MITSUBISHI INDUSTRIAL ROBOT Application Package Catalog

MITSUBISHI INDUSTRIAL ROBOT Application Package Catalog
MITSUBISHI INDUSTRIAL ROBOT
Application Package
FACTORY AUTOMATION
MITSUBISHI INDUSTRIAL ROBOT
Application Package
Country/Region Sales Office
Tel/Fax
U.S.A
Mitsubishi Electric Automation lnc.
500 Corporate Woods Parkway Vernon Hills, IL 60061, USA
Tel: +1-847-478-2100
Fax: +1-847-478-2253
Brazil
MITSUBISHI ELECTRIC DO BRASIL COMERCIO E SERVICOS LTDA.
Rua Jussara, 1750 - Bloco B- Sala 01, Jardim Santa Cecilia - CEP 06465-070,
Barueri - SP, Brasil
Tel: +55-11-4689-3000
Fax: +55-11-4689-3016
Germany
Mitsubishi Electric Europe B.V. German Branch
Gothaer Strasse 8 D-40880 Ratingen, Gernany
Tel: +49-2102-486-0
Fax: +49-2102-486-1120
U.K
Mitsubishi Electric Europe B.V. UK Branch
Travellers Lane, Hatfield, Hertfordshire., AL10 8XB, UK
Tel: +44-1707-27-6100
Fax: +44-1707-27-8695
Italy
Mitsubishi Electric Europe B.V. Italian Branch
VIALE COLLEONI 7-20041 Agrate Brianza(Milano),Italy
Tel: +39-039-60531
Fax: +39-039-6053-312
Spain
Mitsubishi Electric Europe B.V. Spanish Branch
Carretera de Rubi 76-80-AC.420,
E-08190 Sant Cugat del Valles(Barcelona), Spain
Tel: +34-935-65-3131
Fax: +34-935-89-2948
France
Mitsubishi Electric Europe B.V. French Branch
25,Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel: +33-1-5568-5568
Fax: +33-1-5568-5757
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch
Avenir Business Park, Radicka 714/113a, 158 00 Praha5, Czech Republic
Tel: +420-251-551-470
Fax: +420-251-551-471
Poland
Mitsubishi Electric Europe B.V. Polish Branch
ul. Krakowska 50 32-083 Balice, Poland
Tel: +48-12-630-47-00
Fax: +48-12-630-47-01
Ireland
Mitsubishi Electric Europe B.V. Irish Branch
Westgate Business Park, Ballymount. IRL-Dublin 24
Tel: +353-14198800
Fax: +353-14198890
Russia
Mitsubishi Electric Europe B.V. Russian Branch Moscow Office
52, bld. 3, Kosmodamianskaya nab., RU-115054, Moscow, Russia
Tel: +7-495-721-2070
Fax: +7-495-721-2071
China
Mitsubishi Electric Automation (CHINA) Ltd.
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center 3F Shanghai,
China
Tel: +86-21-2322-3030
Fax: +86-21-2322-3000
Taiwan
Mitsubishi Electric Taiwan Co.,Ltd.
10F,No.88,Sec.6,Chung-Shan N.Rd.,Taipei,Taiwan
Tel: +886-02-2833-5430
Fax: +886-02-2833-5433
Korea
Mitsubishi Electric Automation Korea Co., Ltd.
7F∼9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu,
Seoul 157-801, Korea
Tel: +82-2-3660-9550
Fax: +82-2-3664-8372
Singapore
Mitsubishi Electric Asia Pte, Ltd.
307 Alexandra Road #05-01/02, Mitsubishi Electric Building, Singapore
Tel: +65-6470-2480
Fax: +65-6476-7439
Thailand
Mitsubishi Electric Automation (Thailanad) Co., Ltd.
Bang-Chan Industrial Estate No.111 Soi Serithai 54,
T.Kannayao, A.Kannayao, Bangkok 10230 Thailand
Tel: +66-2517-1326
Fax: +66-2906-3239
India
Mitsubishi Electric India Pvt. Ltd.
Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026,
Maharashtra State, India
Tel: +91-2710-2000
Fax: +91-2710-2100
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN
This catalog is an introduction to only part of what Mitsubishi Electric has to offer.
Mitsubishi Electric offers individualized solutions for the challenges in your factory.
L(NA)09078ENG
New publication, effective Jul. 2015
Specifications are subject to change without notice.
MELFA Application Package
No more worries about introduction of
robots to your facilities.
Application to draw excellent functions and
performance of robots can be easily configured.
Package configuration image
Devices, application programs, and useful startup tools required for automation
system configuration and startup are all included in this package.
Robots and controllers
Wiring, piping, and parameter settings
have already been performed to the robots.
1) Application program
Ovrd
Mov
MvSpl
Pre-installed robot programs
2) Setup wizard and setting tools
PC tools for easy startup
Workpiece 1
Start
Workpiece 2
End
Calibrating...
Calibrating...
Next
Robot
3) Peripheral device set
Hands, sensors, and other devices are included.
Solenoid valve (option)
Hand
Controller
Vision sensor
Encoder
Connector
Setup/adjustment is easy!
Devices can be connected easily!
Robots can be utilized easily!
The wizard facilitates
programming and parameter
setting!
Safety is improved by easy
installation, wiring, and piping!
Tracking
System quality is dramatically
improved by reducing the time
taken for system consideration
and design!
Devices and know-how for easy configuration of automation systems are packaged.
System design
Since essential components are
included in a package, burden for
system consideration can be
reduced.
Simple
consideration!
Device connection/setting
Anyone can connect various
devices using ready-to-operate
robots, easy wiring, and piping.
Force-sense
applications
Processing
machine loading
Programming/setup
Systems can be easily configured
using dedicated application
programs and startup tools.
Based on actual performance
of various system configurations,
OK
Deburring/
Polishing
Mitsubishi will extend the variety of
packages appropriate for various
Kitting
applications, mainly for
Mitsubishi industrial robots.
Click!
Startup setting
completed!
Click!
Click!
1
2
Conveyor Tracking Application
Vision cameras detect workpieces on conveyors.
Workpieces are transported and aligned
by robots without stopping conveyors.
Features
Mitsubishi provides hardware, software, and supporting tools as a package to make designing,
programming, and startup on tracking system configuration by customers easy.
Feature
No more complex wiring!
Devices and cables required for tracking are packaged.
Wiring is completed only by connecting connectors.
Click!
Click!
Click!
Hands and vacuum solenoid valves for hands have
already been installed to robots as default.
Feature
Easy startup with just 5 steps!
Easy startup with wizard format (interactive format) of dedicated tools (No manuals are required. Just touch
buttons following messages shown in the screen.)
No need to create robot programs
No more complex communication settings and parameter settings (automatic setting)
Calibration of conveyors and vision sensors is also completed only by following instructions on the wizard.
Startup adjustment can be easily performed in the wizard format!
* Teaching operation is required in the calibration screen.
Introduction advantages
No need to create robot programs!
System configuration screen
Calibration screen
Workpiece registration screen
Startup time after the system device installation is reduced by 85%!
Startup is
completed!!
High-level operations including peripheral-device settings, tracking operation,
and ejecting operation can be easily configured with dedicated tools!
<Reference value>
1. Programming
Time taken for programming: 3 days → 0 hour
(For the tracking application compatible with the basic specifications/layout)
2. Startup time
Precondition: The time taken "from wiring connection to operation check"
after the installation/initial settings of robots and installation of conveyors, vision sensors, and encoders
1) Wiring and I/O check: 3 hours → 0.5 hours
2) Connection settings, startup, operation check: 10 hours → 1.5 hours
→ Eleven hours are reduced in total! (13 hours → 2 hours)
3
Operation check screen
Feature
Automatic operation/adjustment screen
High-accuracy and high-speed operation can be performed!
Synchronization performance of vision recognition and conveyor speed is improved by the new high-speed input function.
Dedicated programs optimized for tracking with higher speed and higher accuracy are installed.
4
Specifications
Package
Basic specifications
Applicable layout
Type*1)
Unit
Robot model name*2)
APR-□TR3FH
APR-□TR6FH
APR-□TR12FH
APR-□TR20FH
RH-3FH5515-●
-SA◆◆◆
RH-6FH5520-●
-SA◆◆◆
RH-12FH8535-●
-SA◆◆◆
RH-20FH10035-●
-SA◆◆◆
Environmental specifications
Maximum reach radius
Robot
Up/Down stroke
specifications
Connected controller*3)
Power
supply
specifications
550
550
850
1000
mm
150
200
350
350
CR750-D/Q, CR751-D/Q
V
Power source capacity
kVA
Power supply frequency
Hz
Single phase AC207 to 253, 3-phase AC180 to 253
Single phase AC180 to 253
0.5
1.5
1.0
50 or 60
Depends on outline dimensions of hand
Hand
Single-hand
Hand setting
*5)
Manufacturer
Adsorption pad
(For operation check)
Standard supply pressure (Pressure range)
Air consumption*6)
Vacuum pressure*7)
Adsorption time (reference value)
Vision
sensor*9)
MPa
0.4 (0.3 to 0.6)
L/min (ANR)
90
kPa
-60
msec
150*8)
Tracking
conveyor
V
Hand
specifications
Applicable workpiece
Robot
Conveyor
Conveyor
Robot
60
Hz
50 or 60
Unit
1 or 2*13)
Transport Robot
Transport
Conveyor
Transport
* Consider the maximum load capacity, operating range, and speed of the robot used to decide the layout. For details, refer to the specifications.
Number of units
Unit
1
Installation height
mm
370,450,550*14)
Number of units
Unit
1
Width
mm
200,250,300*14)
Composition of tracking application model name
300
mm/sec
Setting
Single-hand or double-hand
Method
Adsorption pad
Number of registrations
Standard hand (reference value)
Maximum
Weight*12) Standard hand (reference value)
a
4
Type
55×73×24*15)
mm
160×200×100
0.1*15)
kg
℃
*18)
(Reference value)
Pieces/min
(per 1 robot)
*1) In a model name, □ indicates the number of robots (1 or 2).
*2) In a robot model name, ● indicates a controller type and SA◆◆◆ indicates a special number
corresponding to the package used. This product can be used only with this package robot.
*3) When Q type controllers are used, prepare MELSEC-Q series base units, power supply modules, PLC
CPUs, and manual pulse generators, create encoder cables, and set parameters with "GX Works2" and
"RT ToolBox2".
*4) Hands are supplied with a robot only when the robot has the hand installation specifications.
*5) Select or replace adsorption pads depending on the specifications of workpieces to be transported.
*6) This value may change depending on changes in atmospheric pressure (weather, altitude, etc.) and
measuring methods. When the robot is used with double-hand, air consumption will be 90 (L/min) or
more.
*7) This value is the detection pressure setting value before shipment.
*8) This value is for one adsorption pad. When the leakage quantity at an adsorption pad is large or when
multiple adsorption pads are connected to use on branched pipes, the adsorption time will increase.
*9) Check that workpieces can be recognized with this vision sensor in advance. Lighting is not included in
the vision sensor. When lighting is required, prepare it separately by customers. Whether the recognition
can be performed or not depends on the usage environment. For details, please contact Mitsubishi.
*10) The power consumption of when the PoE-HUB described in the specifications is used.
*11) The restrictions on the layout placement are as follows:
1) Set the conveyor in nearly parallel to the X axis or Y axis of the robot coordinate.
2) When two robots are used, set the operating range of each robot so as not to overlap each other.
X
Conveyors cannot be set obliquely against the X
axis or Y axis as shown in the left figure.
80
450
550
Conveyor width (mm)
200
250
300
Visual field A × B (mm)
210×280
260×340
310×415
Conveyor
width
Installation
height
A
Visual field
B
*15) This reference value is based on the conditions of the test conducted by Mitsubishi. The actual
value depends on conditions such as the shape and surface state of workpieces.
*16) Pallet alignment can be set to one pallet only. Even though multiple workpieces have been
registered, the same pallet shall be set to each workpiece. Align all workpieces to one pallet.
*17) Transportation to a certain position can be set for the workpiece recognition transportation. Pallet
alignment cannot be set.
*18) This reference value is based on the conditions of the test conducted by Mitsubishi shown in the
following table.
Type
Unit
Number of robots
Unit
Vision
sensor
Tracking
conveyor
Hand
Number of units
Unit
Installation height
mm
Number of units
Unit
Width
mm
Speed
mm/sec
mm
Number of registrations Pieces
Workpiece
APR1TR6FH
APR1TR12FH
APR1TR20FH
1
1
370
……… Controller type
D : CR750-D controller
Q : CR750-Q controller
1D : CR751-D controller
1Q : CR751-Q controller
…… Robot model
3FH
6FH
12FH
20FH
: RH-3FH5515
: RH-6FH5520
: RH-12FH8535
: RH-20FH10035
……… Hand type
None: Hand specifications for sink type
E
: Hand specifications for source type
N
: No hand
e ■
……… The display language of the robot
J
: Japanese
E
: English
550
1
200
60
300
90
75
70
φ32
1
55×73×24
Weight
kg
0.1
Interval
mm
Ejecting Pattern
operation Up/Down stroke
Layout
APR1TR3FH
mm
Size
e
Single-hand
Number of settings
Pad diameter
d
1TR : 1-robot specification
2TR : 2-robot specification
60
Installation height (mm)
370
Y
3) At the tracking start point, end point, and limiting point, all range of the conveyor width (workpiece
flow width) shall be within the range of the robot movement.
*12) For the maximum load capacity of the robot, refer to "Standard specifications".
*13) When using two robots, set a single operation to both robots. Setting different operations to the robots
is prohibited. For example, when Robot 1 transports Workpiece A and B, Robot B cannot transport
Workpiece C and D.
*14) The following table shows the relation among the installation height of a vision sensor, conveyor width,
and visual field. Decide the installation height of a vision sensor depending on the conveyor width.
65
Item
c
…… The number of robots
5 to 40
50
b
*15)
Simple transport/Pallet alignment*16) (MAX: 20 × 20)/Workpiece-picking ejection*17)
Ambient temperature
Maximum transport capacity (300mm transport)
Robot
Transport
AC100 to 240
W
Ejecting operation
5
Transport
COGNEX
Maximum speed
Size
Robot
EZ-140
Vision sensor
Conveyor
φ6 × 2
Model
Number of robots
system*11)
0.8
φ4 × 2
Manufacturer
Power supply Voltage
specifications
Power consumption
for PoE-HUB
encoder*10) Frequency
Applicable
ZPR32UN-06-A6(φ32)
0.4
Vision
sensor
kg
Vision
sensor
*4)
SMC
ZPR32UN-04-A6(φ32)
Vision
sensor
Standard
Model
installation
Weight
hand
specifications Piping specification
(for hand
installation
specifications)
2-robot configuration
General environmental specifications: IP20
mm
CR751-D/Q
Input voltage range
1-robot configuration
60
Simple ejection
mm
25
Mentioned in specifications
6
Product configuration
Package components
System configuration example (one robot, robot controller CR750-D)
Vision cable (5m)
<1>
APR-1TR (1-robot specification)
APR-2TR (2-robot specification)
1
2
Packaged robot (robot and controllers)
<2>
MELFA-Tracking (CD-ROM)
1
1
<3>
Easy setup guide
1
1
<4>
Vision sensor module
1
1
<5>
Encoder module
1
1
<6>
5VDC power supply set (only for D type controllers)
1
-
-
1
24VDC power supply set
<7>
Vision cable
1
1
<8>
Vision I/O cable
1
1
<9>
Encoder cable
1
-
-
1
1
1
-
1
<10>
Calibration sheet
<11>
Encoder distribution set (only for D type controllers)
Vision sensor module
Packaged robot
Plant air
<2> MELFA-Tracking (CD-ROM)
(robot and controllers)
Encoder module
Controller
CN1
CN2
RIO ExtOPT LAN
CNUSR2
L2
To electrical outlet
(100 to 240VAC)
(0.5m)
(5m)
ACIN
L1
Encoder
cable
(2m)
(0.5m)
PoE-HUB
(Products prepared
by customers)
When Q type controllers are used, prepare manual pulse generators and create encoder cables.
<1> Packaged robot
5VDC power supply set
Direction of workpiece flow
(0.5m)
Product
No.
Vision I/O cable (5m)
Quantity
Products prepared by customers
Personal
computer
RT Toolbox2
<3> Easy setup guide
Teaching box
Robot stand
1-robot specification: 1 each
1
PoE-HUB
1
2-robot specification: 2 each
(Products prepared by customers)
* The above robot has hand installation specifications.
<4> Vision sensor module
Vision stand
Personal computer (for setting)
(Hand and vacuum unit: already installed)
<6> 5VDC power supply set:
1-robot specification
<5> Encoder module
Encoder
Encoder pulley
LAN cable
Conveyor
Encoder bracket
(Products prepared by customers)
Adsorption pad
(with lens)
1 unit
Pulley
1 unit
Bracket
24VDC power supply set:
2-robot specification
1 unit
* Adsorption pads, encoder pulleys, and encoder brackets are supplied for operation check.
* For any systems that require additional products other than the above, prepare the products yourself.
* For details of T/B and RT2, refer to the F series catalog.
Outline dimensions of hand (Hand installation specifications only)
1 unit
<8> Vision I/O cable
<7> Vision cable
<9> Encoder cable
4-φ6.5 hole
φ5H7 deep 8.5
4-M5 screw hole
1 cable
1 cable
1 cable
φ6.5H7 hole
200 (Pipe length)
Adsorption pads (for operation check) have
already been installed before shipment.
1 cable
<10> Calibration sheet
<11> Encoder distribution set
M6 screw
+ +
!
.+
+
PS
1
T Rad
+ +
1 unit
Air pipe (installed)
φ4 × 2: APR-*TR3/6FH
φ6 × 2: APR-*TR12/20FH
However, one pipe has already been
connected to an adsorption pad.
Nut
Adsorption pad installation detail view
Adsorption pad (for operation check)
ZPR32UN-04-A6 (manufactured by SMC): APR-*TR3/6FH
ZPR32UN-06-A6 (manufactured by SMC): APR-*TR12/20FH
7
4-M5 screw fixing hole (*1)
An adsorption pad and manufactured bracket can be installed
using the hand mounting holes
and screw holes shown in this
figure. They can be additionally
processed to the hand when the
M5 screw (*1) is removed.
8
Processing Machine Loading Application
This application facilitates the configuration
of a loading/unloading system for processing
machines in which a Mitsubishi CNC numerical
control devices has been installed.
Features
Mitsubishi provides hardware, software, and supporting tools as a package to make designing, programming,
and startup on the configuration of a loading/unloading system easy for customers.
Feature
Simple wiring design!
Easy wiring work!
NC
M70
Click!
Operation box
Click!
CNC numerical control devices and a robot can be connected via
CC-Link, and an operation box and the robot can be connected
with a connector.
A parallel I/O interface for connecting signals of peripheral devices
has been installed to a robot controller.
Feature
Click!
R/C
Processing machine loading-dedicated programs and
interface functions facilitate easy setting and startup!
As soon as an operation box is connected, the system can be started!
(The system can be started by using the dedicated startup software, MELFA-Machine Loading!)
There is no need to configure communication settings, I/O assignment, and parameter settings of CNC devices
and robots! (automatic setting)
A necessary program is automatically selected by the selection type menu!
(Robot programs have already been installed.)
Teaching operations can be performed by following the wizard.
Initial setting: System/hand setting screen
Startup is
completed!!
Introduction advantages
No need to create robot programs!
Operation check and adjustment: Process operation/automatic operation screen
Feature
User-friendly wizard screens shorten the startup time by 80%!
The system operation can be started smoothly with the various screens
pre-installed on the operation box!
Teaching: Stage/processing machine teaching screen
A system that has improved the compatibility of robots and
CNC devices can be operated!
System central control display of maintenance information
(including coordinates and tool lives) of a processing machine
(CNC) in a system
The robot status can be displayed and the robot can be operated
on the same system screen.
Processing machine monitor
screen
9
Robot manual operation
screen
10
Specifications
Transport patterns
Basic specifications
Applicable transport patterns
Type
Unit
APR-1ML7FM/
7FLM /7FLLM
APR-1ML4FM /4FLM
RV-4FM/4FLM
-●-SA◆◆◆
Robot model name*1)
APR-1ML13FM /13FLM
RV-7FM/7FLM/7FLLM
-●-SA◆◆◆
Protection grade of robot
Robot
specifications
kg
Maximum reach radius
mm
4
515
7
713
649
Others
Emergency stop button × 1
1) Main screen
2) System monitor
3) Processing machine monitor
5) Production management 6) Robot manual operation 7) Robot maintenance
Weight
kg
V
Single phase AC180 to 253
Power source capacity
kVA
1.1
Number of robots
Unit
Number of units
Feed stage
Positioning stage
Ejection stage
(reference)*7)
1 or 2
Air grip
mm
Feed stage
Positioning stage
Ejection stage
5
One processing machine, one robot
Two processing machines (face-to-face arrangement), one robot
Two processing machines (L-shape arrangement), one robot
Conveyor or pallet
Workpiece ejection
stage
Conveyor or pallet
pattern*8)
Processing machine 1
Supported sizes vary depending on the shape of grip jaws and a hand to be prepared by users.
Workpiece feed
stage
Workpiece transport
2) When using two processing machines
a) Parallel transport
Double-hand
Drive method
Number of steps*6)
3.1
1
Small lathe, tapping center
Hand configurations
Size
2.1
CC-Link option (FCU7-HN746)
Type
Applicable layout
Processing machine 2
b) Sequential transport
When using two processing machines, select a parallel or sequential transport pattern.
*1) In a robot model name, ● indicates a controller type and SA◆◆◆ indicates a special number corresponding to the package used. This product can be used only with this package robot.
*2) The weight of a workpiece that can be loaded under the limitation of a mechanical interface having a downward attitude
*3) From a consideration of the installation environment of a controller, using an optional protective box is recommended.
*4) This application links robots and CNC devices and operates them. Thus, set CC-Link parameters and create a ladder program for CNC devices, and input and output signals from a processing machine to robots.
A CD for installing MELFA-Machine Loading will be supplied to each customer. This CD includes sample parameter data for setting parameters and creating a ladder program for CNC devices and sample ladder programs
for inputting and outputting signals. Refer to the manuals of CNC devices to set parameters and create a ladder program for CNC devices.
*5) Prepare a hand by customers. Design a hand depending on the robot or controller of this package or customer's system.
*6) For details of the number of steps, refer to the "instruction manual".
*7) For reference diagrams of system layouts, refer to the "Instruction Manual".
*8) For details of workpiece transport patterns, refer to the "Instruction Manual".
Feed stage
Positioning stage
Processing machine 1
Processing machine 2
Ejection stage
Model configuration of the processing machine loading application
…… Robot model
4FM : RV-4FM
4FLM : RV-4FLM
7FM : RV-7FM
7FLM : RV-7FLM
7FLLM: RV-7FLLM
13FM : RV-13FM
13FLM: RV-13FLM
20FM : RV-20FM
11
Processing machine 1
10
Single phase AC 207 to 253, three-phase AC 180 to 253
Mitsubishi CNC M70V series
Unit
Necessary option
Layout
4) Stock information
8) Settings
Between a robot and operation box: External emergency stop cable (7m), LAN cable (7m)
Type
Applicable
system
1) When using one processing machine
IP54
Power supply specifications
Workpiece
1094
10.4" VGA [640 × 480], TFT color liquid crystal (GOT2000 series)
Connection
Hand*5)
20
1388
H290 × W460 × L140 (protrusions excluded)
Touch panel
Screen
Processing
machine
1094
IP20*3)
mm
Protection grade (IP)
CNC*4)
1503
This application package is applicable to the layout of one processing machine or two processing machines
per a robot. Applicable processing machines are lathes and tapping centers.
The following shows system examples.
CR750-D/CR751-D
Protection grade of controller
Interface
RV-20FM
-●-SA◆◆◆
13
908
Connected controller
Operation
box
specifications
RV-13FM/13FLM
-●-SA◆◆◆
IP67
Load capacity*2)
Size
APR-1ML20FM
……… Controller type
D : CR750-D controller
1D: CR751-D controller
……… Type of the hand or other I/O signals
N : Sink type
NE: Source type
……… Special number
(Only when special specifications have been ordered)
12
Standard configuration of products
Package components
No.
System configuration
Product
<1>
Package robot (main unit, controller*1))
1
<2>
MELFA-Machine Loading (CD-ROM)
1
<3>
Easy setup guide
1
<4>
Operation box
1
<5>
LAN cable
1
<6>
Emergency stop cable
1
<7>
CC-Link cable
1
<8>
Power connector for the operation box
1
<9>
Power cable for the robot controller
<1> Packaged robot
/controller*1)
Products prepared by customers
(The following image diagram is for when two processing machines have been used.)
Quantity
Prepare devices necessary for configuring a processing machine loading system,
robot peripheral devices, and a personal computer to start up the system.
• RT ToolBox2
• Teaching box
• Ethernet HUB
• LAN cable
• Personal computer
(for setting)
Peripheral mechanisms such as safety fences, covers, and doors
Signal tower, door sensor device
Processing equipment set
(CNC: M70V series)
(Up to 2 units)
1 (one of the cables)
<2> MELFA-Machine
Loading (CD-ROM)
1 each
<3> Easy setup guide
1
<4> Operation box
1
<6> Emergency stop cable
1 cable
<7> CC-Link cable
1 cable
<9> Power cable for the robot controller
CNC: M70V communication device
(CC-Link module)
1 unit
*1) CC-Link interface,
a parallel I/O interface has been installed
<5> LAN cable
• Double air hand
• Solenoid valve set
• Hand input cable
• Hand curl tube
<8> Power connector
for the operation box
1 connector
1 cable
• A cable
(4 cores, sheath
external diameter:
φ10.5 to 14.1)
equivalent to the
primary power
cable
(AWG#14 (2m2))
• Grounding cable
• When using two processing machines:
CC-Link cables for connecting the
machines
Workpiece feed stage
(including the mechanism,
drive, and sensor devices)
Entire configuration
Workpiece positioning
(including the mechanism,
drive, and sensor devices)
Workpiece ejection stage
(including the mechanism,
drive, and sensor devices)
Robot stand
• "External I/O cable" for a robot controller and external devices
This product
• Double air hand
• Solenoid valve set
• Hand input cable
• Hand curl tube
One of the cables
Outline dimensions of an operation box
Packaged
robot
Cable between devices
Products prepared by customers
CC-Link cable
CNC#1 (M70V)
CNC#2 (M70V)
• CC-Link module
• CC-Link module
CC-Link cable
(2F-CCLINK-05)
LAN cable
(2F-LANHRS-07)
Applicable layout
Lathe
Operation box
(2F-MLDUL-GOTBOX)
Power connector for
the operation box
(2F-OPBOXCON)
Connected during a system operation
Tapping center
One processing machine
One processing machine
Two processing machines
Two processing machines
Emergency stop cable
(2F-EMSTOP-07)
Packaged robot
controller
• A CC-Link interface and
parallel I/O interface have
been installed.
• I/O has been assigned.
Power cable for the
robot controller
Use one of the following cables.
(2F-RCPWR1-07)
(2F-RCPWR3-07)
LAN cable
LAN cable
(2F-LANHRS-07)
Connected at the startup
adjustment
Ethernet HUB
LAN cable
MELFA-Machine Loading
(3F-MLDUL-WIN)
Teaching box
(R56/57TB or R32/33TB)
Primary power
cable
Primary power
PC
RT ToolBox2
(3D-11C-WINJ)
(3D-12C-WINJ)
* Prepare peripheral devices such as conveyors and
robot stands necessary for configuring a system by
customers.
Products prepared by customers
13
14
Force-sense Applications
Techniques and know-how are added to
MELFA robots to achieve the automation of
force-sense operations such as assembly,
insertion, and inspection.
Features
Mitsubishi provides hardware, software, and supporting tools as a package to make designing,
programming, and startup on the configuration of a force-sense application system easy for customers.
Feature
No more complex initial setting!
Connection example
<Robot with internal wiring>
Wiring for a force sensor is completed only by connecting connectors.
The initial setting of a force sensor is completed only by pressing
one button.
Force sense I/F unit
Built-in cable
Force
sensor
Connect to
CN422 connector.
Serial cable between
unit and sensor
Initial setting screen of the force-sense application software (RT-ToolBox2 add-on)
Adapter cable
Initial setting parameter for force sensors
• Force-sense IF recognition • Coordinate system • Attachment position
• Permissible value • Corrected limit value • Setting number • Mechanical number
Feature
Difficult operations that use force sensors can be created easily!
Operation sub programs that use a force sense can be easily created on a dedicated screen.
Start the operation setting wizard
(Step-type dialog).
Operation sub programs are automatically created
(for each workpiece operation).
Parameter adjustment
Operation sub program
Sub programs are
automatically created.
Note)
Created sub programs are
protected and the contents
cannot be seen.
Introduction advantages
No need to create force-sense programs!
The startup time of force-sense operations can be reduced by 80%!
''[Control mode (0)]
P_FsStf0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Stiffness coefficient [N/mm]
P_FsDmp0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Damping coefficient
P_FsMod0=(+2.00,+2.00,+1.00,+0.00,+0.00,+0.00)(0,0) 'Force-sense control mode (X, Y: Stiffness control, Z: Force control)
M_FsCod0 = 0 'Force-sense control coordinate system (Tool coordinate system)
'[Control characteristics (0)]
P_FsGn0 =(+2.00,+2.00,+2.00,+0.00,+0.00,+0.00)(0,0) 'Force control gain [µm/N]
P_FsFLm0=(+0.00,+0.00,+0.00,+0.0,+0.0,+0.0)(0,0) 'Force detection setting value [N]
P_FsFCd0=(+0.00,+0.00,+20.00,+0.00,+0.00,+0.00)(0,0) 'Force command
P_FsSpd0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'The speed of the speed control mode is set.
P_FsSwF0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'The force/speed judgment value is set.
'*** <Interrupt> ***
Def MoTrg 1, ((P_Fbc.Z <= 5) AND (P_FsCurD.Z > 18)) 'An operation completion condition is defined in Mo trigger #1.
Def Act 1,M_MoTrg(1)=1 GoTo *XOK, F 'Mo trigger #1 is defined as an interrupt condition.
Mvs PStart 'A workpiece is moved above the insertion position.
SetMoTrg 1 'Mo trigger #1 is enabled.
Fsc On, 0, 0, 1 'Force-sense control is enabled. (Insertion is started by the force control.)
Act 1=1 'Interrupt processing 1 is enabled.
Insertion operation
Operation check
Feature
No more complex adjustments!
Complex programming of the force-sense operation parameters can be easily adjusted on a dedicated screen.
Parameter adjustment screen
Operation check screen
Oscillograph screen
Operations including force sensor settings and force-sense application
operations can be easily configured with dedicated tools!
Initial values have already been set to necessary parameters.
Parameters are explained with user-friendly diagrams.
15
The oscillograph screen can be started
from the operation check screen.
Users can check operations by seeing
force-sense data in an oscillograph.
16
Settable operations
Basic specifications
Insertion adjustment
Robot model name
AP10-AFS2F
AP10-AFS2L
AP10-AFS4/5F
AP10-AFS4/5L
AP10-AFS7/8F
AP10-AFS7/8L
RV-2F-●-S◆*4)
RV-2FL-●-S◆*4)
RV-4F-●-S◆
RV-4FL-●-S◆
RV-7F-●-S◆
RV-7FL-●-S◆
504
649
713
908
Environmental specifications
General environmental specifications: IP20
Maximum reach radius
mm
Load capacity
kg
Robot
Connected controller
specifications
Max. static
load
515
649
Maximum 4 (Rating 4)
V
Single phase AC 207 to 253
Single-phase AC180 to 253
0.5
kVA
Three-phase AC180 to 253
1.0
Power supply frequency
Hz
50 or 60
Fx, Fy, Fz
N
200
Mx, My, Mz
Fx, Fy, Fz
Mx, My, Mz
Fx, Fy, Fz
Breaking load
Mx, My, Mz
Force
sensor
Fx, Fy, Fz
Minimum
specifications control force
Mx, My, Mz
Nm
4
N
1000
Nm
6
N
10000
Nm
300
N
0.3
Nm
3
Consumption current
mA
200
Weight (sensor unit)
g
360
External dimensions
mm
φ80×32.5
Protective structure
Interface
Maximum 7 (Rating 7)
CR750-D/Q, CR751-D/Q
Input voltage range
Power supply
specifications Power source capacity
Rated load
Maximum 3 (Rating 2)
2.0
IP30
RS-422
ch
1 (for connecting sensors)
SSCNETIII
ch
1 (For connecting robot controllers and additional axis amplifiers)
Vdc
24±5%
Force
Input voltage
sensor
Power supply
Power consumption
interface
unit
External dimensions
specifications
Weight
W
25
mm
225(W)×111(D)×38(H)
Approx. 0.8
kg
Structure
IP20 (Panel installation, open type)
Operations settable with the force-sense
1) Insertion attitude adjustment operation, 2) Push-in operation, 3) Insertion operation, 4) Contact position detection
application software*2),*3)
*1) In a robot model name, ● indicates a controller type and S◆ indicates a special number corresponding to the package used. This product can be used only with this package robot.
*2) Set these operation conditions using "MELFA-Force Sense Plus" (dedicated screen on RT ToolBox2) and add the conditions to a program.
*3) Check whether the operations can be actually performed or not using actual workpieces in advance.
*4) Force sensor cables will be exteriorly wired.
Entire configuration
Composition of a force-sense
application model name
This product
Serial cable between unit and sensor
(2F-FSCBL1-05)
Force sense
interface unit
(2F-TZ561)
Force sensor
(1F-FS001-W200)
Operation
Workpiece
The insertion attitude of a gripped
workpiece is positioned on an insertion
position by getting up the workpiece
along the edge of the insertion position.
Insertion positioning
operation
Application
This operation is effective for moving
workpieces that are relatively less
chamfered or having a small mating
tolerance.
Positioning start position
Push-in operation/insertion operation
Workpiece
Operation
A workpiece is inserted by adding a force in a given
direction.
• Push-in operations such as engaging workpieces can be
performed by setting a force strength and direction.
• In an insertion operation, a workpiece can be inserted
without being caught during the insertion by setting a
periodic travel amount (vertical movement, rotation,
inclination) during operation.
Operation direction
Push-in force/torque
Workpiece
SSCNETIII
cable
Sensor attachment
adapter (1F-FSLG-01)
Force sensor
Insertion
operation
24VDC power supply
output cable
(2F-PWRCBL-01)
<Attachment diagram of a force sensor>
Packaged robot
controller
24VDC power
supply (2F-PWR-01)
24VDC power
supply input cable
(2F-PWRCBL-02)
Packaged
robot
Cable between devices
LAN, USB
MELFA-Force Sense
Plus
(3F-AFS-WIN)
PC
MELFA
Force Sense
Plus
Teaching box
(R56/57TB or R32/33TB)
RT ToolBox2
(3D-11C-WINJ)
(3D-12C-WINJ)
Products prepared by customers
17
Operation direction
Push-in force/torque
Push-in
operation
Application
• Pushing snap mechanism parts
with a constant force
• Pulling inspections of assembly
parts
• Engagement of parts having
tightening margins
• Engagement of parts having small
mating tolerances
• Operation to avoid the friction of
engagement parts
• Shaft diameter inspection with a
master gauge
Insertion attitude
Rotation oscillation
Unit
*1)
Vertical vibration
Type
Inclination oscillation
Specifications
* Prepare hands and peripheral devices by customers.
…… Robot model
2F: RV-2F
2L: RV-2FL
4F: RV-4F-SH03
4L: RV-4FL-SH03
5F: RV-4F-SH04
5L: RV-4FL-SH04
7F: RV-7F-SH03
7L: RV-7FL-SH03
8F: RV-7F-SH04
8L: RV-7FL-SH04
…… Controller type
AD: CR750-D controller
AQ: CR750-Q controller
BD: CR751-D controller
BQ: CR751-Q controller
Contact position detection
Operation
While a force is being monitored, a workpiece is moved in
a given direction from the original attitude and will stop at a
position where the workpiece contacts with something.
• The position of a workpiece can be detected by referring
to the current position of the robot after the stop.
Workpiece
Application
• Inspecting part grip positions
• Detecting the positions of peripheral assembly jigs
• Positioning or phase focusing of parts
Moved to the
contact position.
Direction of the
detected stress
Stress/torque
18
Robot Lineup
Robot Lineup
F-SERIES
Faster, more ingenious, and simpler.
Mitsubishi industrial robots evolve your manufacturing sites.
Its improved basic performance expands the range of
robot application and enhances productivity.
Series configuration of vertical, multiple-joint type robots
Model
RV-2F
Maximum load
capacity
RV-2FL
RV-4F
3kg
504mm
649mm
RV-4FL
RV-7F
RV-7FL
4kg
515mm
RV-7FLL
RV-13F RV-13FL RV-20F
13kg
7kg
649mm
Reach
713mm
908mm
1094mm
1503mm
20kg
1388mm
1094mm
Series configuration of horizontal, multiple-joint type robots
Model
Vertical, multiple-joint type
● The optimal arm length and wide operating range
of the 6-axis joint support complex assembly and
machining operations.
● Its small body and slim arm widen operation
areas and increase the load capacity. This type
of robot supports various layouts for transporting
machine parts and assembling electrical parts.
● Its environmentally-resistant specifications allow
users to use this type of robot for wide-ranging
applications regardless of installation
environments.
Horizontal, multiple-joint type
● Wide operating areas and variations of our
robots fit in many different applications.
● High-speed and high-accuracy operations can
be performed with a high-rigidity arm and the
leading-edge servo control. This type of robot
supports wide-ranging operations from mass
production of food products or medicines that
requires high-speed operations to assembly
works that requires high-accuracy operations.
RH-6FH
RH-12FH
RH-20FH
RH-3FHR
3kg
6kg
12kg
20kg
3kg
Maximum load
capacity
Reach
350mm 450mm 550mm
350mm
350mm 450mm
550mm
700mm
850mm
1000mm
150mm*1
150mm*2
200mm
Z stroke
340mm
350mm
450mm
*1: Clean room specification machine: 120mm *2: Clean room specification machine, waterproof specification machine: 120mm
Controller type
Pursuit of usability and easy startup
Q-TYPE controller
This type of controller is compatible with "iQ Platform" that seamlessly
integrates controllers, HMIs, engineering environment, and networks in a
manufacturing site. A multiple-CPU configuration dramatically improves
the compatibility with FA devices, and allows users to perform elaborate
controls and information management fast and easily.
Intelligent solutions
● By utilizing high-accuracy vision sensors and force sensors that adjust
power with robots, assembly operations performed by experienced
engineers can be automated.
RH-3FH
Interference avoidance
This type of controller is a stand-alone type, just like conventional
controllers. Cells can be built by using a robot controller as the core of
a control. Because various interfaces have been mounted into a robot
controller as standard, the most suitable system can be configured in
accordance with your application.
MELSEC-Q series
Force sensor
Slot in
● Using the T/B-dedicated screen, dedicated language, and functions for
cooperation with PLCs and GOTs reduces the time required to create
programs and teaching time, enabling the easy system startup.
D-TYPE controller
Robot CPU
Robot controller
Robot controller
Robot CPU
Cooperation with FA devices
Drive unit
19
Drive unit
20
Global FA centers
UK FA Center
Russia FA Center
Europe FA Center
Korea FA Center
Germany FA Center Czech Republic FA Center
Turkey FA Center Beijing FA Center
Tianjin FA Center
North America FA Center
Nagoya Works
Shanghai FA Center
India Pune FA Center
Thailand FA Center
Taichung FA Center
Guangzhou FA Center
Hanoi FA Center
Ho Chi Minh FA Center
ASEAN FA Center
Indonesia FA Center
Brazil FA Center
China
Indonesia
Brazil
Shanghai FA Center RB
MITSUBISHI ELECTRIC AUTOMATION
(CHINA) LTD.
No.1386 Hongqiao Road, Mitsubishi Electric
Automation Center, Shanghai, China
Tel : 86-21-2322-3030
Fax : 86-21-2322-3000(9611#)
Indonesia FA Center RB
PT. MITSUBISHI ELECTRIC INDONESIA
Cikarang Office
Jl. Kenari Raya Blok G2-07A Delta Silicon 5, Lippo
Cikarang - Bekasi 17550, Indonesia
Tel : 62-21-2961-7797
Fax : 62-21-2961-7794
Brazil FA Center RB
MITSUBISHI ELECTRIC DO BRASIL
COMÉRCIO E SERVIÇOS LTDA.
Rua Jussara, 1750- Bloco B Anexo, Jardim
Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil
Tel : 55-11-4689-3000
Fax : 55-11-4689-3016
Vietnam
Europe
Hanoi FA Center RB
MITSUBISHI ELECTRIC VIETNAM COMPANY
LIMITED Hanoi Branch
6 - Floor, Detech Tower, 8 Ton That Thuyet Street,
My Dinh 2 Ward, Nam Tu Liem District, Hanoi, Vietnam
Tel : 84-4-3937-8075
Fax : 84-4-3937-8076
Europe FA Center RB
MITSUBISHI ELECTRIC EUROPE B.V.
Polish Branch
ul. Krakowska 50, 32-083 Balice, Poland
Tel : 48-12-630-47-00 48-12-630-47-81 (Japanese)
Fax : 48-12-630-47-01
Beijing FA Center RB
MITSUBISHI ELECTRIC AUTOMATION
(CHINA) LTD. Beijing Branch
Unit 901, 9F, Office Tower 1, Henderson Centre, 18
Jianguomennei Avenue, Dongcheng District,
Beijing, China
Tel : 86-10-6518-8830
Fax : 86-10-6518-2938
Tianjin FA Center RB
MITSUBISHI ELECTRIC AUTOMATION
(CHINA) LTD. Tianjin Branch
Room 2003 City Tower, No.35, Youyi Road,
Hexi District, Tianjin, China
Tel : 86-22-2813-1015
Fax : 86-22-2813-1017
Guangzhou FA Center RB
MITSUBISHI ELECTRIC AUTOMATION
(CHINA) LTD. Guangzhou Branch
Room 1609, North Tower, The Hub Center, No.1068,
Xingang East Road, Haizhu District,
Guangzhou, China
Tel : 86-20-8923-6730
Fax : 86-20-8923-6715
Korea
Korea FA Center RB
MITSUBISHI ELECTRIC AUTOMATION
KOREA CO., LTD.
7F~9F,Gangseo Hangang Xi-tower A, 401,
Yangcheon-ro,Gangseo-Gu, Seoul 157-801, Korea
Tel : 82-2-3660-9605/9606/9607
82-2-3660-9632(PLC/HMI)
82-2-3660-9630(SV/INV/Robot)
82-2-3660-9631(NC)
Fax : 82-2-3663-0475
Taiwan
Taichung FA Center RB
MITSUBISHI ELECTRIC TAIWAN CO.,LTD.
No.8-1, Industrial 16th Road, Taichung Industrial
Park, Taichung City 40768, Taiwan, R.O.C.
Tel : 886-4-2359-0688
Fax : 886-4-2359-0689
Asean
21
ASEAN FA Center RB
MITSUBISHI ELECTRIC ASIA PTE. LTD.
307, Alexandra Road, Mitsubishi Electric
Building, Singapore 159943
Tel : 65-6470-2480(FA)
65-6470-2413(NC)
Fax : 65-6476-7439
Ho Chi Minh FA Center RB
MITSUBISHI ELECTRIC VIETNAM COMPANY
LIMITED
Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh
Ton Street, District 1, Ho Chi Minh City, Vietnam
Tel : 84-4-3937-8075
Fax : 84-4-3937-8076
Thailand
Thailand FA Center RB
MITSUBISHI ELECTRIC FACTORY
AUTOMATION (THAILAND) CO., LTD.
12th Floor, SV.City Building, Office Tower 1,
No. 896/19 and 20 Rama 3 Road, Kwaeng
Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Tel : 66-2682-6522~31
Fax : 66-2682-6020
India
India Pune FA Center
MITSUBISHI ELECTRIC INDIA PVT. LTD.
Pune Branch
Emerald House, EL -3, J Block, M.I.D.C Bhosari,
Pune - 411026, Maharashtra, India
Tel : 91-20-2710-2000
Fax : 91-20-2710-2100
America
North America FA Center RB
MITSUBISHI ELECTRIC AUTOMATION, INC.
500 Corporate Woods Parkway, Vernon Hills,
IL 60061, U.S.A.
Tel : 1-847-478-2100
1-847-478-2500(NC)
Support in Japanese
1-847-478-2469 PLC/HMI
1-847-478-2334 INV/SV
Tel
1-800-950-7781
Fax : 1-847-478-2253
1-847-478-2650(NC)
1-847-478-2396(LVS,MC)
Germany FA Center RB
MITSUBISHI ELECTRIC EUROPE B.V.
German Branch
Gothaer Strasse 8, D-40880 Ratingen, Germany
Tel : 49-2102-486-0
Fax : 49-2102-486-1120
UK FA Center RB
MITSUBISHI ELECTRIC EUROPE B.V.
UK Branch
Travellers Lane, Hatfield, Hertfordshire, AL10
8XB, U.K.
Tel : 44-1707-28-8780
Fax : 44-1707-27-8695
Czech Republic FA Center RB
MITSUBISHI ELECTRIC EUROPE B.V.
Czech Branch
Avenir Business Park, Radlicka 751/113e, 158 00
Praha5, Czech Republic
Tel : 420-251-551-470
Fax : 420-251-551-471
Russia FA Center
MITSUBISHI ELECTRIC EUROPE B.V.
Russian Branch St. Petersburg office
Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua",
office 720; 195027, St. Petersburg, Russia
Tel : 7-812-633-3497
Fax : 7-812-633-3499
Turkey FA Center
MITSUBISHI ELECTRIC TURKEY
A.Ümraniye Branch
Serifali Mahallesi Nutuk Sokak No:5,
TR-34775 Ümraniye, Istanbul, Türkey
Tel : 90-216-526-3990
Fax : 90 -216-526-3995
22
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement