT. Moreover, Fix the parts, such as a solenoid valve, firmly to prevent the parts getting shaky during operation of a robot.
2-28
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
2-29
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.
2-30
Options
２ Robot arm
(1) Machine cable extension
■ Order type: For CR750 controller..............● Fixed 1S- □□ CBL-11 (Standard specification)
● Flexed 1S- □□ LCBL-11 (Standard specification)
● Fixed 1S- □□ CBL-03 (CE marking specification)
● Flexed 1S- □□ LCBL-03 (CE marking specification)
For CR751 controller .............● Fixed 1F- □□ UCBL-11
● Flexed 1F- □□ LUCBL-11
Note) The numbers in the boxes □□ refer the length.
■ Outline
CR750 controller
(Standard) (For CE)
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 2-7 ： Configuration equipment and types
Part name
Type
Note1)
CR750 controller
Standard specification
Fixed Set of signal and power cables
Motor signal cable
1S- □□ CBL-11
Motor power cable
Flexed Set of signal and power cables 1S- □□ LCBL-11
Motor signal cable
Motor power cable
CE marking specification
Fixed Set of signal and power cables 1S- □□ CBL-03
Motor signal cable
Motor power cable
Flexed Set of signal and power cables 1S- □□ LCBL-03
Motor signal cable
Nylon clamp
Motor power cable
Nylon clamp
Silicon rubber
NK-14N
NK-18N
CR751 controller
Fixed Set of signal and power cables 1F- □□ UCBL-11
Flexed
Motor signal cable
Motor power cable
Set of signal and power cables 1F- □□ LUCBL-11
Motor signal cable
Nylon clamp
Motor power cable
Nylon clamp
Silicon rubber
NK-14N
NK-18N
Note1) The numbers in the boxes □□ refer the length.
Note2) Mass indicates one set.
Fixed
Qty.
Flexed
Mass (kg)
Note2)
Remarks
1 set
(1 cable)
(1 cable)
-
-
-
-
-
-
1 set
(1 cable)
(1 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
1 set
(1 cable)
(1 cable)
-
-
-
-
-
-
-
-
-
1 set
(1 cable)
(1 cable)
2 pcs.
2 pcs.
4 pcs.
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
1 set
(1 cable)
(1 cable)
-
-
-
-
-
-
-
-
-
1 set
(1 cable)
(1 cable)
2 pcs.
2 pcs.
4 pcs.
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
2-31
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 2-8 ： Conditions for the flexed type cables
Item
Cable
Note1)
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
1S- □□ LCBL-11/1F- □□ LUCBL-11 1S- □□ LCBL-03
100mm or more
50% or less
2,000mm/s or less
7.5 million times (With silicone grease coating)
IP30
φ6 x 6
IP54
φ6 x 5, φ8.5 x 1, and φ1.7 x 1
φ6.5 x 10
Note1) The square in the cable name indicates the cable length.
[Caution] The guidance of life count may greatly differ according to the usage state items related to
and to the amount of silicon grease applied in the cableveyor.
Recommendation grease: G-501 (Supplier: Shin-Etsu Chemical Co., Ltd.)
[Caution] When a cableveyor is used, partitions are required to avoid overlapping or riding up of the cables. Also, adjust the cable length to eliminate tension or excessive looseness, and fix it securely.
■ Cable configuration
The configuration of the flexible cable is shown in
Table 2-9 . Refer to this table when selecting the cableveyor.
Table 2-9 ： Cable configuration (Flexed type)
Item Motor signal cable
1S- □□ LCBL-11/1F- □□ LUCBL-11
Note1)
No. of cores
Finish dimensions
No.of cables used
No. in total
1S- □□ LCBL-03
No. of cores
AWG#24(0.2mm
2
)-4P
Finish dimensions
No.of cables used
No. in total
Approx. φ6mm
5 cables
AWG#24(0.2mm
2
)-4P
Approx. φ6mm
6 cables
6 cables
AWG#24(0.2mm
2
)-7P
Approx. φ8.5mm
1 cable
7 cables
Note1) The square in the cable name indicates the cable length.
AWG#18(0.75mm
2
)
Approx. φ1.7mm
1 cable
Motor power cable
AWG #18 (0.75mm
2
)-3C
Approx. φ6.5mm
10 cables
10 cables
AWG #18 (0.75mm
2
)-3C
Approx. φ6.5mm
10 cables
10 cables
2-32
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 control-
(CR750: standard specification),
Fig. 2-14 (CR750: CE Marking/KC mark specifica-
(CR751), and fix with the nylon clamp to protect the cable from external stress.
<CR750 controller>
（CN1）
Motor signal
（CN2）
Robot arm
(Opposite side of figure)
Robot controller
CN1
接続リング部
（固定）
CN2
ラッチ
（固定用 左右）
Nylon clamp
NK-14N
Nylon clamp
NK-18N
300～400mm
Nylon clamp
NK-14N
CN1
接続リング部
（固定）
CN2
ラッチ
（固定用 左右）
Right and left)
Nylon clamp
NK-18N
300～400mm
380
The cable should bend and the size should be 350mm or more.
And a connection space for a machine cable needs 380mm or more.
Fig.2-13 ： Fixing the flexible cable (CR750: standard specification)
Options
2-33
２ Robot arm
<CR750 controller CE marking specification>
（CN1）
Motor signal
（CN2）
Robot controller
Robot arm
(Opposite side of figure) latch
CN1
CN2
Nylon clamp
NK-14N
CN1
CN2
Nylon clamp
NK-14N
(Standard attachment)
300～400mm
Nylon clamp
NK-18N
Nylon clamp
NK-18N
300～400mm
CAUTION
Cover the extension connection section with the cover etc. so that the connector latch part may not touch easily.
The cable should bend and the size should be 410mm or more.
And a connection space for a machine cable needs 460mm or more.
460
Fig.2-14 ： Fixing the flexible cable (CR750 CE Marking/KC mark specification)
2-34
Options
<CR751controller>
AMP1 AMP2 BRK
Robot controller
２ Robot arm
Robot arm
(Opposite side of figure)
Two fixing screws
(固定用 2本)
CN2
Nylon clamp
NK-14N
Nylon clamp
NK-18N
300～400mm
Nylon clamp
NK-14N
CN1
接続リング部
（固定）
CN2
Connection latch
(For fixing.
Right and left)
Nylon clamp
NK-18N
300～400mm
The cable should bend and the size should be 350mm or more.
And a connection space for a machine cable needs 380mm or more.
380
Fig.2-15 ： Fixing the flexible cable (CR751)
Options
2-35
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 2-10 ： Configuration devices
Part name Type
Stopper for changing the operating range
1S-DH-11J1
1S-DH-11J2
1S-DH-11J3
Qty.
1 pcs.
1 pcs.
1 pcs.
Mass(kg)
0.5
0.1
0.1
Remarks
Variable stopper block: One set
Fixing stopper: Two blocks
Installation screw (M5 x 20): Six screws
Stopper A: One block
Stopper B: One block
Installation screw (M4 x 10): Four screws
Stopper: One set
Installation screw (M4 x 10): One screw
(M4 x 25): One screw
■ Specifications
Table 2-11 ： Specifications
Axis Standard
Changeable angle
Note1)
J1
J2
+ side
- side
+ side
- side
+240 degree
-240 degree
+120 degree
-120 degree (RV-2F/2FB)
-117 degree (RV-2FL/2FLB)
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.
+ side +160 degree Nothing
J3
- side 0 degree Change to +70(+69) degree is possible.
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 2-12 ： 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.
angle of + side and - side can be changed independently.
(2) The operating range is changed with robot arm settings (installation of the stopper) and parameter settings.
Refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and "Instruction Manual/Detailed Explanation of Functions and Operations" for details.
2-36
Options
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 electromaagnetic set onto the robot, it comes equipped with a manifold, couplings, connectors, among other things.
■ Configuration
Table 2-13 ： Configuration equipment
Part name Type
Solenoid valve set (1 set) 1E-VD01/1E-VD01E
Solenoid valve set (2 sets) 1E-VD02/1E-VD02E
■ Specifications
Table 2-14 ： 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
One set
1 pc.
－
2
5
Note1)
Double solenoid
Clean air
Note2)
Internal pilot method
1.5mm
2
(0.08)
Unnecessary
0.2 to 0.7MPa
12msec or less
5Hz
5 to 50 ℃
Q'ty
Two sets
－
1 pc.
Specifications
Remark
M3 x 25 two screws (installation screws).
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 plug 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 2-15 ： 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
Options
2-37
２ Robot arm
(1)
GR3
GR1
(12) 2-φ 3.3
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
Connector name
General purposes
output 900
1 Hand1ON
2 +24V
GR1
Black
Red
Black
Red
General purposes
output 901
1 Hand1OFF
2
GR2
General purposes
output 902
1 Hand2ON
GR3
Black
Red
General purposes
output 903
1 Hand2OFF
GR4
SOL1A
SOL1B
SOL2A
SOL2B
Connector name
Red
Black
Red
General purposes
output 900
1 Hand1ON
2 24G
GR1
Black
Red
General purposes
output 901
1 Hand1OFF
2
GR2
Black
Red
Black
General purposes
output 902
1
2
GR3
General purposes
output 903
1 Hand2OFF
2
GR4
Fig.2-16 ： Outline dimensional drawing
2-38
Options
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 2-16 ： 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 2-17 ： 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
>
100Ω (1/4W)
A1
A2
A3
A4
A5
A6
B1
B2
B3
B4
B5
B6
HC1
HC2
HC3
HC4
+24V
24G
* Pin assignment of sink and source is the same.
Fig.2-17 ： Outside dimensional drawing and pin assignment
Options
2-39
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 2-18 ： Configuration equipment
Part name
Hand output cable
Type
1E-GR35S
Note1) Mass indicates one set.
Qty.
1 cable
Mass (kg)
Note1)
0.1
■ Specifications
Table 2-19 ： Specifications
Item
Size x Cable core
Total length
Specifications
AWG#22(0.3mm
2
)×8 cores
350mm
Remarks
Remarks
One side connector and one side cable connection
(1)(2)
(3)
35
0
＊
＊
＊
・ 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 general-purpose
output 900 general-purpose
output 901
2
Sink type
Hand 1 ON
+24V
Hand 1 OFF
+24V
2 general-purpose
output 902 general-purpose
output 903
1
GR3
2
1
GR4
2
Hand 2 ON
+24V
Hand 2 OFF
+24V
Hand 1 ON
24G
Hand 1 OFF
24G
Hand 2 ON
24G
Hand 2 OFF
24G
Fig.2-18 ： Outline dimensional drawing and pin assignment
2-40
Options
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 2-20 ： 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 2-21 ： 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.2-19 ： Outline dimensional drawing
Options 2-41
２ Robot arm
2.8 About Overhaul
Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci
fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin
ued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot
arm and 36,000 hours for the controller). (See Fig. 2-20
.) 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.2-20 ： Periodic inspection/overhaul periods
2-42
About Overhaul
２ Robot arm
2.9 Maintenance parts
The consumable parts used in the robot arm are shown in
. 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 2-22 ： Consumable part list
No.
Part name Type
Note1)
Usage place Qty.
Supplier
1
2
Grease
Lithium battery ER6
Reduction gears of each axis
In the battery cover
As needed
4 pcs.
Mitsubishi Electric
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.
Maintenance parts 2-43
3Controller
3 Controller
3.1 Standard specifications
3.1.1 Basic specifications
Table 3-1 ： Specifications of controller
Item Unit
Type
Number of control axis
Memory capacity
Programmed positions
No. of steps
Number of program
Robot language
Teaching method
External input and output
Input and output
Dedicated input/output
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
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 point point point point point point point point point point step point port port port
Channel
Specification Remarks
CR750-02VD-1
CR751-02VD-0
Simultaneously 6
39,000
78,000
512
MELFA-BASIC IV, V
Pose teaching method, MDI method
Note1)
0/0
Assigned with general-purpose input/output
4/4
1
Max. 256/256 by option
The signal number of "STOP" input signals is fixing.
Built-in
Dual line
1
1
1
1
Dual line
Dual line
Dual line
Dual line
1
1
1
1
1
1
1
Dual line
Dual line
Dual line
(CR751 controller only)
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)
Channel slot
V kVA
Hz mm kg
℃
%RH
Ω
2
2
Single phase, AC180 to 253
0.5
50/60
CR750 controller
430(W) x 425(D) x 174(H)
CR751 controller
430(W) x 425(D) x 98(H)
CR750: Approx. 16
CR751: Approx. 12
Self-contained floor type, Opened type.
Installation vertically or horizontally
0 to 40
45 to 85
100 or less
Dark gray
For option interface
Does not include rush current.
Excluding protrusions
IP20
Note4)
Without dew drops
Note2)
100Ωor less (class D grounding)
Note5)
Equivalent to Munsell: 3.5PB3.2/0.8
Note1) Pose teaching method: The method to register the current position of the robot arm.
MDI method: The method to register by inputting the numerical value Immediate.
3-44
Standard specifications
3Controller
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 50, "3.3.1 Outside dimensions" for details.
Note4) This controller is standard specification. (Refer to
Page 45, "3.1.2 Protection specifications and operating supply"
.)
Note5) The robot must be grounded by the customer.
3.1.2 Protection specifications and operating supply
A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.
The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.
【Information】
・ The IEC IP20
It indicates the protective structure that prevents an iron ball 12
0 mm diameter, which is being pressed with the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.
Refer to the section Page 133, "6.2 Working environment"
for details on the working environment.
Standard specifications 3-45
3 Controller
3.2 Names of each part
3.2.1 Controller
(1) CR750 controller
Controller (Front side)
<15> <16> <17> <3>
<18>
<6>
Controller (Rear side)
<4> <5>
<20>
Fan, Air suction
<7> <8> <9>
<10>
Attached cover
<19>
<2>
<1>
Exhaust downward
(Bottom)
<13> <12> <11>
<1>: ACIN terminal
<14>
There are two types (Type A and C) of terminal.
Refer to next page for details.
<21> <22>
<20>: The operation panel
<23>
Fig.3-1 ： Names of controller parts (CR750)
<24> <25> <26> <27> <28> <29>
3-46
Names of each part
3 Controller
<1> ACIN terminal ................................................The terminal box for AC power source (single phase, AC200V) input.
(Inner side of a cover)
There are two types of the terminal and the terminal differs depending on the specification (CE or non-CE).
Specification
Non-CE specification CE specification
Type A: For single phase Type C: For single phase
Type of ACIN terminal
L1 L2
Connect the primary power supply to L1 and L2 terminal.
L1 N
Connect the primary power supply to L1 and N terminal.
Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for how to connect a power cable.
<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.
(With earth leakage breaker function)
<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
Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for the connection method and the further description of pin assign.
<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" → "Line No." → "Program No." → "User information." →
"Maker information..
<23> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.
<24> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.)
<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)
<26> START button........................................ This executes the program and operates the robot. The program is run continuously.
<27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.
<28> RESET button ........................................ This resets the error. This also resets the program's halted state and resets the program.
<29> END button ............................................. This stops the program being executed at the last line or End statement.
Names of each part 3-47
3 Controller
(2) CR751 controller
Controller (Front side)
<4> <7>
<10>
<15> <9>
<2> <1> <3>
Controller (Rear side)
<5> <6> <14> <13> <12><11> <8>
Exhaust
Fig.3-2 ： Names of controller parts (CR751)
<1> ACIN connector .......................................The connector for AC power source (single phase, AC200V) input (a socket housing and a terminal are attached).
Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for how to connect a power cable.
<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
<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)
Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for the connection method and thefurther description of pin assign.
<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.
3-48
Names of each part
3 Controller
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.
Names of each part 3-49
3 Controller
3.3 Outside dimensions/Installation dimensions
3.3.1 Outside dimensions
(1) CR750 controller
Fig.3-3 ： Outside dimensions of controller (CR750)
3-50
Outside dimensions/Installation dimensions
(2) CR751 controller
3 Controller
Cable fixation plate (Attachment)
This plate must be installed by customers.
Fig.3-4 ： Outside dimensions of controller (CR751)
Outside dimensions/Installation dimensions 3-51
3 Controller
3.3.2 Installation dimensions
(1) CR750 controller
<Placed horizontally>
145mm
145mm
250mm 以 上
* Do not stack controllers.
<Placed vertically>
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
.
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.
3-52
Outside dimensions/Installation dimensions
hole
hole
3 Controller
hole
(Controller fixation hole)
Fig.3-6 ： Metal plate for fixation to placing vertically (Reference for CR750)
Outside dimensions/Installation dimensions 3-53
3 Controller
(2) CR751 controller
<Placed horizontally>
145mm
145mm
250mm 以上
* Stackable at most 2 controllers.
<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
.
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.
3-54
Outside dimensions/Installation dimensions
hole
hole
hole
(Controller fixation hole)
3 Controller
Fig.3-8 ： Metal plate for fixation to placing vertically (Reference for CR751)
Outside dimensions/Installation dimensions 3-55
3 Controller
3.4 External input/output
3.4.1 Types
(1) Dedicated input/output .............................. These inputs and outputs carry out the robot remote operation and status display.
(2) General-purpose input/output ................ These are inputs and outputs that the customer can program for peripheral device control.
(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 60, "3.6 Emergency stop input and output etc."
120, "6.1.7 Examples of safety measures" .
<For Reference>
Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to control robot controller's input/output from a GOT (graphic operation terminal).
3-56
External input/output
3 Controller
3.5 Dedicated input/output
Show the main function of dedicated input/output in the Table 3-2
. Refer to attached instruction manual
"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi
cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.
Table 3-2 ： Dedicated input/output list
Parameter name
TEACHMD
ATTOPMD
ATEXTMD
RCREADY
Name
Input
None
None
None
None
Function
Note1)
Output
Level
L
Name Function
Teaching mode output signal
Automatic mode output signal
Remote mode output signal
Controller power ON complete signal
Automatic operation enabled output signal
Outputs that the teaching mode is entered.
Outputs that the automatic mode is entered.
Outputs that the remote mode is entered.
Outputs that external input signals can be received.
Outputs the automatic operation enabled state.
AUTOENA Automatic operation enabled input signal
START Start input signal
Allows automatic operation.
Starts all slots.
STOP
STOP2
Stop input signal
Stop input signal
SLOTINIT Program reset input signal
Resets the wait state.
Resets the error state.
ERRRESET Error reset input signal
CYCLE Cycle stop input signal
Carries out cycle stop.
SRVOFF
Stops all slots.
The input signal No. is fixed to 0.
Note) Use the emergency stop input for stop inputs related to safety.
The program during operation is stopped.
Unlike the STOP parameter, change of the signal number is possible.
Notes) Specification is the same as the STOP parameter.
SRVON
IOENA
MELOCK
Servo ON enabled input signal
Servo ON input signal
Operation rights input signal
Machine lock input signal
Turns the servo OFF for all mechanisms.
Turns the servo ON for all mechanisms.
Requests the operation rights for the external signal control.
Sets/resets the machine lock state for all mechanisms.
SAFEPOS Evasion point return input signal
OUTRESET General-purpose output signal reset
EMGERR
Requests the evasion point return operation.
Resets the general-purpose output signal.
None
S1START
:
S32START
Start input Starts each slot.
L
E
Operating output signal
Wait output signal
Outputs that the slot is operating.
Outputs that the slot is temporarily stopped.
L
Wait output signal Outputs that the slot is temporarily stopped.
Notes) Specification is the same as the
STOP parameter.
E
E
E
L
E
L
E
E
E
E
Program selection enabled output signal
Error occurring output signal
In cycle stop operation output signal
Servo ON enabled output signal
In servo ON output signal
Operation rights output signal
In machine lock output signal
In evasion point return output signal
Outputs that the slot is in the program selection enabled state.
Outputs that an error has occurred.
Outputs that the cycle stop is operating.
Outputs servo-on disable status.
(Echo back)
Outputs the servo ON state.
Outputs the operation rights valid state for the external signal control.
Outputs the machine lock state.
Outputs that the evasion point return is taking place.
None
Emergency stop output signal
Outputs that an emergency stop has occurred.
In operation output
Outputs the operating state for each slot.
Dedicated input/output 3-57
3 Controller
Parameter name
Input
Name Function
S1STOP
:
S32STOP
PRGSEL
Stop input Stops each slot.
OVRDSEL
IODATA
Note2)
PRGOUT
Program selection input signal
Override selection input signal
Designates the setting value for the program No. with numeric value input signals.
Designates the setting value for the override with the numeric value input signals.
Numeric value input
(start No., end No.)
Used to designate the program name, override value., mechanism value.
Program No. output request
Requests output of the program name.
Note1)
Level
L
E
E
L
E
LINEOUT Line No. output request
OVRDOUT Override value output request
Requests output of the line No.
Requests the override output.
ERROUT
JOGENA
JOGM
JOG+
JOG-
Error No. output request
Jog valid input signal
Jog mode input 2bit
Jog feed + side for
8-axes
Jog feed - side for
8-axes
Requests the error No. output.
Validates jog operation with the external signals
Designates the jog mode.
Requests the + side jog operation.
Requests the - side jog operation.
E
E
E
E
L
L
L
Name
In wait output
Output
Outputs that each slot is temporarily stopped.
None
None
None
None
Function
Numeric value output
(start No., end No.)
Used to output the program name, override value., mechanism No.
Program No. output signal
Line No. output signal
Override value output signal
Error No. output signal
Jog valid output signal
Jog mode output 2bit
Outputs that the program name is being output to the numeric value output signal.
Outputs that the line No. is being output to the numeric value output signal.
Outputs that the override value is being output to the numeric value output signal.
Outputs that the error No. is being output to the numeric value output signal.
Outputs that the jog operation with external signals is valid.
Outputs the current jog mode.
HNDCNTL1
:
HNDCNTL3
HNDSTS1
:
HNDSTS3
None
None
Mechanism 1 hand output signal status
:
Mechanism 3 hand output signal status
Mechanism 1 hand input signal status
:
Mechanism 3 hand input signal status
Mechanism 1: Outputs the status of general-purpose outputs
900 to 907.
Mechanism 2: Outputs the status of general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of general-purpose outputs
920 to 927.
Mechanism 1: Outputs the status of hand inputs 900 to 907.
Mechanism 2: Outputs the status of hand inputs 910 to 917.
Mechanism 3: Outputs the status of hand inputs 920 to 927.
HNDERR1
:
HNDERR3
Mechanism 1 hand error input signal
:
Mechanism 3 hand error input signal
Requests the hand error occurrence.
L
Mechanism 1 hand error output signal
:
Mechanism 3 hand error output signal
Outputs that a hand error is occurring.
3-58
Dedicated input/output
3 Controller
Parameter name
AIRERR1
:
AIRERR3
M1PTEXC
Input
Name Function
Pneumatic pressure error 1 input signal
:
Pneumatic pressure error 3 input signal
Request the pneumatic pressure error occurrence.
None
:
M3PTEXC
USERAREA
Note3)
None
Note1)
Level
L
L
Name
Pneumatic pressure error 1 output signal.
:
Pneumatic pressure error 3 output signal.
Maintenance parts replacement time warning signal
Output
Function
Outputs that a pneumatic pressure error is occurring.
Outputs that the maintenance parts have reached the replacement time.
User-designated area
8-points
Outputs that the robot is in the userdesignated area.
Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the signal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
Dedicated input/output 3-59
3 Controller
3.6 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 68, "3.6.2 Special stop input (SKIP)" ）
Servo-off. Dual line, normal close ( Page 70, "3.6.3 Door switch function"
)
Servo-off. Dual line, normal close ( Page 70, "3.6.4 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
)
*At the time of the power supply OFF, the output point of contact is always open.
[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the equipment except for this range. The use exceeding contact capacity causes failure.
In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-10
(CR751).
3.6.1 Connection of the external emergency stop
The external emergency stop input and door switch input and enabling device input are opened at shipment as
(CR750) or
Connect the external emergency stop switch and door switch with the following procedure.
[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 environ
ment that is easily affected by noise, be sure to fix the attached ferrite core (model number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than
30 cm from the connecting terminal section.
3-60
Emergency stop input and output etc.
3 Controller
CAUTION
Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions
(such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.
CAUTION
You should always connect doubly connection of the emergency stop, the door switch, and the enabling switch. In connection of only one side, if the relay of customer use should break down, it may not function correctly.
And, the output contacts from the robot controller (robot error output, emergency stop output, mode output, addition axis contactor control output) are dual contacts (syn
chronizes). You should connect surely by dual line with the customer's equipment as well as connection of the emergency stop and the door switch.
CAUTION
Please make sure to wire the multiple emergency stop switches so that they each function independently. Check and make sure that the emergency stop doesn't only function under an AND condition (when multiple emergency stop switches are ON at the same time).
(1) CR750 controller
Note) Note)
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.
Emergency stop input and output etc. 3-61
3 Controller
内部回路構成
OP
非常停止
TB
非常停止
CNUSR11
11
12
13
14
CNUSR12
11
12
13
14
入力
検知
回路
10μF
24G
+24V
RA
Relay
CNUSR11
1
2
3
4
5
6
*1)
*1)
*2)
Emergency stop output
24G
24G
+24V
RA
Relay
+24V
RA
Relay
24G
+24V
7
8
9
10
Enabling device input
CNUSR2
16
41
17
入力
検知
回路
10μF
24G
RA
Relay
CNUSR12
1
2
3
4
5
6
*1)
*1)
*2)
24G
24G
+24V
RA
Relay
+24V
RA
Relay
7
8
9
10
Enabling device input
24G
CAUTION
Please do not carry out an insulation pressure test.
Moreover, it becomes the cause of failure if it
また誤って接続した場合は故障の原因となります。
Please refer to the example of safety measures of "Standard Specifications Manual".
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.
*2) This terminal can be used only for the external emergency stop input to the controller. The terminal cannot be used for the output signal of OP emergency stop or TB emergency stop because the controller's internal circuit contains the input detection circuit and a capacitor.
(Do not use the terminal for other purposes such as monitoring the test pulse outputs, or a false detection may occur.)
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-10 ： External emergency stop connection (CR750)
CAUTION
Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing
Page 120, "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.
3-62
Emergency stop input and output etc.
<CR750 controller>
CNUSR11/12 connector
3 Controller
CNUSR11
CNUSR12
Reference: CNUSR13
(Connect the encoder, when using the tracking function)
* The controller is an example.
Connector for user wiring
Connector fixing screw
(Two places)
Driver
*Recommendation driver size: 2.5mm.
Cable fixing screw
Pin number of connector
A
Cable insert point
16
7mm
1
View A
Connecting cable
(AWG #26-16 (0.14mm-1.5mm
2
))
Connection procedure
Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the controller.
Please use an AWG #26 to 16 (0.14 to 1.5mm
2
) connector cable.
1) Prepare the user wiring connector that accompanies the product.
2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head with a width of 2.5mm to loosen the screw.
3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding connector.
4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.
(tightening torque of 0.22 to 0.25Nm)
5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that 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
Makes sure that there is no mistake when connecting to the target connectors.
Connecting incorrectly will result in the robot breaking down or malfunctioning.
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. 3-63
3 Controller
<CR750 controller>
CNUSR2 connector
* The controller is an example.
Cover fixing screw (Two places)
Connector cover
CNUSR2
Plug
25
View A
Pin number of plug
1
Remove the connector cover
Connector for user wiring 50
Soldering
26
A
3mm
Connecting cable
(AWG #30-24 (0.05mm
2
-0.2mm
2
))
Connection procedure
Solder 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.
3-64
Emergency stop input and output etc.
(2) CR751 controller
フェライトコア
2回通し
Fig.3-13 ： Emergency stop cable connection (CR751)
3 Controller
Emergency stop input and output etc. 3-65
3 Controller
CNUSR1
18
43
20
45
17
42
19
44
TB
TB emergency stop
+24V
入力
検知
回路
10μF
24G
RA
Relay
24G
24G
+24V
RA
Relay
+24V
RA
Relay
24G
+24V
CNUSR1
1
26
2
27
3
28
4
29
5
30
*1)
*1)
*2)
Enabling device input
CNUSR2
16
41
17
入力
検知
回路
10μF
24G
RA
Relay
6
31
7
32
8
33
*1)
*1)
*2)
24G
24G
+24V
RA
Relay
+24V
RA
Relay
9
34
10
35
Enabling device input
24G
警告
Please do not carry out an insulation pressure test.
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。
Please refer to the example of safety measures of "Standard Specifications Manual".
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.
*2) This terminal can be used only for the external emergency stop input to the controller. The terminal cannot be used for the output signal of OP emergency stop or TB emergency stop because the controller's internal circuit contains the input detection circuit and a capacitor.
(Do not use the terminal for other purposes such as monitoring the test pulse outputs, or a false detection may occur.)
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-14 ： 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 120, "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.
3-66
Emergency stop input and output etc.
3 Controller
<CR751 controller>
CNUSR1/2 connector
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. 3-67
3 Controller
3.6.2 Special stop input (SKIP)
The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in
(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 64 "Fig. 3-12: Method of wiring for external emergency stop connection (CR750 (CNUSR2))" .
フェライトコア
Pass twice
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con
troller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-16 ： Connection of the special-stop-input (CR750)
3-68
Emergency stop input and output etc.
3 Controller
(2) CR751 controller
* Connects with CNUSR2 connector with soldering.
.
フェライトコア
2回通し
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con
troller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-17 ： Connection of the special-stop-input (CR751)
Emergency stop input and output etc. 3-69
3 Controller
3.6.3 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 62 "Fig. 3-10: External emergency stop connection (CR750)" or
Page 66 "Fig. 3-14: External emergency stop connection (CR751)" , and
"6.1.7 Examples of safety measures"
. Those figure explains the wire is contact closes when the door is closed.
Details of this function according to the robot status are shown below.
*During automatic operation ...............When the door is opened, the servo turns OFF and the robot stops. An error occurs. The process of the restoration: Close the door, reset the alarm, turn on the servo, and restart
*During teaching........................................Even when the door is opened, the servo can be turned ON and the robot moved using the teaching pendant.
① Auto executing
Safeguard
STOP!!
(Op.) (Ext.)
Open
Robot arm
(Example)
Turns OFF the servo
② Teaching
Safeguard
AUTO
MANUAL
AUTO
AUTOMATIC
Open
Robot arm
(Example)
Teaching
pendant
The servo can be turned ON/Off by turning the enable switch ON/OFF.
Fig.3-18 ： Door switch function
3.6.4 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)
3-70
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
1 Jog operation
2
3
Jog operation
Note2)
Brake release
Note3)
Mode of controller
Manual
Manual
Manual
T/B enable/ disable
Enable
Enable
Enable
T/B enable switch
ON
ON
ON
Enabling device input terminal
Door switch input terminal
Close(ON)
Open(OFF)
Close(ON)
－
Description
－
Close
(Door Close)
－
Close
(Door Close)
If the enabling device input is set to
Close (On), the state of door switch input does not matter.
If the enabling device input is set to
Open (Off), door switch input must be in a state of Close
Irrespective of the state of door switch input, enabling device input must be in a state of Close (On).
Door switch input must always be in a state of Close (Door Close).
4
Automatic operation
Automatic Disable －
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 CR750 controller:
Mode of CR751 controller:
･ T/B enable/disable:
･ T/B enable switch:
･ Enabling device input terminal:
................................................. Page 120, "6.1.7 Examples of safety measures"
･ Door switch input terminal:
Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety bar
rier.
Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake release can be effected only when both of the enabling switch device and the T/B enable switch are placed in intermediate position (lightly gripped position). At this point, the state of door switch input does not mat
ter.
T/B being manipulated
CAUTION
Door in
Open state
Upon the release of brake, the robot arm may fall under its own weight depending on the axis which has been released. For added safety, provide support or take other precaution to prevent the falling of the arm.
Enabling device being manipulated
Fig.3-19 ： Brake release operation
Emergency stop input and output etc. 3-71
3 Controller
3.7 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)
Fig.3-20 ： Mode changeover switch image figure (CR751)
CNUSR1
(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 num
ber 49
2nd line KEY input
Power supply +24V of pin num
ber 50
MANUAL
Open
Open
AUTOMATIC
Close
Close
Note1) The mode changes by both opening or both closing between 49-24 pin and between 50-25 pin.
When input states differ between two lines, error H0044 (OP Mode key line is faulty) will occur.
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
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
3-72
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 3-73
3 Controller
3.8 Additional Axis Function
This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET III.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
3.8.1 Wiring of the Additional Axis Interface
Table 3-8 shows the connectors for additional axes inside the controller. Fig. 3-22
(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
Note) Note)
ExtOPT
Note) The form of the machine cable connector (CN1/CN2) may differ in RV-2F series.
Emergency stop output
(Refer to
"3.6Emergency stop input and output etc." )
* Connect with a forced stop input of a servo ampli
fier.
Magnet contactor control connector output (AXMC) for addition axes
(Refer to "3.9Magnet contactor control connector output (AXMC) for addition axes" )
To CN1A
To CN1B
To CN1A
To CN1B
Fig.3-22 ： Example of addition axis connection (CR750)
3-74
Additional Axis Function
3 Controller
(2) CR751 controller
ExtOPT
Emergency stop output
(Refer to "3.6Emergency stop input and output etc."
)
* Connect with a forced stop input of a servo amplifier.
Magnet contactor control connector output (AXMC) for addition axes
(Refer to "3.9Magnet contactor control connector output
)
To CN1A con-
To CN1B
To CN1A
To CN1B connector
Fig.3-23 ： Example of addition axis connection (CR751)
Additional Axis Function 3-75
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
3-76
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 3-77
3 Controller
3.9 Magnet contactor control connector output (AXMC) for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the 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 is shown
Fig. 3-26 . An image of how to connect the controller connector are shown
When you are using an additional axis, please perform appropriate circuit connections by referring to these draw
ings.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please do not connect this output signal. Servo-on of the user mechanism may be unable.
1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box.
2) Get the power supply for the MC synchronization from the secondary terminal of short circuit breaker (NV) built in the controller.
２）コントローラ内蔵漏電遮断器（NV）の２次側より、
MC同期用電源を取り出す。
NV
MC MC1 MC2
88
DC24V
NV
To the internal circuit
AXMC11
AXMC12
AXMC21
AXMC22
<走行軸（付加軸）アンプボックス>
AXMC11
AXMC12
AXMC21
AXMC22
コネクタ ピン番号
CNUSR2
CNUSR2
20
45
19
44
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<接点容量>
DC24V/10mA～100mA
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-26 ： Example of circuit for addition axes of Magnet contactor control output
3-78
Magnet contactor control connector output (AXMC) for addition axes
(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
3-12: Method of wiring for external emergency stop connection (CR750
.
Fig.3-27 ： AXMC terminal connector (CR750)
(2) CR751 controller
フェライトコア
Pass twice
3 Controller
フェライトコア
2回通し
Fig.3-28 ： AXMC terminal connector (CR751)
* The CNUSR2 connector is connected by
soldering. Refer to Page 67 "Fig. 3-15:
Method of wiring for external emergency stop connection (CR751 (CNUSR1/2))"
.
Magnet contactor control connector output (AXMC) for addition axes 3-79
3 Controller
3.10 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for user needs.
User installation is required for the options.
Options come in two types: "set options" and "single options".
1． Set options ......................................A combination of single options and parts that together, form a set for serving some purpose.
2． Single options .................................That are configured from the fewest number of required units of a part.
Please choose user's purpose additionally.
3-80
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 Type
CR750 controller
Teaching pendant 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) 3-81
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.
3-82
Teaching pendant (T/B)
3 Controller
■ Key layout and main functions
②
④
⑤
⑥
⑦
⑨
⑪
⑫
⑬
⑭
⑮
⑯
⑳
①
⑤
⑥
⑧
⑩
⑰
⑱
⑲
③
① [Emergency stop] switch ................ The robot servo turns OFF and the operation stops immediately.
② [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and dis
able.
③ [Enable] switch.................................... When the [Enable/Disable] switch " ② " is enabled, and this key is released or pressed with force, the servo will turn OFF, and the oper
ating robot will stop immediately.
④ LCD display panel .............................. The robot status and various menus are displayed.
⑤ Status display lamp ........................... Display the state of the robot or T/B.
⑥ [F1], [F2], [F3], [F4].......................... Execute the function corresponding to each function currently dis
played on LCD.
⑦ [FUNCTION] key ................................ Change the function display of LCD.
⑧ [STOP] key........................................... This stops the program and decelerates the robot to a stop.
⑨ [OVRD ↑ ][OVRD ↓ ] key ........... Change moving speed. Speed goes up by [OVRD ↑ ] key. Speed goes down by [OVRD ↓ ] key
⑩ [JOG] operation key......................... Move the robot according to jog mode. And, input the numerical value.
⑪ [SERVO] key........................................ Press this key with holding AA key lightly, then servo power will turn on.
⑫ [MONITOR] key .................................. It becomes monitor mode and display the monitor menu.
⑬ [JOG] key.............................................. It becomes jog mode and display the jog operation.
⑭ [HAND] key........................................... It becomes hand mode and display the hand operation.
⑮ [CHARCTER] key............................... This changes the edit screen, and changes between numbers and alphabetic characters.
⑯ [RESET] key......................................... This resets the error. The program reset will execute, if this key and the EXE key are pressed.
⑰ [ ↑ ][ ↓ ][ ← ][ → ] key................ Moves the cursor each direction .
⑱ [CLEAR] key ........................................ Erase the one character on the cursor position.
⑲ [EXE] key............................................... Input operation is fixed. And, while pressing this key, the robot moves when direct mode.
⑳ Number/Character key.................... Erase the one character on the cursor position. And, inputs the num
ber or character
Fig.3-30 ： Teaching pendant key layout and main functions
Teaching pendant (T/B) 3-83
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 1)
■ 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
DC input
32
Photo coupler insulation
Rated input voltage
Rated input current
Working voltage range
ON voltage/ON current
OFF voltage/ OFF current
Input resistance
Response time
DC12V
Approx. 3mA
DC24V
Approx.9mA
DC10.2 ～ 26.4V
(Ripple factor should be less than 5％)
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
24G/12G
3-84
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
OFF-ON
ON-OFF
10ms or less(Resistance load) (hardware response time)
Fuse rating
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
+24V/+12V
Output
24G/12G
Fuse
+24V/+12V
Output
24G/12G
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 3-85
3 Controller
<CR751 controller>
SLOT1
SLOT2
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
and
. If it installs in other slots, please interpret and utilize.
3-86
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
2C
Orange/Red
Gray/Red
a
a
24G/12G: For pins 5D-
20D
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
Reserved
11C
Orange/Red c
General-purpose input
9
12C
Gray/Red
c
General-purpose input
8
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
17C
Gray/Red
d
General-purpose input
3
18C
White/Red
d
General-purpose input
2 Error reset input signal
19C
Yellow/Red
d
General-purpose input
1 Servo OFF input signal
20C
Pink/Red
d
General-purpose input
0
Stop input
Note3)
1D
Orange/
Black a
2D
Gray/
Black a
+24V/+12V(COM): For pins 5D-20D
Reserved
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
Reserved
Reserved
16D
Orange/
Black d
General-purpose output
4
17D
Gray/
Black d
General-purpose output
3 Operation rights output
18D
White/
Black d
General-purpose output
2 Error occurring output
19D
Yellow/
Black d
General-purpose output
1 In servo ON output
20D
Pink/
Black d
General-purpose output
0
Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G
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
24G/12G: For pins 5B-
20B
COM ： For pins 5A-
20A
Note1)
Reserved
Reserved
1B
Orange/
Black a
2B
Gray/
Black a
+24V/+12V(COM): For pins 5B-20B
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/
Black d
General-purpose output
17
20B
Pink/
Black d
General-purpose output
16
Reserved
Reserved
Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G
Parallel I/O interface 3-87
3 Controller
<Reference> The example of connection with our PLC
<Sink>
Parallel I/O interface
（Output）
60mA
(+24/+12V)
Output
QX41
(Mitsubishi programmable controller)
COM
X
Output
24V
Fuse (24G/12G)
External power supply
(Input)
QY41P
(Mitsubishi programmable controller)
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
(COM)
+24V
3.3K
Input
Input
External power supply
24V
Y
COM
24G
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller.
(related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Table 3-17 ： Connection with a Mitsubishi PLC (Example of sink type)
<Source>
Parallel I/O interface
(Output)
Fuse
60mA
(+24/+12V)
Output
QX41
(Mitsubishi programmable controller)
(Input)
3.3K
Input
Input
(COM)
External
24V power supply
X
Output
24V
COM
(24G/12G)
External power supply
QY81P
+24V
(Mitsubishi programmable controller)
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
Y
24G
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Table 3-18 ： Connection with a Mitsubishi PLC (Example of source type)
3-88
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 con
nector 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 Type
External I/O cable 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 3-89
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
3-90
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 auto
matically fixed by the position of the option slot which installed the parallel I/O interface in 0-1.
■ 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
12VDC
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)
24G/12G
Parallel I/O unit 3-91
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
24G/12G
+24V/+12V
24G/12G
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.
CAUTION
Inputs the power supply for control (DCcable-2) then inputs the controller’s power supply.
3-92
Parallel I/O unit
3 Controller
NETcable-1 (Network cable)
Pin No.
RIO1/2
１
２
３
TXRXH
TXRXL
SG(GND)
Note 2)
RIO1/2
TXRXH
Pin No.
１
TXRXL ２
SG(GND) ３
Connector for CR750/CR751: 51103-0300
FG
DCcable-2 (Power cable)
Pin No.
DCIN
１ 24V
２
３
24G
FG(PE)
＋
－
24V Power
Note 1)
Connected the frame ground or protect ground
R-TM (Terminator)
Pin No.
RIO1/2
１ TXRXH
２
３
TXRXL
SG(GND)
100Ω
List of parts and manufacturer
Type
NETcable-1
DCcable-2
R-TM
Connector type
1-178288-3 (2)
51103-0300 (1)
2-178288-3 (1)
1-178288-3 (1)
Contact type
1-175218-2 (6)
50351-8100 (3)
1-175218-5 (3)
1-175218-3 (2)
Resistant
－
－
－
100Ω(1/4W) (1)
Manufacturer
Tyco Electronics (Black connector)
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.)
In the customer's system, do not ground the + side of 24V power supply prepared by customer for con
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
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 ： Specifications for the connection cable
Parallel I/O unit 3-93
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 ) (1 7 5 )
1 2 8
6
< 2 A - R Z 3 6 1 >
< 2 A - R Z 3 7 1 >
Fig.3-36 ： Installing the parallel I/O unit (CR750)
5 4
6 0
6
3-94
Parallel I/O unit
<CR751 controller>
(4 0 ) ( 1 7 5 )
1 2 8
6
< 2 A - R Z 3 6 1 >
< 2 A - R Z 3 7 1 >
Fig.3-37 ： Installing the parallel I/O unit (CR751)
5 4
6 0
6
3 Controller
Parallel I/O unit 3-95
3 Controller
<CR750 controller>
Note) The form of the machine cable connector (CN1/CN2) may differ in
RV-2F series.
Note) Note)
*1)
Station No. setting
1 . . . 6
20～30mm
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
Ferrite core
（Only for the CE marking/
KC mark specification）
Pass twice
FG
*2)
＜CN100＞
注)
NETcable-1 cable
FG
DCIN connector
DCcable-2 cable
＜CN300＞
＜CN100＞
＜CN300＞
RIO2コネクタ
注)
Note)
NETcable-1 cable
DCIN connector
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.
Fig.3-38 ： Connection method of expansion parallel I/O unit (CR750)
3-96
Parallel I/O unit
3 Controller
<CR751 controller>
*1)
Station No. setting
1 . . . 6
20～30mm
ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に
ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。
※ｼｰﾙﾄﾞ線に傷をつけないようにご注意願います。
Station No. setting
7
Ferrite core
（Only for the CE marking/
KC mark specification）
Pass twice
FG
*2)
＜CN100＞
NETcable-1 cable
＜CN300＞
＜CN100＞
＜CN300＞
FG
DCIN connector
DCcable-2 cable
RIO2コネクタ
注)
Note)
NETcable-1 cable
DCIN connector
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.3-39 ： Connection method of expansion parallel I/O unit (CR751)
Parallel I/O unit 3-97
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.3-40 ： 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
and Table 3-27 . If it is set as other station number, please interpret and utilize.
3-98
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
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
6 Orange/Red B General-purpose output 2 Error occurring output signal
31 Orange/Blue B General-purpose output 6
7
8
9
Gray/Red B General-purpose output 3 Operation rights output signal
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
17 Gray/Red D General-purpose input 2
18
19
20
White/Red D
Yellow/Red D General-purpose input 4
Pink/Red D
General-purpose input 3
General-purpose input 5
Error reset input signal
Start input
Servo ON input signal
Operation rights input signal
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 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
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
COM1:For pins 40-47
42
Gray/Blue B
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
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 3-99
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
7
8
5 Pink/Red A General-purpose output 17
6 Orange/Red B General-purpose output 18
Gray/Red B
White/Red B
General-purpose output 19
9
10
Yellow/Red B
Pink/Red B General-purpose output 24
11 Orange/Red C General-purpose output 25
12
13
Gray/Red C
White/Red C
14 Yellow/Red C
General-purpose output 26
General-purpose output 27
15 Pink/Red C General-purpose input 16
16 Orange/Red D General-purpose input 17
17
18
Gray/Red D
White/Red D
General-purpose input 18
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
Reserved
Reserved
Reserved
Note1) Sink type:12V/24V(COM),Source type:0V(COM)
3-100
Parallel I/O unit
3 Controller
<Reference> The example of connection with our PLC
<Sink>
Parallel I/O interface
（Output）
60mA
(+24/+12V)
Output
QX41
(Mitsubishi programmable controller)
COM
X
Output
24V
Fuse (24G/12G)
External power supply
(Input)
QY41P
(Mitsubishi programmable controller)
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
(COM)
+24V
3.3K
Input
Input
External power supply
24V
Y
COM
24G
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller.
(related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Table 3-28 ： Connection with a Mitsubishi PLC (Example of sink type)
<Source>
Parallel I/O interface
(Output)
Fuse
60mA
(+24/+12V)
Output
QX41
(Mitsubishi programmable controller)
X
(Input)
Output
24V
COM
(24G/12G)
External power supply
QY81P
+24V
(Mitsubishi programmable controller)
3.3K
Input
Y
Input
(COM)
24V
24G
External power supply
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller.
(related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Table 3-29 ： Connection with a Mitsubishi PLC (Example of source type)
Parallel I/O unit 3-101
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 con
nector on the parallel input/output unit.
One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.
■ Configuration
Table 3-30 ： Configuration device
Part name Type
External I/O cable 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
Pin no.
Cable colors
Pin no.
Cable colors
Pin no.
Cable colors
1 Orange/Red A 11 Orange/Red C 21 Orange/Red E
8
9
6
7
10
4
5
2
3
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
16
17
18
19
20
12
13
14
15
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
26
27
28
29
30
22
23
24
25
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Pin no.
31
36
37
38
39
40
32
33
34
35
Cable colors
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
White/Blue C
Yellow/Blue C
Pink/Blue C
Pin no.
41
46
47
48
49
50
42
43
44
45
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
3-102
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 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
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.3-41 ： Connections and outside dimensions
External I/O cable 3-103
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-A8634
E04SR301334
AL4
AL5
A6CON-LJ5P On-line connector for communication
Terminal resistor
One-touch connector plug for communication
A6CON-TR11N
A6CON-L5P
Note1) Mass indicates one set.
Qty.
2
2
1
1
2
1
1
2
Table 3-34 ： Procured by the customer
Part name Type
Master station
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 -
Mass(kg)
Note1)
0.6
-
-
-
-
-
-
-
Qty.
1
1
Remarks
CD-ROM
Be sure to install this for noise countermeasure.
Resistance value: 100Ω
Remarks
FX series products are not supported.
Shielded 3-core twisted cable
This cable may be manufactured by the customer.
Robot arm
CC-Link interface card
(This option)
Fig.3-42 ： Example of CC-Link Product Configuration
3-104
CC-Link interface
Partner manufacturer’s device computer
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
1 fold setup
2 fold setup
3 fold setup
4 fold setup
32 point 32 point 64 point 128 point Link point per set
When one station is occupied
Remote I/O
(RX, RY).
Remote register
( RWw)
Remote register
(RWr)
Remote I/O
(RX, RY).
When two stations is occupied
Remote register
( RWw)
Remote register
(RWr)
When three stations is occupied
Remote I/O
(RX, RY).
Remote register
( RWw)
When four stations is occupied
Remote register
(RWr)
Remote I/O
(RX, RY).
Remote register
( RWw)
Remote register
(RWr)
Number of the maximum occupancy station
The I/O first number of the robot controller.
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 3-105
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.
3-106
CC-Link interface
3 Controller
(7) MELSOFT RT ToolBox2/RT ToolBox2 mini
■ Order type ： ● MELSOFT
RT ToolBox2
*For windows CD-ROM
● MELSOFT
RT ToolBox2 mini
: 3D-11C-WINE
*For windows CD-ROM : 3D-12C-WINE
■ Outline
This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of program), and maintenance.
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 Type
RT ToolBox2
RT ToolBox2 mini
3D-11C-WINE
3D-12C-WINE
Note1) Mass indicates one set.
Medium
CD-ROM
CD-ROM
Mass (kg)
Note1)
0.2
0.2
Remarks
■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis
plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri
cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs can be reduced.
(4) The position recovery support function increases the recovery efficiency in the event of origin position dis
placement. This function compensates the origin settings and position data by just reproducing several previ
ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or when reloading the robot. This function can reduce the time required for recovery.
MELSOFT RT ToolBox2/RT ToolBox2 mini 3-107
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 Windows XP, Windows Vista, Windows 7,
Windows 8, Windows 8.1, or Windows 10.
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.
3-108
MELSOFT 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
Type
5F-FE01-PE01
BFP-A8006
BFP-A8900
BFP-A8904
BFP-A8867
BFP-A8869
BFP-A8871
BFP-A8663
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.
Note1)
Mass indicates one set.
Instruction Manual (bookbinding) 3-109
3 Controller
3.11 Maintenance parts
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)
1 Lithium battery Q6BAT
Qty.
1
Usage place
CR750 controller:
Inside of the interface cover
CR751 controller:
Inside of the filter cover
Inside the filter cover
Supplier
Mitsubishi Electric
2 Filter CR750 controller:
BKOFA0773H42
CR751 controller:
BKOFA0773H41
1
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.
3-110
Maintenance parts
4Software
4 Software
4.1 List of commands
The available new functions in MELFA-BASIC V are given in
Table 4-1 ： List of MELFA-BASIC V commands
Type Class Function Input format (example)
Joint interpolation Moves to the designated position with joint interpolation.
Linear interpolation Moves to the designated position with linear interpolation.
Circular interpolation Moves along a designated arc (start point → passing point → start point
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point) with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point
→ reference point → end point) with 3-dimensional circular interpolation.
Speed designation
Operation
Position control
Float control
Pallet
Singular point passage
Mov P1
Mvs P1
Mvc P1,P2,P1
Mvr P1,P2,P3
Mvr2 P1,P9,P3
Moves along a set arc (start point → end point) with 3-dimensional circular interpolation.
Designates the speed for various interpolation operations with a percentage (0.1% unit).
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
Designates the speed for linear and circular interpolation with a numerical value (mm/s unit).
Mvr3 P1,P9,P3
Ovrd 100
JOvrd 100
Spd 123.5
Designates the acceleration/deceleration time as a percentage in respect to the predetermined maximum acceleration/deceleration. (1% unit)
Automatically adjusts the acceleration/deceleration according to the parameter setting value.
Accel 50,80
Oadl ON
Sets the hand and work conditions for automatic adjustment of the acceleration/deceleration.
Adds a process unconditionally to the operation.
Loadset 1,1
Adds a process conditionally to the operation.
Designates smooth operation.
Wth
WthIf
Cnt 1,100,200
Performance of movement is upgraded corresponding to the application. MvTune 4
Designates the positioning completion conditions with a No. of pulses.
Fine 200
Designates the positioning completion conditions with a distance in a straight line
Designates the positioning completion conditions with a joint interpolation.
Turns the servo power ON/OFF for all axes.
Limits the operation of each axis so that the designated torque is not exceeded.
Designates the base conversion data.
Designates the tool conversion data.
Fine 1, P
Fine 0.5, J, 2
Servo OFF
Torq 4,10
Base P1
Tool P1
The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011
The robot arm rigidity is lowered and softened. (JOINT coordinate system)
Cmp Jnt ,&B00000011
The robot arm rigidity is lowered and softened. (TOOL coordinate system)
The robot arm rigidity is returned to the normal state.
The robot arm rigidity is designated.
Defines the pallet.
Operates the pallet grid point position.
Move to a specified position using linear interpolation passing through a singular point.
Cmp Tool ,&B00000011
Cmp Off
CmpG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Def Plt 1,P1,P2,P3,P4,5,3,1
Plt 1,M1
Mvs P1 Type 0,2
List of commands 4-111
4Software
Type Class
Branching
Function
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Input format (example)
GoTo 120
If M1=1 Then GoTo *L100
Else GoTo 20
End If
For M1=1 TO 10 Repeats until the designated end conditions are satisfied.
Repeats while the designated conditions are satisfied.
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated expression value..
Next M1
While M1<10
WEnd
On M1 GoTo *La1, *Lb2, *Lc3
Select
Case 1
Break
Case 2
Collision detection
Subroutine
Interrupt
Wait
Stop
End
Hand open
Hand close
Assignment
Input
Output
Moves the program process to the next line.
Set to enable/disable the collision detection.
Set the detection level of the collision detection.
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP command.
Executes the subroutine corresponding to the designated expression value.
Defines the interrupt conditions and process.
Enables/disables the interrupt.
Defines the start line of the program to be executed when an interrupt is generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output time. (0.01s unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or servo
OFF can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Break
End Select
Skip
ColChk ON/OFF
ColLvl 100,80,,,,,,
GoSub *L200
Return
CallP "P10",M1,P1
FPrm M10,P10
On M1 GoSub *La1, *Lb2, *Lc3
Def Act 1, M1=1 GoTo *L100
Act 1=1
On Com(1) GoSub *L100
Com(1) On
Com(1) Off
Com(1) Stop
Dly 0.5
Wait M_In(1)=1
Hlt
Error 9000
End
HOpen 1
HClose 1
Def IO PORT1=BIT,0
M1=M_In(1)
M_Out(1) =0
Mechanism designation
Selection
Start/stop
Acquires the mechanism with the designated mechanism No.
Releases the mechanism with the designated mechanism No.
Selects the designated program for the designated slot.
Carries out parallel execution of the designated program.
Stops parallel execution of the designated program.
Returns the designated program's execution line to the head and enters the program selection enabled state.
GetM 1
RelM 1
XLoad 2,"P102"
XRun 3,"100",0
XStp 3
XRst 3
4-112
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 4-113
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
Hand type
Stop input B contact designation
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]
HANDTYPE Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
INB Change the dedicated input (stop) to either of normal open or normal close.
4-114
List of parameters
4Software
Parameter Details
User-designated origin
Program selection memory
Communication setting
Slot table
No. of multi-tasks
Select the function of singular point adjacent alarm
Display language.
USERORG Designate the user-designated origin position.
SLOTON Select the program selected previously when initializing the slot. The non-selected state will be entered when not set.
CBAU232
CLEN232
Set the baud rate.
Set the character length.
CPRTY232 Set the parity.
CSTOP232 Set the stop bit.
CTERM232 Set the end code.
SLT1
:
SLT32
Make settings (program name, operation type, order of priority, etc.) for each slot during slot initialization.
TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)
MESNGLS
W
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 4-115
5Instruction Manual
5 Instruction Manual
5.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.
Instruction manuals enclosed in dashed lines in the list below are for optional products.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Safety Manual
Explains the common precautions and safety measures to be taken for robot handling, sys
tem design and manufacture to ensure safety of the operators involved with the robot.
Standard
Specifications
Explains the product's standard specifications, factory-set special specifications, option configuration and maintenance parts, etc. Precautions for safety and technology, when incorporating the robot, are also explained.
Robot Arm
Setup &
Maintenance
Explains the procedures required to operate the robot arm (unpacking, transportation, installation, confirmation of operation), and the maintenance and inspection procedures.
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
Explains the procedures required to operate the controller (unpacking, transportation, installation, confirmation of operation), basic operation from creating the program to auto
matic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation, com
mands used in the program, connection with the external input/output device, and parame
ters, etc.
Explains the causes and remedies to be taken when an error occurs. Explanations are given for each error No.
Additional axis function
Explains the specifications, functions and operations of the additional axis control.
Tracking Function Manual
Explains the control function and specifications of conveyor tracking
Extended Function Instruction Manual
Explains the detailed description of data configuration of shared memory, monitoring, and operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750-
D/CR751-D controller).
5-116
The details of each instruction manuals
6Safety
6 Safety
6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.
6.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in
Table 6-1 and the stop functions shown in Table 6-2
for safe use.
Table 6-1 ： Self-diagnosis stop functions
No. Function Details Remarks
1 Overload protection function
2 Overcurrent diagnosis function
3 Encoder disconnection diagnosis function
4 Deflection over diagnosis function
Activates when the total servo current time exceeds the specified value.
The drive circuit is shut off. The robot stops, and an alarm displays.
Activates when an overcurrent flows to the motor circuit.
The drive circuit is shut off. The robot stops, and an alarm displays.
Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and an alarm displays.
Activates when an error occurs between the command value and actual position, and the error exceeds the specified amount.
The drive circuit is shut off. The robot stops, and an alarm displays.
5 AC power voltage drop diagnosis function
6 CPU error detection function
7 Overrun prevention function
Software limit detection
Mechanical stopper
Activates when the AC power voltage drops below the specified value.
Activates when an error occurs in the CPU.
This is the limit provided by the software to enable operation only in the operation range.
This is the mechanical stopper provided outside the software.
The drive circuit is shut off. The robot stops, and an alarm displays.
The drive circuit is shut off. The robot stops, and an alarm displays.
The drive circuit is shut off. The robot stops, and an alarm displays.
The robot mechanically stops, and function 1 or 2 activates.
Table 6-2 ： List of stop functions
Stop function
Operation panel
Note1)
Teaching pendant
External input
Details
Emergency stop
Stop
◯
◯
◯
◯
◯
◯
This is the stop with the highest degree of emergency. The servo power is shut off, and the mechanical brakes (all axes) activate to stop the robot.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
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.
Note1) Only CR750 controller has operation panel.
Safety 6-117
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 Parallel I/O unit or interface
Servo OFF
Connection point
Connector
(CR750 controller:
CNSUSR11/12)
(CR751 controller:
CNSUSR1)
Automatic operation enable
Emergency stop output
Connector
(CR750 controller:
CNSUSR11/12)
(CR751 controller:
CNSUSR1)
In servo ON Parallel I/O unit or interface
Waiting
In alarm Connector
(CR750/CR751 controller:
CNUSR2)
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.
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
The door switch of the safe protection fence
Enabling device.
The safety switch during teaching work
The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.
The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.
Door switch on safety protection fence AUTOENA Disables automatic operation when inactive.
Outputs the input signal of external emergency stop or emergency stop switch of T/B turned on.
Display and warn the pilot lamp, the input signal of external emergency stop or the 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.
Usage method
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 120, "6.1.7 Examples of safety measures"
for details.
And, refer to
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.
6-118
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 Com
mittee, etc., is recommended for safety training.
(5) Daily inspection and periodic inspection
・ Always inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more years.
6.1.4 Safety measures for automatic operation
(1) Install safety fences so that operators will not enter the operation area during operation and indicate that automatic operation is in progress with lamps, etc.
(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the operator follows the signals.
6.1.5 Safety measures for teaching
Observe the following measures when teaching, etc., in the robot's operation range.
(1) Specify and follow items such as procedures related to teaching work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper
ation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.
(4) Always inspect that stop functions such as the emergency stop device before starting the work.
(5) Immediately stop the work when trouble occurs, and correct the trouble.
(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial robots and work methods, etc.)
(8) Create signals to be used when several operators are working together.
6.1.6 Safety measures for maintenance and inspections, etc.
Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the start switch when performing inspections, repairs, adjustments, cleaning or oiling.
If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.
(1) Specify and follow items such as procedures related to maintenance work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper
ation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that work is being done.
(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and work methods, etc.)
(6) Create signals to be used when several operators are working together.
Safety 6-119
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 cir
cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer
gency stop state.
[Caution] Since we have omitted the information in part because of explanation, there is the section different from the product. Also refer to
Page 130, "(3) External emergency stop connection [supplementary explanation]"
.
[Note] ･ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay prepared by the customer is connected to the 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 suppres
sion parts into consideration.
･ Electric specification of the emergency-stop-related output terminal: 100mA/24V or less
･ In the customer's system, do not ground the + side of 24V power supply prepared by customer for con
nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
(1) CR750 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）
Power supply in the robot controller 24V
*1)
CNUSR11/CNUSR12
1
Peripheral equipment
OP Emergency
OP非常停止
*6)
2
3
10μF RA
*4)
4
5
TB非常停止
ボタン
*3)
RA
RA
6
7
8
9
10
Enabling device
*5)
*7)
13
入力
検知
回路
Internal emergency stop circuit
14
11
12
CNUSR2
16/17
41/42
}
}
}
*2)
*1) Each of the connectors,
CNUSR11 and CNUSR12, are assigned with the same pin number, creating two systems for each terminal. It is absolutely necessary to connect the two systems.
*2) You can see in the diagram that connector CNUSR2 has two terminals and two systems (16/
17 indicates two terminals at pin number 16 and pin number 17).
It is absolutely necessary to connect the two systems.
*3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5)
Refer to the Standard specification manual or Special specification manualfor 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）
6-120
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
非常停止スイッチ
（2接点タイプ）
OP Emergency
OP非常停止
TB Emergency
TB非常停止
*3)
10μF
Power supply in the robot controller 24V
RA
*4)
RA
RA
CNUSR11/CNUSR12
*1)
1
2
3
4
5
6
7
8
9
10
Enabling device
*5)
Safety fence door
Peripheral equipment
Power supply in the Peripheral equipment 24V
*7)
13
入力
検知
回路
Internal emergency stop circuit
14
11
12
CNUSR2
16/17
41/42
}
}
}
*2)
*1) Each of the connectors,
CNUSR11 and CNUSR12, are assigned with the same pin number, creating 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 the Standard specification manual or the Special 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 6-121
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）
Peripheral equipment
Power supply 24V
OP Emergency
OP非常停止
*6)
TB Emergency
TB非常停止
*3)
Controller
入力
検知
回路
10μF
Power supply in the robot controller 24V
RA
*4)
RA
RA
*1)
CNUSR11/CNUSR12
1
2
3
4
5
6
7
8
9
10
Enabling device
*5)
*7)
Internal emergency stop circuit
13
14
11
12
}
CNUSR2
*2)
16/17
41/42
}
周
辺
装
置
側
内
部
回
路
*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 the Standard specification manual or the Special 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）
6-122
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.
Emergency stop switch
(4-contact type)
OP
Emergency stop button
*6)
*3)
TB
Emergency stop button
Controller #1
Power supply in the robot controller 24V
CNUSR11/CNUSR12
*1)
1
2
10μF RA
*4)
RA
3
4
5
6
7
8
9
10
RA
Enabling device
*5)
*7)
入力
検知
13
14
11
12
}
Internal emergency stop circuit
*2)
CNUSR2
16/17
41/42
}
Emergency stop output of peripheral equipment
Safety fence
Power supply
24V
周辺装置内部
Circuit
OP
Emergency stop button
*6)
*3)
TB
Emergency stop button
Controller #2
Input detection circuit
Power supply in the robot controller 24V
CNUSR11/CNUSR12
*1)
1
2
3
10μF RA
*4)
4
5
6
7
RA
8
9
10
RA
Enabling device
*5)
*7)
13
14
11
12
}
Emergency stop output of peripheral equipment
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.
If necessary to stop two robots simultaneously by one emergencystop switch please use the 4 contact type emergency stop switch.
*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 the Standard specification manual or the Special 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 6-123
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
入力
検知
回路
10μF
TB
E-stop
CNUSR11
1
No connection
2
24V DC
3
4
5
6
24G
例）QS90SR2SP
( 三菱電機株式会社)
No connection COM0
X0
安全入力1 input 1
13
24V DC
14
No connection COM1
安全入力2 input 2
X1
入力
検知
回路
10μF
CNUSR12
1
No connection
2
24V DC
3
4
5
6
13
14
24G
24V DC
+24V 24G
24V DC 24G
[Caution]
1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples, particularly for emergency stop button output when using user equipment. Connect the positive side of the user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop button (or contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately con
nect the negative side (24G).
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. QS90SR2SP (Manufacture:
Mitsubishi Electric Corporation)).
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）
6-124
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.
非常停止スイッチ
（2接点タイプ）
ボタン
*2)
10μF
Power supply in the robot controller 24V
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
Enabling device
*4)
*6)
Peripheral equipment
*5)
入力
検知
回路
20/19
45/44
18/17
43/42
}
}
Internal emergency stop circuit
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 the Standard specification manual or the Special 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 6-125
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.
Power supply in the robot controller 24V
*6)
非常停止スイッチ
（2接点タイプ）
Peripheral equipment
TB非常停止
ボタン
*2)
10μF
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
ｲﾈｰﾌﾞﾘﾝｸﾞ device
*4)
Safety fence door
周辺装置側電源 equipment 24V
*5)
入力
検知
回路
20/19
45/44
18/17
43/42
}
}
内部非常停止回路 circuit
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 the Standard specification manual or the Special 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)
6-126
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.
Power supply in the robot controller 24V
*6)
非常停止スイッチ
（2接点タイプ）
Peripheral equipment
Power supply
24V
TB Emergency
TB非常停止
*2)
10μF 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
Enabling device
*4)
Safety fence door
Circuit
辺
装
置
側
内
部
回
路
入力
検知
回路
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 the Standard specification manual or the Special 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) When using emergency stop button output function, 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 of the circuit is wrong, the emergency stop button output may not work properly. Please connect the
24V power supply to 26/31 terminals.
Fig.6-8 ： Example of safety measures (CR751 wiring example 3)
Safety 6-127
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.
Emergency stop switch
(4-contact type)
TB emergency stop button
*2)
入力
検知
10μF
Power supply in the robot controller 24V
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
Enabling device
*4)
Internal emergency stop circuit
20/19
45/44
18/17
43/42
}
CNUSR2
*1)
16/17
41/42
}
Emergency stop output of peripheral equipment
Power supply
24V
周辺装置内部
非常停止回路
TB emergency stop button
*2)
Input detection circuit
10μF 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
ｲﾈｰﾌﾞﾘﾝｸﾞ device
*4)
20/19
45/44
18/17
43/42
}
Emergency stop output of peripheral equipment
出力
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.
If necessary to stop two robots simultaneously by one emergencystop switch please use the 4 contact type emergency stop switch.
*2) The T/B emergency stop button connected with the controller.
*3) Emergency stop input relay.
*4) Refer to the Standard specification manual or the Special 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)
6-128
Safety
6Safety
<Wiring example 5>: Connect the controller to the safety relay
Use the controller’s emergency stop button to input safety relay.
入力
検知
回路
10μF
入力
検知
10μF
TB
E-stop
Controller
CNUSR1
1
No connection
26
24V DC
2
27
3
28
24G
Emergency stop
非常停止出力
20
24V DC
45
8
33
19
44
7
32
6
No connection
31
24V DC
24G
24V DC
例）QS90SR2SP
( 三菱電機株式会社)
No connection
COM0
X0
安全入力1 input 1
No connection
COM1
X1
安全入力2 input 2
+24V
24V DC
24G
24G
[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
(24G).
3) Setup a safety relay on the user equipment, and when using to input the emergency stop button on the con
troller, please only use a safety relay that functions when connecting the input to the one end of the 2 sys
tems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)).
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 6-129
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.
If you connect the relay etc., rated current of the coil should use the relay which is 100mA/24V or less. (Refer to
)
・ 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:
AWG #30 to #24 (0.05mm
2
to 0.2mm
2
)
Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect the equipment except for this range.
AWG #30 to #24 (0.05mm
2
to 0.2mm
2
)
*1) The minimum load electric current of the switch is more than 5mA/24V.
6-130
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
Emergency stop button
ボタン
ロボットコント
ローラ内電源
24V F2
F1
CNUSR11/12
Power supply24V
TB
Emergency stop button
ボタン
10μF
RA
3
4
5
6
1
2
RA
Note)
Relay
Rated-current is 100mA or less
RA
9
10
7
8
RA
ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ
周
辺
装
置
側
内
部
回
路
検知
回路
13
14
11
12
}
}
Internal emergency
内部非常停止回路
CNUSR2
16/17
41/42
}
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）
CNUSR1
TB
Emergency stop button
ボタン
Power supply in the robot controller
24V
F2
F1
10μF
RA
1/6
26/31
2/7
27/32
3/8
28/33
RA
Power supply24V
Note)
Relay
Rated-current is
100mA or less
RA
4/9
29/34
5/10
30/35
RA
ｲﾈｰﾌﾞﾘﾝｸﾞ
ﾃﾞﾊﾞｲｽ
周
辺
装
置
側
内
部
回
路
入力
検知
20/19
45/44
18/17
43/42
}
}
Internal emergency
内部非常停止回路
CNUSR2
16/17
41/42
}
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 6-131
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
OP
非常停止
TB
TB
非常停止
24V DC
+
-
非常停止検出
リレー
OP
非常停止
検出 detection
TB
非常停止
検出
外部
非常停止
検出
24G
Fig.6-13 ： Internal circuit of controller
CAUTION
Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may not stop when the emergency stop button is pressed and there will be a risk of damage or personal injury occurring.
After wiring, be sure to press each of the installed emergency stop switches and check whether the emergency stop circuit works properly.
CAUTION
Be sure to duplicate connection of the emergency stop, door switch and enabling switch. If not duplicated, these functions may fail due to a broken relay used by customer, etc.
6-132
Safety
6Safety
6.2 Working environment
Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures.
(1) Power supply
・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.
CAUTION
Please use the controller with an input power supply voltage fluctuation rate of 10% or less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC during the day and 220 VAC during the night, turn the servo off once and then on again.
If this is not performed, an excessive regeneration or overvoltage error may occur.
(2) Noise
・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this product is used near radios or televisions. Keep the robot away from these items.
(3) Temperature and humidity
・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.
(4) Vibration
・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s
2
or less during transpor
tation and 5m/s
2
or less during operation.)
(5) Installation environment
・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)
･ Where there is heavy powder dust and oil mist present.
6.3 Precautions for handling
(1) 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 accu
racy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) Note that depending on the posture, even when within the movement range, the wrist section could interfere with the base section. Take care to prevent interference during jog.
*1)
(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on the moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first start after being stored for one month or longer, lubricants may not be spread enough. Such condition may lower the posi
tioning accuracy, cause servo and overload alarms, and early wearing of the moving parts. To avoid such situ
ation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed).
Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or more for about 10 minutes. After that, speed up the operation gradually.
Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUCTION
MANUAL/Detailed explanations of functions and operations".)
*1) Jog operation refers to operating the robot manually using the teaching pendant.
Working environment 6-133
6Safety
(5) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise resistance and to prevent electric shocks.
(6) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.
(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config
uration may break due to the fixed installation specifications. In this case, use "the machine cable extension
(for flexed)" factory shipment special specifications or options.
(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.
Take care to prevent interference with the workpiece or peripheral devices during operation.
(9) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.
(10) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It would not result in burns, however, it may cause secondary accidents if touched carelessly.
(11) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro
gram data may be destroyed.
(12) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce interference.
(13) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.
(14) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes about once every day the 30 degree or more, or the 20mm or more.
(15) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for trans
border transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mit
subishi industrial robots contain lithium and fall under the definition.
When the lithium batteries are shipped for storage, etc., they will be classified as Class 9: Miscellaneous dan
gerous substances and articles. Please contact your transportation company and must provide appropriate transport safety measures as the customer’s consignor.
(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.
(17) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis
infecting and protecting wooden packaging from insects, they cause malfunction when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod
ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.
6-134
Precautions for handling
6Safety
6.4 EMC installation guideline
6.4.1 Outlines
The EMC directive is coerced from January 1, 1996, and it is necessary to attach the CE mark which shows that the product is in conformity to directive.
Since the industrial robot is the component of the automation system, it considers that the EMC directive is not the target product of the direct. However, because it is one of the main components, introduces the method and components of the measures for conforming the automation system to the EMC directive.
And also we are carrying out the qualification test about the conformity of the EMC directive under the environ
ment based on the contents of this document. However, the noise level is changed by the kind of equipment to be used, the layout, the construction of the controlling board, the course of wiring, etc. Therefore, please confirm by the customer eventually.
6.4.2 EMC directive
The Mitsubishi Electric industrial robot follows the European EMC directive. This technical standard regulates the following two items.
(1) Emission (EMI ： Electromagnetic Interference) ..............The capacity not to generate the disturbance noise which has a bad influence outside.
(2) Immunity (EMS ： Electromagnetic Susceptibility)..........The capacity which does not malfunction for the dis
turbance noise from the outside.
Each contents are shown below.
Item Name Contents
Testing technicalstandard number
Emission
(EMI)
Immunity
(EMS)
Radiative noise disturbance
Electrical-conduction noise disturbance
Electrostatic discharge immunity test
Radiated, radio-frequency, electromagnetic field immunity test susceptibility test
Electrical fast transient burst immunity test
Immunity to conducted distrurbances induced radio-frequency fields
The electromagnetic noise etc. which are emitted to environs.
The electromagnetism noise etc. which flow out of the power-supply line.
The noise from the electrified human body.
The electromagnetism noise from the transceiver, the broadcasting station, etc.
The relay noise or the electromagnetism noise etc. which are caused in power-supply ON/OFF.
The electromagnetism noise etc. which flow in through the power source wire and the grounding wire.
Power frequency magnetic field immunity test
Voltage dips, short interruptions and voltage variations immunity test
Surge immunity test
The electromagnetism noise with a power supply frequency of 50/60 Hz etc.
The noise in the variation of the source voltage of the power dispatching, etc.
The electromagnetism noise by the thunderbolt, etc.
EN61000-6-2 ： 2005
EN61000-6-4 ： 2007
EN62061:2005(Annex E)
EMC installation guideline 6-135
6Safety
6.4.3 EMC measures
There are mainly following items in the EMC measures.
(1) Store into the sealed metal board.
(2) Grounding all the conductor that have floated electrically (makes the impedance low).
(3) Wiring so that the power source wire and signal wire are separated.
(4) Use the shield cable for the cable which wired outside of the metal board.
(5) Install the noise filter.
To suppress the noise emitted out of the board, be careful of the following item.
(1) Ensure grounding of the equipment.
(2) Use the shield cable.
(3) Separate the metal board electrically. Narrows the distance/hole.
The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency of cable and the distance of metal board, so it should be careful.
6.4.4 Component parts for EMC measures
(1) Ferrite core
The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable.
This has the effect in the common-mode noise. The measures against the noise are made not influential in the quality of the signal.
There are the following as an example.
Maker: SEIWA ELECTRIC MFG. Co.,Ltd.
Outside dimension (mm)
Type
A B C D
Diameter of the adaptation cable
[max] (mm)
E04SR401938
E04SR301334
61
39
38
34
19
13
40
30
19.0
13.0
Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD.
Type
A
Outside dimension (mm)
B C D
Diameter of the adaptation cable
[max] (mm)
TFT-274015S 43.8
27.4
20.7
φ26.5
(2) Line noise filter
Type ： FR-BLF （Mitsubishi Electric Corp.）
6-136
EMC installation guideline
7Appendix
7 Appendix
Appendix 1 ： Specifications discussion material
■ Customer information
Company name
Address
Name
Telephone
■ Purchased model
Item
Standard specification □ RV-2F-D
□ RV-2F-1D
□ RV-2FL-D
□ RV-2FL-1D
Type
Note1)
□ RV-2FB-D
□ RV-2FB-1D
□ RV-2FLB-D
□ RV-2FLB-1D
Controller
CR750-02VD-1
CR751-02VD-0
Note1) Refer to the Page 2, "1.2 Model type name of robot"
for the details of the robot arm type name.
■ Shipping special specifications
Item Standard specification Special shipping specifications
Robot arm CE Marking specification
Note1)
Not conforming with EMC directive.
□ Not provided □ -S15
Note1) The brake is attached to all axes for CE Marking specification.
■ Options (Installable after shipment)
Item
Stopper for changing the operating range
Machine cable extension
(For CR750, standard specification)
Machine cable extension
(For CR750, CE Marking specification)
Machine cable extension
(For CR751)
Solenoid valve set
Hand input cable
Hand output cable
Hand curl tube
Simple teaching pendant
Type
1S-DH-11J1
1S-DH-11J2
1S-DH-11J3
1S- □□ CBL-11
1S- □□ LCBL-11
1S- □□ CBL-03
1S- □□ LCBL-03
1F- □□ UCBL-11
1F- □□ LUCBL-11
1E-VD0 □
1E-VD0 □ E
1S-HC30C-11
1E-GR35S
1E-ST040 □ C
R32TB- □□
R33TB- □□
Provision, and specifications when provided.
□ 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
Fixed type: □ Not provide □ 10m □ 15m
Flexed type: □ Not provide □ 5m □ 10m □ 15m
□ Not provide
1E-VD0 □ (Sink type): □ 1set □ 2set □ 3set □ 4set
1E-VD0 □ E (Source type): □ 1set □ 2set □ 3set □ 4set
□ Not provided □ Provided
□ Not provided □ Provided
□ Not provided □ 1set □ 2set
□ Not provided R32TB (CR750 controller): □ 7m □ 15m
R33TB (CR751 controller): □ 7m □ 15m
Highly efficient teaching pendant R56TB- □□
R57TB- □□
Parallel I/O interface
External I/O cable
(For parallel I/O interface)
Parallel I/O unit
2D-TZ368/
2D-TZ378
2D-CBL □□
(
2D-TZ368/TZ378
)
□ Not provided R56TB (CR750 controller): □ 7m □ 15m
R57TB (CR751 controller): □ 7m □ 15m
□ Not provided 2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378(Source type)/ □ -1pc. □ -2pc.
□ Not provided □ 5m-( )pc. □ 15m-( )pc.
2A-RZ361/
2A-RZ371
2A-CBL □□
(
2A-RZ361/RZ371
)
□ Not provided □ 2A-RZ361(Sink type)/( ) unit
□ 2A-RZ371(Source type)/( ) unit
□ Not provided □ 5m-( )pc. □ 15m-( )pc.
External I/O cable
(For Parallel I/O unit)
CC-Link interface
RT ToolBox2
RT ToolBox2 mini
Instructions manual
2D-TZ576
3D-11C-WINE
3D-12C-WINE
5F-FE01-PE01
□ Not provided □ Provided
□ Not provided □ Windows XP/Vista/7/8/8.1/10 English CD-ROM
□ Not provided □ Windows XP/Vista/7/8/8.1/10 English CD-ROM
□ Not provided □ Provided ( ) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 ( ) pcs. □ Backup batteries Q6BAT ( ) pcs. □ Grease ( ) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )
Workpiece mass ( ) ｇ Hand mass ( ) ｇ Atmosphere □ General environment □ Other ( )
Remarks
Specifications discussion material Appendix-137
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. FA - European Business Group
Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany
Tel: +49(0)2102-4860
May., 2017 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
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