RV-1A, RV-2AJ Specifications Manual Руководства ENG

RV-1A, RV-2AJ Specifications Manual Руководства ENG
MITSUBISHI ELECTRIC
MELFA
Industrial Robots
Specifications Manual
RV-1A/RV-2AJ Series
Art. no.: 132309
05 07 2002
BFP-A8050-F
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION
Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→ Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→ Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→ Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→ Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→ Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
this method.
→ Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→ Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→ Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION
Transport the robot with the designated transportation posture. Transporting the robot
in a non-designated posture could lead to personal injuries or faults from dropping.
CAUTION
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
CAUTION
Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.
CAUTION
Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.
CAUTION
Make sure that the workpiece weight, including the hand, does not exceed the rated load
or tolerable torque. Exceeding these values could lead to alarms or faults.
WARNING
WARNING
CAUTION
WARNING
Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.
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.
CAUTION
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
CAUTION
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.
CAUTION
Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
CAUTION
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING
CAUTION
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.
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.
C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.)
CAUTION
Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage. Confirm the setting connector of the input power supply voltage of the controller, if the type
which more than one power supply voltage can be used. Then connect the
power supply.
Failure to do so could lead to electric shock accidents.
Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
*Except the above: Single phase 180-253VAC.
Rear side of controller
Earth leakage
breaker
(NV)
Cover
Terminal
Cover
Terminal cover
Protective earth
terminal
(PE)
■ Revision history
Date of print
Specifications No.
Details of revisions
2000-02-08
BFP-A8050Z
First print
2000-04-05
BFP-A8050
Formal style
2000-06-09
BFP-A8050-A
The power supply voltage of CR1 controller was corrected
2001-03-12
BFP-A8050-B
Error in writing correction.
2002-01-23
BFP-A8050-C
LNG, RLNG and MESNGLSW parameters were added.
Error in writing correction.
2002-04-01
BFP-A8050-D
CR1-MB (controller protction box) was added.
Error in writing correction.
2002-06-03
BFP-A8050-E
RV-1AC-SB, RV-2AJC-SB was added.
Error in writing correction.
2002-07-05
BFP-A8050-F
The description of input/output circuit terminal was corrected.
Error in writing correction.
■ Introduction
The "RV-1A" and "RV-2AJ" are compact industrial robots developed with Mitsubishi's advanced technology.
These robots respond to users needs for compact and flexible production facilities generated due to the recent
diffusion of compact and highly accuracy products such as personal computer related devices, information terminal devices and compact electronic devices for mounting on vehicles, and due to shorter product life cycles.
However, to comply with the target application, a work system having a well-balanced robot arm, peripheral
devices or robot and hand section must be structured.
When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics
and specifications can be easily understood by users considering the implementation of robots. However, if there
are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard specifications and use our robots.
In this manual, the specifications regarding the robot arm are given in Page 5, "2 Robot arm" and following, and the
specifications regarding the controller are given in Page 38, "3 Controller" and following. Refer to the corresponding sections for details on the specifications, options and maintenance parts, etc.
Note:
・ 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.".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
Contents
Page
1 General configuration ....................................................................................................................................................................
1.1 Structural equipment .............................................................................................................................................................
1.1.1 Standard structural equipment ..................................................................................................................................
1.1.2 Shipping special specifications ...................................................................................................................................
1.1.3 Options .................................................................................................................................................................................
1.1.4 Maintenance parts ...........................................................................................................................................................
1.2 Contents of the structural equipment ............................................................................................................................
1.2.1 Robot arm ...........................................................................................................................................................................
1.3 Controller ....................................................................................................................................................................................
1.4 Contents of the Option equipment and special specification ..............................................................................
1-1
1-1
1-1
1-1
1-1
1-1
1-2
1-2
1-3
1-4
2 Robot arm ........................................................................................................................................................................................... 2-5
2.1 Standard specifications ........................................................................................................................................................ 2-5
2.2 Definition of specifications .................................................................................................................................................. 2-6
2.2.1 Pose repeatability and distance accuracy ............................................................................................................ 2-6
2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-7
2.2.3 Protection specifications and working environment ......................................................................................... 2-8
(1) Types of protection specifications ...................................................................................................................... 2-8
2.2.4 Clean specifications ........................................................................................................................................................ 2-9
(1) Types of clean specifications ................................................................................................................................. 2-9
2.3 Names of each part of the robot .................................................................................................................................... 2-10
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-11
(1) RV-1A/1AC-SB ........................................................................................................................................................ 2-11
(2) RV-2AJ/2AJC-SB ................................................................................................................................................... 2-12
(3) Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB .......... 2-13
2.5 Tooling ........................................................................................................................................................................................ 2-14
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-14
(1) RV-1A/2AJ (General environment) .................................................................................................................. 2-14
(2) RV-1AC-SB/2AJC-SB (Clean specification) .............................................................................................. 2-15
2.5.2 Internal air piping ............................................................................................................................................................ 2-16
2.5.3 Internal wiring for the pneumatic hand output cable ...................................................................................... 2-16
2.5.4 Internal wiring for the hand check input cable .................................................................................................. 2-16
2.5.5 Wiring and piping system diagram for hand ......................................................................................................... 2-17
(1) RV-1A/2AJ (General environment) .................................................................................................................. 2-17
(2) RV-1AC-SB/2AJC-SB (Clean specification) .............................................................................................. 2-19
2.5.6 Electrical specifications of hand input/output .................................................................................................. 2-21
2.5.7 Air supply circuit example for the hand ............................................................................................................... 2-22
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-23
2.6.1 Shipping special specifications ................................................................................................................................. 2-23
(1) Machine cable extension ........................................................................................................................................ 2-24
2.7 Options ....................................................................................................................................................................................... 2-26
(1) Motorized hand set ................................................................................................................................................... 2-27
(2) Pneumatic hand set .................................................................................................................................................. 2-29
(3) Solenoid valve set ..................................................................................................................................................... 2-31
(4) Hand input cable ........................................................................................................................................................ 2-33
(5) Hand output cable ..................................................................................................................................................... 2-34
(6) Hand curl tube ............................................................................................................................................................ 2-35
(7) Hand adapter ............................................................................................................................................................... 2-36
2.8 Maintenance parts ................................................................................................................................................................. 2-37
3 Controller ..........................................................................................................................................................................................
3.1 Standard specifications ......................................................................................................................................................
3.1.1 Standard specifications ...............................................................................................................................................
3.1.2 Protection specifications and operating supply ................................................................................................
3.2 Names of each part ..............................................................................................................................................................
3.3 Outside dimensions/Installation dimensions ..............................................................................................................
3-38
3-38
3-38
3-39
3-40
3-42
i
Page
3.3.1 Outside dimensions ......................................................................................................................................................
3.3.2 Installation dimensions ................................................................................................................................................
3.4 External input/output .........................................................................................................................................................
3.4.1 Types ..................................................................................................................................................................................
3.4.2 Explanation .......................................................................................................................................................................
3.5 Dedicated input/output ......................................................................................................................................................
3.6 Emergency stop input/output .........................................................................................................................................
3.6.1 Connection of the external emergency stop .....................................................................................................
3.6.2 Door switch function ...................................................................................................................................................
3.7 Parallel input/output unit ..................................................................................................................................................
3.8 Options ......................................................................................................................................................................................
(1) Teaching pendant (T/B) ........................................................................................................................................
(2) Pneumatic hand interface .....................................................................................................................................
(3) Controller protection box ......................................................................................................................................
(4) Expansion option box ..............................................................................................................................................
(5) Parallel I/O unit .........................................................................................................................................................
(6) External I/O cable ....................................................................................................................................................
(7) Personal computer cable .......................................................................................................................................
(8) Personal computer support software/Personal computer support software mini .......................
3.9 Maintenance parts ................................................................................................................................................................
3-42
3-43
3-44
3-44
3-44
3-45
3-47
3-47
3-48
3-49
3-53
3-54
3-57
3-59
3-62
3-64
3-72
3-74
3-76
3-78
4 Software ...........................................................................................................................................................................................
4.1 List of commands .................................................................................................................................................................
(1) The procedure of robot language selection ...................................................................................................
(2) MELFA-BASIC Ⅳ commands .............................................................................................................................
(3) MOVEMASTER commands ...................................................................................................................................
4.2 List of parameters ................................................................................................................................................................
(1) List of parameters ....................................................................................................................................................
(2) Change the display language / 表示言語の切 り 替え ..............................................................................
4-79
4-79
4-79
4-80
4-82
4-85
4-85
4-87
5 Safety ................................................................................................................................................................................................ 5-88
5.1 Safety ........................................................................................................................................................................................ 5-88
5.1.1 Self-diagnosis stop functions .................................................................................................................................. 5-88
5.1.2 External input/output signals that can be used for safety protection measures ............................. 5-88
5.1.3 Precautions for using robot ...................................................................................................................................... 5-89
5.1.4 Safety measures for automatic operation .......................................................................................................... 5-89
5.1.5 Safety measures for teaching .................................................................................................................................. 5-89
5.1.6 Safety measures for maintenance and inspections, etc. ............................................................................. 5-89
5.1.7 Examples of safety measures .................................................................................................................................. 5-90
5.2 Working environment ........................................................................................................................................................... 5-91
5.3 Precautions for handling .................................................................................................................................................... 5-91
6Appendix ..............................................................................................................................................................................Appendix-92
Appendix 1 : Specifications discussion material ........................................................................................... Appendix-92
ii
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) Instruction manual, Safety manual
(6) Guarantee card
1.1.2 Shipping special specifications
Part of the standard structural equipment is changed at the time of factory shipment. Consequently, kindly confirm the delivery date.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.
1.1.3 Options
Installation is possible after shipment. Customer needs to perform the installation work.
1.1.4 Maintenance parts
Consumable parts and spare parts for maintenance use.
For items not listed, contact the dealer where you made your purchase.
Structural equipment 1-1
1General configuration
1.2 Contents of the structural equipment
1.2.1 Robot arm
The list of structural equipment is shown in Fig. 1-1.
Vertical six-axis
RV-1A:General environment
RV-1AC-SB:Clean specification
Vertical five-axis
multiple-jointed type
RV-2AJ:General environment
RV-2AJC-SB:Clean specification
Machine cable fixed type 5m
・ 1A-5CBL-1
or
Machine cable
・ Fixed type:1A- □□ CBL-1
・ Flexed type:1A- □□ LCBL-1
Note) □□ refer the length.
Refer to section "1.4" for datails.
Pneumatic hand set :
4A-HP01(sink type)/4A-HP01E (source type)
Solenoid valve set
<sink type>
・ 1 set: 1E-VD01
・ 2 set: 1E-VD02
<source type>
・ 1 set: 1E-VD01E
・ 2 set: 1E-VD02E
The set consists of the following parts.
・ Pneumatic hand
: 1A-HP01/1A-HP01E
・ Solenoid valve set (1 pc.) : 1E-VD01/1E-VD01E
・ Curl cable
: 1A-GHCD/1A-GHCD
・ Hand curl tube
: 1A-ST0402C/1A-ST0402C
: 2A-RZ365/2A-RZ375
・ Pneumatic hand I/F
・ Hand adapter
: 1A-HA01/1A-HA01
With installation bolts.
With installation bolts.
Note) Not clean specification
Note) Not clean specification
Hand input cable
・ 1A-HC20
Hand curl tube
・ 1 set, 2pc. : 1E-ST0402C
・ 2 set, 4pc. : 1E-ST0404C
Pneumatic hand customer-manufactured parts
Hand output cable
・ 1E-GR35S
Motorized hand set : 4A-HM01
・ Motorized hand
・ Curl cable
・ Motorized hand I/F
・ Hand adapter
: 1A-HM01
: 1A-GHCD
: 2A-RZ364
: 1A-HA01
With installation bolts.
Note) Not clean specification
Hand adapter
: 1A-HA01
With installation bolts.
[Caution]
Standard configuration
equipment
Special shipping
specifications
Option
Prepared by customer
Fig.1-1 : Structural equipment (Robot arm)
1-2 Contents of the structural equipment
1General configuration
1.3 Controller
The devices shown below can be installed on the controller.
Controller
・ CR1-571
Teaching pendant(T/B)
・ R28TB
Pneumatic I/F
・ 2A-RZ365 (Sink)
・ 2A-RZ375 (Source)
Controller protection box
・ CR1-MB
Parallel I/O unit
・ 2A-RZ361 (Sink)
・ 2A-RZ371 (Source)
External I/O cable
・ 2A-CBL05(5m)
・ 2A-CBL15(15m)
PLC(Programmable
Logic Controller)
External device
Prepared by customer
Expansion option box
・ CR1-EB3
Extended serial I/F
・ 2A-RZ581E
Personal computer
cable
・ RS-MAXY-CBL
・ RS-AT-RCBL
Personal computer
Prepared
by customer
CC-LINK I/F
・ 2A-HR575E
ETHERNET I/F
・ 2A-HR533E
Additional axis I/F
・ 2A-RZ541E
Personal computer support software
(MS-Windows95/98/NT4.0)
・ 3A-01C-WINE(CD-ROM)
Personal computer support software mini
(MS-Windows95/98/NT4.0)
・ 3A-02C-WINE(CD-ROM)
[Caution]
Standard configuration
equipment
Special shipping
specifications
Option
Prepared by customer
Fig.1-2 : Structural equipment(Controller)
Controller 1-3
1General configuration
1.4 Contents of the Option equipment and special specification
A list of all Optional equipments and special specifications are shown below.
Table 1-1 : The list of Option equipment and special specification
Item
Extended machine cables
Type
1A-10CBL-1
1A-15CBL-1
Specifications
For fixing
(Two sets for power and signal)
1A-05LCBL-1
1A-10LCBL-1
For flexed
(Two sets for power and signal)
1A-15LCBL-1
Pneumatic hand set
4A-HP01
4A-HP01E
Pneumatic hand, Solenoid valve set
(1 pc.), Curl tube(1 pc.), Pneumatic
hand I/F, Hand adapter, Installation
bolts
Classific
ation
Descripsion
□
10m
□
15m
□
5m
□
10m
□
15m
○
The pneumatic hand and required parts are prepared in a set.(sink type)
○
The pneumatic hand and required parts are prepared in a set.(source type)
○
The motorized hand and required parts are prepared in a set.
○
A solenoid valve set for the pneumatic hand.
Motorized hand set
4A-HM01
Solenoid valve set
1E-VD01
Motorized hand, Hand curl cable,
Motorized hand I/F, Hand adapter,
Installation bolts
1 set(Sink type)
1E-VD02
2 set(Sink type)
○
1E-VD01E
1 set(Source type)
○
1E-VD02E
2 set(Source type)
○
Hand output cable
1E-GR35S
Length 350mm with robot side connector. One terminal is not treated.
○
The cable is connected to the hand output connector by the customer.
Hand input cable
1A-HC20
Length 200mm with robot side connector. One terminal is not treated.
○
The cable is connected to the sensor by the customer.
Hand curl tube
1E-ST0402C
For solenoid valve 1set.:Φ4x2
○
For solenoid valve 2set.:Φ4x4
Hand adapter
Teaching pendant
1E-ST0404C
1A-HA01
R28TB
Cable length 7m
○
○
○
Pneumatic hand interface
2A-RZ365
DO: 8 point (Sink type) *1)
○
2A-RZ375
DO: 8 point (Source type) *1)
○
2A-RZ361
DO: 32 point (Sink type)/
DI : 32 point (Sink type)
○
2A-RZ371
DO: 32 point (Source type)/
DI : 32 point (Source type)
○
2A-CBL05
5m
○
2A-CBL15
15m
○
RS-MAXY-CBL
RS-232C cable 3m for PC-AT compatible model
○
Parallel I/O interface
External I/O cable
Personal computer cable
RS-AT-RCBL
Curl type air tube
For RV-M1 hand installation flange conversion.
With 3-position deadman switch/ IP 65
It is necessary when the hand output signal of the
robot arm is used. (Integrated in the controller.)
*1)In RV-1A/2AJ type, even four points are
effective.
The unit for expansion the external input/output.
Electrical isolated Type
(100mA/Point)
Use to connect the external peripheral device to
the parallel input/output unit
Use RS-AT-RCBL for the connection from the
expansion option box.
○
Personal computer
Support software
3A-01C-WINE
CD-ROM
○
Personal computer
Support software mini
3A-02C-WINE
CD-ROM
○
MS-Windows95/98/NT4.0
(With the simulation function)
MS-Windows95/98/NT4.0
(Without the simulation function)
Expansion option box
CR1-EB3
Up to three option cards can be
mounted
○
Install on the side of the controller
RS-232C x 1
RS-232C or RS-422 x 1
○
Local station (The local station
alone is supported.)
○
Extended serial interface
2A-RZ581E
CC-Link interface
2A-HR575E
CR-EB3 is need.
for MELSEC PLC with CC-Link connection. CREB3 is need.
ETHERNET interface
2A-HR533E
ETHERNET x 1
○
CR-EB3 is need.
Additional axis interface
2A-RZ541E
SSC x 1
Up to 8 axises can be added
○
MR-J2 servoAmplifer Unit connection. CR-EB3 is
need.
Controller protection box
CR1-MB
IP54
□
The controller protection box is used to protect
the controller from an oil mist or other operating
environment. Note2)
Note1) In the classification column, ○ refers to an option,and □ to a Sipping special specifications.
Note2) Use this option to protect the controller from the oil mist when the controller will be installed in the environment such as the oil mist.
1-4 Contents of the Option equipment and special specification
2Robot arm
2 Robot arm
2.1 Standard specifications
2.1.1 Standard specifications
Table 2-1 : Tab Standard specifications of robot
Item
Type
Degree of freedom
Installation posture
Structure
Drive system
Position detection method
Shoulder shift
Upper arm
Arm length
Fore arm
Elbow shift
Wrist length
J1
J2
J3
Operating
range
J4
J5
J6
J1
J2
J3
Speed of
motion
J4
J5
J6
Maximum resultant velocity
MaximumNote1)
Load
Rating
Pose repeatability Note2)
Ambient temperature
Mass
J4
Allowable
J5
moment load
J6
J4
Allowable
J5
inertia
J6
Arm reachable radius
(front p-axis center point)
Unit
RV-1AC-SB
6
RV-2AJ
RV-2AJC-SB
5
On floor, hanging
mm
Degree
Degree/
s
mm/s
kg
mm
℃
kg
N・m
kg ・ m2
mm
Tool wiring Note3)
Tool pneumatic pipes
Supply pressure
Protection specificationNote4)
Degree of cleanlinessNote5)
Paint color
Specifications
RV-1A
MPa
On floor
On floor, hanging
On floor
Vertical, multiple-joint type
ACservo motor (J1 toJ3:50W with brake, J4,J6:15W no brake, J5:15Wwith brake)
Absolute encoder
0
250
160
90
0
72
300(-150 to +150)
180(-60 to +120)
95(+60 to +155)
230(-110 to +120)
320(-160 to +160)
-
180(-90 to +90)
400(-200 to +200)
180
90
135
180
-
180
210
Approx. 2200
Approx. 2100
1.5
2
1
1.5
± 0.02
0 to 40
Approx. 19
Approx. 17
1.44
-
1.44
2.16
0.73
1.10
2.16x10-2
-
3.24x10-2
2.16x10-2
5.62x10-3
8.43x10-3
418
410
Four input signals (Hand section), Four output signals (Base section),
Motorized hand output (Hand section)
Φ4x4 (Base to hand
Φ4x3 (Base to hand
Φ4x4 (Base to hand
Φ4x3 (Base to hand
section)
section)
section)
section)
0.5 ± 10%
IP30
-
IP30
-
-
100(0.3μm)
-
100(0.3μm)
Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)
Note1)The maximum load capacity is the mass with the flange posture facing downword at the ± 10 degree
limit.
Note2)The pose repeatability details are given in Page 6, "2.2.1 Pose repeatability and distance accuracy"
Note3)When using the 4-point hand output, the pneumatic hand interface (option) is required.
Note4)The protection specification details are given in Page 8, "2.2.3 Protection specifications and working
environment" .
Note5)The down flow (0.3m/s or more) in the clean room and the internal suction by using attached vacuum
generating valve are necessary conditions for the cleanliness.
Standard specifications 2-5
2 Robot arm
2.2 Definition of specifications
The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.
2.2.1 Pose repeatability and distance accuracy
This robot, the pose repeatability and distance accuracy are defined and calculated in Table 2-2.
(1) The pose accuracy in terms of coordinates (XYZ) for the standard point which is obtained repeatedly under
the same conditions and motions when the robot is on an operating course.
(2) The standard point is the intersection between the J6 axis and the flange surface for tooling installation.
Table 2-2 : Specified accuracy
Item
Specified conditionds
Pose repeatability
The value equal to the average of the maximum value and the minimum value of the group of
attained poses, with (+) or (-) added.
Distance accuracy
The distance from the teaching point to the point that is equal to the average of the maximum
value and the minimum value of the group of attained poses.
Programmed pose
Group of attained poses
(X, Y, Z)
Min.
Max.
Double of pose repeatability
Distance
accuracy
Measuring conditions
Load ................................................................A load equal to the rated
load at the mass capacity
reference point
The number of repitition and speed ..100 times at 100% speed
Measuring instrument ..............................Non-contact displacement meter
Fig.2-1 : Specified accuracy
[Caution] The pose accuracy given in the specifications is the accuracy measured under the same conditions. It
does not include the effect of the robot working environment or conditions. Thus, even when used on
the same path, the repeatability according to the presence of a workpiece, or the repeatability when the
temperature changes will cause arm slack or expansion, so the accuracy will drop slightly. This also
applies to when the teaching speed and actual speed are different or when the coordinates set with values.
2-6 Definition of specifications
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 5, "Table 2-1 : Tab Standard specifications of robot".
(2) Fig. 2-2 and Fig. 2-3shows 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) When the load is not mass, but force, you should design the tooling so that it does not exceed the value for
allowable moment described in Page 5, "Table 2-1 : Tab Standard specifications of robot".
[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 for the specified moment and inertia in this section is the dynamic limit
value determined by the motor driving each axis and by the capacity of the reduction gears. Consequently, accuracy cannot be guaranteed for the entire tooling area. Since accuracy is based on the center point of the mechanical interface surface, position accuracy can diminish as you go away from the
flange surface, or vibration can result, with tooling that is not rigid or that is long.
Maximum load capacity
with the flange posture facing downword
150
136
0.3kg
106
100
75
0.5kg
1.0kg
50
1.5
kg
300
250
200
150
72
100
0
50
75
Rotation center for J6 axis
100
106
136
150
268
207
147
Rotation center for J5 axis
97
Fig.2-2 : Position of center of gravity for loads (for loads with comparatively small volume) : RV-1A/1AC-SB
Maximum load capacity
with the flange posture facing downword
150
129
0.5kg
100
91
75
1.0kg
1.5kg
56
2kg
300
250
200
150
100
72
0
56
75
91
100
129
Rotation center for J6 axis
Rotation center for J5 axis
150
254
180 147
110
Fig.2-3 : Position of center of gravity for loads (for loads with comparatively small volume) : RV-2AJ/2AJC-SB
Definition of specifications 2-7
2 Robot arm
2.2.3 Protection specifications and working environment
(1) Types of protection specifications
The robot arm has protection specifications that comply with the IEC Standards. The protection specifications
and applicable fields are shown in Table 2-3.
Table 2-3 : Protection specifications and applicable fields
Protection
specifications
General-purpose environment specifications
IEC Standards
value
IP30
CAUTION
Applicable field
Remarks
General assembly
Slightly dusty environment
Use the controller protection box (CR1-MB) optional to protect the controller from
the environment when the controller will be used in the environment such as the oil
mist shown in the Table 2-3. Refer to the section Page 59, "(3) Controller protection
box" for details on the controller protection box.
【Information】
・ The IEC IP30
IP30 refers to a protective structure with which the tip of a solid object, such as a tool or wire, having a
diameter or thickness exceeding 2.5mm cannot enter. No particular protection is provided against the entry of
water.
The warranty is invalid for any faults that occur when the robot is used under the following conditions.
1) In surroundings that generate inflammable gases or corrosive gasses.
2) In surroundings where water, oil, and chips fall directly on the robot.
3) Mist atmosphere exceeding the specification.
2-8 Definition of specifications
2 Robot arm
2.2.4 Clean specifications
(1) Types of clean specifications
The clean specifications of robot arm shown in Table 2-4.
Please confirm the delivery date, because both are special specifications.
Table 2-4 : Clean specifications
Clean
specifications
Type SB
Type
RV-1AC-SB
RV-2AJC-SB
Degree of
cleanliness
100(0.3μm)
Internal suction
Internal suction with vaccum generating valve.
Remarks
A vacuum generating
valve (refer to Table 25) is enclosed.
Table 2-5 : Specifications of vacuum generation valve
Type
Maker
Air pressure
MEDT 10
Koganei
0.2 to 0.6 MPa
■ Precautions for use
1) When using a device that moves or rotates the robot arm, the down flow may not be secured because of the
air flow. In this case, the degree of cleanliness cannot be ensured.
2) In the case of clean specification robot, the base side hoses are four and fore arm side hoses are three.
Prepare the hose of Φ4 x 2.5 and connect this joint to the appended vacuum generating valve or the vacuum pump prepared by the customer.
* If the appended vacuum generating valve is used, connect the rear joint of the robot to the joint on the
"VACUUM" side of the vacuum generating valve. Moreover, in order to prevent the exhaust of the vacuum
generating valve from impairing the cleanness, install the vacuum generating valve on the downstream side
of the down flow or attach the filter to the exhaust section as possible.
Recommended filter: Exhaust filter EF300-02, Koganei Corporation
* If any vacuum pump is prepared by the customer, assure on the vacuum side flow rate 50 liters/min.(ANR)
or more .
Definition of specifications 2-9
2 Robot arm
2.3 Names of each part of the robot
Fore arm
+
+
J5-axis
Elbow block
Note)
J4-axis
-
+
-
+
J6-axis
-
J3-axis
-
Mechanical interface
(Hand installation flange surface)
Upper arm
+
Shoulder
-
+
-
J2-axis
J1-axis
Base
Note)J4-axis dosen't exist for 5-axis type.
Fig.2-4 : Names of each part of the robot
2-10 Names of each part of the robot
2 Robot arm
2.4 Outside dimensions ・ Operating range diagram
(1) RV-1A/1AC-SB
P point path
Operating range at section of X-X
Flange downward
limit line(dotted line)
X
X
(Front)
Flange downward
singular point path
Solenoid valve (optional)
installation position
150 or more
(Back projects)
Approx. 70
Machine cable
(Connect to
the controller)
P point path
pose
Note 1) Refer to Fig. 2-7 for the hand installation flange section and installation base section dimensions.
Fig.2-5 : Outside dimensions for RV-1A/1AC-SB
Outside dimensions ・ Operating range diagram 2-11
2 Robot arm
(2) RV-2AJ/2AJC-SB
P point path
Operating range at section of X-X
Flange downward
limit line(dotted line)
P
X
X
(Front)
150 or more
P point path
Back side limitations
(Two dotted line)
Approx. 70
Machine cable
(Connect to
the controller)
Solenoid valve (optional)
installation position
pose
Note 1) Refer to Fig. 2-7 for the hand installation flange section and installation base section dimensions.
Fig.2-6 : Outside dimensions for RV-2AJ/2AJC-SB
2-12 Outside dimensions ・ Operating range diagram
2 Robot arm
(3) Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB
φ 5H7, depth 8
( reference hole )
4-M5 screw,depth 8
φ20H7,
depth 4
φ40H8,
depth 6.5
4-M3 screw, depth 6
View from A
Detail of Mechanical interface
(ISO9409-1 )
Front
*
6.3a
4-φ9 hole
(Installation bolts for M8×35)
6.3a
Installation
reference surface
View from B : Installation dimension details
・The contact section shown with shading on the robot installation surface must be finished to 6.3a.
・The section marked with * must be contacted against the installation surface to ensure the robot rigidity.
Fig.2-7 : Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB
Outside dimensions ・ Operating range diagram 2-13
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-1A/2AJ (General environment)
Number of coupling for hand
AIR OUT
(3) 1 to 4 : Secondary piping
1 2 3 4
couplings (φ4)
Note) This parts dosn't exist for 5-axis type
Note) Solenoid valve set(optional)
installation section
a)
(1) Hand input signal or
motorized hand
connectors
b)
987654321
Secondary piping
pneumatic hoses(φ4)
Note2)
CON1H
Hand connector pin assignment
GR1 to GR4 : Connect to the b)
Hand output connector
Primary piping
pneumatic hoses(φ6*1)
Note2)
Hand input signal and
motorized hand
cables
Secondary piping hoses
(φ4*4)
CN2
Magnification
Note1)When using the hand output signal, it is necessary
to use the optional pneumatic hand interface
(2A-RZ365/2A-RZ375)
Note2)The user must prepare the φ4 and φ6
pneumatic hoses for connecting to the solenoid
valve set.
CN1
Machine cable connector
(Power supply)
GR1 GR2 GR3 GR4
Machine cable connector
(Signals)
1
2 3 4
(2)GR1 to GR4:Connect to the b)
AIR IN
Hand output connector
Number of connector
for hand output.
(4) AIR IN 1 to 4:Connect to the a)
Number of coupling for hand.
Secondary piping air coupling(φ4)
Connector and pneumatic coupling
Robot side(Robot arm side)
No
Name
Qty.
(1)
Connector
1
(2)
Connector
(3)
Coupling
(4)
Coupling
4
Connectors,
couplings
Manufacturer
Connector pins
Connector
SMP-09V-B
Connector pins
SMP-09V-BC
BHF-001GI-0.8BS
4
SMP-02V-BC
BHF-001GI-0.8BS
SMR-02V-B
BYM-001T-0.6
4
TSH4-M5M
-
-
-
UKBL4
-
-
-
Fig.2-8 : Wiring and piping for hand (RV-1A/2AJ)
2-14 Tooling
Counter side (customer-prepared)
BYM-001T-0.6
Japan solderless terminal MFG. Co.,LTD
Koganei
2 Robot arm
(2) RV-1AC-SB/2AJC-SB (Clean specification)
Number of coupling for hand
AIR OUT
1 2 3 4
(3) 1 to 3 : Secondary piping
couplings (φ4)
Note) This parts dosn't exist
for 5-axis type
Not use
Note3) Solenoid valve set
(optional, not clean secification)
installation section
a)
(1) Hand input signal or
motorized hand
connectors
b)
Internal suction (φ4)
987654321
Secondary piping
pneumatic hoses(φ4)
Note2)
CON1H
Hand connector pin assignment
GR1 to GR4 : Connect to the b)
Hand output connector
Primary piping
pneumatic hoses(φ6*1)
Note2)
Hand input signal and
motorized hand
cables
(Not use)
Exhaustφ6 Note3)
Secondary piping hoses
(φ4x4: One of those is used
for internal suction)
Compressed airφ6 Note3)
CN2
CN1
Vacuum solenoid valve Note4)
For suctionφ4 Note5)
Note1)When using the hand output signal, it is necessary
to use the optional pneumatic hand interface.
(2A-RZ365/2A-RZ375)
Note2)The user must prepare the φ4 and φ6
pneumatic hoses for connecting to the solenoid
valve set.
Note3)The φ 6 pneumatic hose (for exhaust and
compressed air) and φ 4 pneumatic hose
(for suction) must be prepared by the user.
Note4)The vacuum solenoid valve must be fixed by
the user.
Note5)Suction is possible by connecting the vacuum pump
which is prepared by the user. In this case, select
a flow rate of 50 liters/min. as a guideline.
Magnification
Machine cable connector
(Power supply)
GR1 GR2 GR3 GR4
2 3 4
AIR IN
Number of connector
for hand output.
Number of coupling for hand.
Machine cable connector
(Signals)
(2)GR1 to GR4:Connect to the b)
Hand output connector
1
Coupling for internal suction
(4) AIR IN 1 to 4:Connect to the a)
Secondary piping air coupling(φ4)
Connector and pneumatic coupling
Robot side(Robot arm side)
No
Name
Qty.
(1)
Connector
1
(2)
Connector
(3)
Coupling
(4)
Coupling
4
Connectors,
couplings
Counter side (customer-prepared)
Manufacturer
Connector pins
Connector
SMP-09V-B
Connector pins
SMP-09V-BC
BHF-001GI-0.8BS
BYM-001T-0.6
4
SMP-02V-BC
BHF-001GI-0.8BS
SMR-02V-B
BYM-001T-0.6
3
TSH4-M5M
-
-
-
UKBL4
-
-
-
Japan solderless terminal MFG. Co.,LTD
Koganei
Fig.2-9 : Wiring and piping for hand (RV-1AC-SB/2AJC-SB)
Tooling 2-15
2 Robot arm
2.5.2 Internal air piping
(1) The robot has four φ4 x 2.5 urethane hoses from the pneumatic entrance on the base section to the fourearm side.They are three in the case of clean specification.
(2) The hose end section has four coupling bridges for a φ4 hose on both the base and forearm side. In the case
of clean specification robot, the base side hoses are four and fore arm side hoses are three.
(3) The robot can have up to two pneumatic valve sets on the side of base (optional).
(4) Refer to Page 31, "Solenoid valve set" for details on the electronic valve set (optional).
2.5.3 Internal wiring for the pneumatic hand output cable
(1) The hand output cable extends from the connector of the base section to the side of the base section.
(AWG#24(0.2mm2) x 2 : 4 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 check input cable
(1) The hand check input cable is wired to four points on the forearm side from the base.
2-16 Tooling
2 Robot arm
2.5.5 Wiring and piping system diagram for hand
Shows the wiring and piping configuration for a standard-equipped hand.
(1) RV-1A/2AJ (General environment)
<Sink type>
During use of
pneumatic
hand I/F.
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
White
Black
White
Black
White
Black
<Hand check 1>
<Hand check 2>
<Hand check 3>
<Hand check 4>
<+24V>
<0V(COM)>
White
<DC+>
Black
<DC->
900
901
902
903
Robot
controller
*1
*1
Note1)*1 is dedicated for the motorized
hand.
It is valid when the motorized
hand interface is installed.
During use of
motorized
hand I/F(optional)
1
2
3
4
5
6
7
8
9
General-purpose
input No.
<Hand check 1>
<Hand check 1>
Hand 1
ON/OFF
<+24V>
<0V(COM)>
Hand 2
ON/OFF
900
General-purpose output +24V
901
General-purpose output +24V
902
General-purpose output +24V
General-purpose output
During use of
pneumatic
hand I/F(optional)
903
+24V
φ4 quick coupling bridge(1 to 4)
AIR
AIR
AIR
AIR
OUT1
OUT2
OUT3
OUT4
GR1
1
2
GR2
1
2
White
Black
GR3 White
1
2
Black
GR4 White
1
2
Black
φ4 quick
coupling
AIR
AIR
AIR
AIR
φ4 hose(4 hoses)
White
Black
IN1
IN2
IN3
IN4
Solenoid valve
section
Solenoid valve
Solenoid valve
installation
manifold
section
(optional)
Connect to the
primary air supply
(φ6 hose)
Wrist section
Shoulder section Base section
*Refer to Fig. 2-14 for air supply circuit example.
Fig.2-10 : Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)
Tooling 2-17
2 Robot arm
<Source type>
During use of
pneumatic
hand I/F.
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
During use of
motorized
hand I/F(optional)
1
2
3
4
5
6
7
8
9
General-purpose
input No.
White
Black
White
Black
White
Black
<Hand check 1>
<Hand check 2>
<Hand check 3>
<Hand check 4>
<+24V(COM)>
<0V>
White
<DC+>
Black
<DC->
900
901
902
903
Robot
controller
*1
*1
Note1) *1 is dedicated for the motorized
hand.
It is valid when the motorized
hand interface is installed.
<Hand check 1>
<Hand check 1>
Hand 1
ON/OFF
<+24V(COM)>
<0V>
Hand 2
ON/OFF
General-purpose output
900
24G
General-purpose output
901
24G
General-purpose output
General-purpose output
During use of
pneumatic
hand I/F(optional)
902
24G
903
24G
φ4 quick coupling bridge(1 to 4)
AIR
AIR
AIR
AIR
OUT1
OUT2
OUT3
OUT4
GR1
1
2
White
Black
GR2 White
1
2
Black
GR3 White
1
2
Black
GR4 White
1
2
Black
φ4 quick
coupling
AIR IN1
AIR IN2
AIR IN3
AIR IN4
φ4 hose(4 hoses)
Solenoid valve
section
Solenoid valve
Solenoid valve
installation
manifold
section
(optional)
Connect to the
primary air supply
(φ6 hose)
Wrist section
Shoulder section Base section
*Refer to Fig. 2-14 for air supply circuit example.
Fig.2-11 : Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)
2-18 Tooling
2 Robot arm
(2) RV-1AC-SB/2AJC-SB (Clean specification)
<Sink type>
During use of
pneumatic
hand I/F.
1
2
3
4
5
6
7
8
9
General-purpose
input No.
White
Black
White
Black
White
Black
<Hand check 1>
<Hand check 2>
<Hand check 3>
<Hand check 4>
<+24V>
<0V(COM)>
<Not use> White
<Not use> Black
Hand 1
ON/OFF
Hand 2
ON/OFF
900
901
902
903
900
General-purpose output +24V
901
General-purpose output +24V
General-purpose output
General-purpose output
902
+24V
903
+24V
φ4 quick coupling bridge(1 to 4)
AIR OUT1
AIR OUT2
AIR OUT3
Robot
controller
GR1
1
2
GR2
1
2
White
Black
White
Black
GR3 White
1
2
Black
GR4 White
1
2
Black
AIR IN1
AIR IN2
AIR IN3
AIR IN4
φ4 hose(4 hoses)
Internal suction
Solenoid valve
section
φ4 quick
coupling
Solenoid valve
Solenoid valve
installation
manifold
section
(optional)
Connect to the
primary air supply
Vacuum solenoid valve
(φ6 hose)
Wrist section
Shoulder section Base section
*Refer to Fig. 2-14 for air supply circuit example.
Fig.2-12 : Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)
Tooling 2-19
2 Robot arm
<Source type>
During use of
pneumatic
hand I/F.
1
2
3
4
5
6
7
8
9
General-purpose
input No.
White
Black
White
Black
White
Black
<Hand check 1>
<Hand check 2>
<Hand check 3>
<Hand check 4>
<24V(COM)>
<0V>
White
<Not use>
Black
<Not use>
Hand 1
ON/OFF
Hand 2
ON/OFF
900
901
902
903
General-purpose output
900
24G
General-purpose output
901
24G
General-purpose output
902
24G
General-purpose output
903
24G
φ4 quick coupling bridge(1 to 4)
AIR OUT1
AIR OUT2
AIR OUT3
Robot
controller
GR1
1
2
GR2
1
2
White
Black
White
Black
GR3 White
1
2
Black
GR4 White
1
2
Black
Solenoid valve
section
φ4 quick
coupling
AIR IN1
AIR IN2
AIR IN3
AIR IN4
φ4 hose(4 hoses)
Solenoid valve
Solenoid valve
installation
manifold
section
(optional)
Connect to the
primary air supply
Internal suction
Vacuum solenoid valve
(φ6 hose)
Wrist section
Shoulder section Base section
*Refer to Fig. 2-14 for air supply circuit example.
Fig.2-13 : Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)
2-20 Tooling
2 Robot arm
2.5.6 Electrical specifications of hand input/output
Table 2-6 : Electrical specifications of input circuit
Item
Specifications
Type
DC input
No. of input points
4
Insulation method
Photo-coupler insulation
Rated input voltage
12VDC/24VDC
<Sink type>
24V
24V
Rated input current
Approx. 3mA/approx. 7mA
Working voltage range
DC10.2 to 26.4V(ripple rate within 5%)
ON voltage/ON current
8VDC or more/2mA or more
OFF voltage/OFF current
4VDC or less/1mA or less
Input resistance
820
OFF-ON
10ms or less(DC24V)
ON-OFF
10ms or less(DC24V)
HCn*
3.3K
Approx. 3.3kΩ
Response time
Internal circuit
0V(COM)
<Source type>
24V
24V(COM)
3.3K
HCn*
820
0V
* HCn = HC1 ~ HC4
Table 2-7 : Electrical specifications of output circuit
Item
Specification
Type
Transistor output
No. of output points
4
Insulation method
Photo coupler insulation
Rated load voltage
DC24V
Rated load voltage range
DC21.6 to 26.4VDC
Max. current load
0.1A/ 1 point (100%)
Current leak with power OFF
0.1mA or less
Maximum voltage drop with power ON
DC0.9V(TYP.)
Response time
Fuse rating
OFF-ON
2ms or less (hardware response time)
ON-OFF
2 ms or less (resistance load) (hardware response time)
Internal circuit
<Sink type>
24V
(Internal power supply)
GRn*
Fuse
1.6A
1.6A (each one common) Cannot be exchanged
0V
<Source type>
Fuse
1.6A
24V
GRn*
0V
* GRn = GR1 ~ GR4
Note) An optional air hand interface (2A-RZ365/RZ375) is required to use hand output.
Tooling 2-21
2 Robot arm
2.5.7 Air supply circuit example for the hand
Fig. 2-14 shows an example of pneumatic supply circuitry for the hand.
(1) Place diodes parallel to the solenoid coil.
(2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be
damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-14 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.
Pressure switch
Pneumatic source
0.7MPa less
To the solenoid valve
primary air supply port
(0.5MPa ±10%)
Filter
Regurater
Fig.2-14 : Air supply circuit example for the hand
2-22
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 at the time of shipment from the factory. Consequently, customer
need to confirm the delivery date.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.
■ How to order
(1) Confirm beforehand when the Factory special specifications can be shipped, because they may not be
immediately available.
(2) Order before the factory shipping date.
(3) Specified method …… Specify the part name, model, and robot model type.
Shipping special specifications, options, and maintenance parts 2-23
2 Robot arm
(1) Machine cable extension
■ Order type :
● Fixed type(10m)
● Fixed type(15m)
● Flexed type(5m)
● Flexed type(10m)
● Flexed type(15m)
:1A-10CBL-1
:1A-15CBL-1
:1A-05LCBL-1
:1A-10LCBL-1
:1A-15LCBL-1
■ Outline
This cable is exchanged with the standard machine cable (5m) accessory to extend
the distance between the controller and the robot arm.
A fixed type and flexible type are available.
Exchanges after shipment will be charged (for packaging, shipping costs).
The fixing and flexible types are both configured of the motor signal cable and motor
power cable .
■ Configuration
Table 2-8 : Configuration equipments and types
Part name
Qty.
Type
Fixed
Remarks
Flexed
Motor signal cable (for fixed type)
1E- □□ CBL(S)-N
1 cable
-
Motor power cable (for fixed type)
1A- □□ CBL(P)-1
1 cable
-
Motor signal cable (for flexed type)
1E- □□ LCBL(S)-N
-
1 cable
5m, 10m, or 15m each
5m, 10m, or 15m each
Motor power cable (for flexed type)
1A- □□ LCBL(P)-1
-
1 cable
Nylon clamp
NK-18N
-
2 pcs.
Nylon clamp
NK-14N
-
2 pcs.
-
4 pcs.
Silicon rubber
10m, or 15m each
10m, or 15m each
Note) The numbers in the boxes □□ refer the length.
■ Specifications
The specifications for the fixed type cables are the same as those for standard cables.
Shows usage conditions for flexed type cables in Table 2-9.
Table 2-9 : Conditions for the flexed type cables
Item
Specifications
Minimum flexed radius
100R or more
Cable bare, etc., occupation rate
50% or less
Maximum movement speed
2000mm/s or less
Warranty life (no.)
7.5 million times
Environmental proof
Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type)
Cable configuration
Motor power cable
Φ6.5x10
Motor signal cable
Φ7x6 and Φ1.7x1
[Caution] The warranty life may greatly differ according to the usage state (items related to Table 2-9 and to the
amount of silicon grease applied in the cable conduit.
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
2-24 Shipping special specifications, options, and maintenance parts
2 Robot arm
■ Cable configuration
The configuration of the flexible cable is shown in Table 2-10. Refer to this table when selecting the cable bare.
Table 2-10 : Cable configuration
No. of cores
Motor power cable
1A- □□ LCBL(P)-1
Motor signal cable
1E- □□ LCBL(S)-N
Item
AWG#24(0.2mm2) -4P
AWG#18(0.75mm2)
AWG#18(0.75mm2) -3C
Finish dimensions
Approx. φ7mm
Approx. φ1.7mm
Approx. φ6.5mm
No.of cables used
6 cables
1 cable
10 cables
No. in total
7 cables
10 cables
Note. The square in the cable name indicates the cable length.
■ Fixing the flexible cable
(1) Connect the connector to the robot arm and controller.
(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the robot arm and controller as
shown in Fig. 2-15, and fix with the nylon clamp to protect the cable from external stress.
300
~
400
mm
mm
400
~
0
30
1A-□□LCBL(P)-1
1E-□□LCBL(S)-N
Nylon clamp
NK-14N
Nylon clamp
NK-14N
Nylon clamp
NK-18N
Nylon clamp
Nylon clamp
NK-18N
Silicon rubber
Fig.2-15 : Fixing the flexible cable
Shipping special specifications, options, and maintenance parts 2-25
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.
■ Precautions for optional of motorized hand, pneumatic hand and solenoid valve
(1) About clean specification robot
The motorized hand, solenoid valve set and pneumatic hand can be installed, but its cleanliness is not under warranty.
(2) About customer manufactured hand
Though the motorized hand can't be manufactured by customer, the pneumatic hand can be manufactured.
Put the precaution together in the following.
Item
General environment specification
RV-1A/2AJ
Clean specification
RV-1AC-SB/2AJC-SB
Installation possible
Installation possible
But the cleanliness cannot be guaranteed.
Pneumatic hand set
Motorized hand set
Solenoid valve set
Pneumatic hand
This can be manufactured by customer
Motorized hand
This cannot be manufactured by customer
2-26 Options
2 Robot arm
(1) Motorized hand set
■ Order type : 4A-HM01
■ Outline
・ Motorized hand and the required parts come in a set.
・ As air is not required, the hand can be used in laboratories.
・ The gripping force can be adjusted.
・ The life is 10,000,000 times at a 50% load. The 50% load refers to when the max. load
mass in Table 2-12 are all within 50%.
■ Configuration
Table 2-11 : Configuration equipment
Part name
Type
Qty.
Motorized hand
1A-HM01
1 pc.
Hand curl cable
1A-GHCD
1 pc.
Motorized hand I/F
2A-RZ364
1 pc.
Installation bolt (with hole)
Hand adapter
M3 × 8
4 bolts
M3 × 12
2 bolts
1A-HA01
1 pc.
Remarks
The adapter for installing the motorized hand to the
robot's mechanical interface.
■ Specifications
Table 2-12 : Motorized hand specifications
Item
Spacifications
Drive method
DC servo motor
Grip force
4.9 ~ 68.6N
(Each side grip is2.45 ~ 34.3N)
Life
1,000,000 times cycle 100% load.
10,000,000 times cycle 50% load.
Repetition accuracy
0.03mm
Ambient temperature
0 to 40 ℃
Ambient humidity
45 to 85%
Atomosphere
With no of oil mist, chip, powder dust.
Operation confirmation sensors
None
Mass
0.59kg
Radial
Mpo moment
6.2N ・ m
Mro moment
10.8N ・ m
Myo moment
6.0N ・ m
Fp
Mpo
(=Lp*Fp)
When installing the finger attachment, avoid
shock or excessive moment to the tips.
Fr
Mro
(=Lr*Fr)
Ly
Lp
Radial
Others
Including the adapter.
300N
Lr
Maximum load per finger
Remarks
Fy
Myo
(=Ly*Fy)
The stroke cannot be adjusted.
Prepare the finger procured by the customer.
Options 2-27
2 Robot arm
Motorized hand body
Adapter
1A-HA01
4-Φ3.4 hole
(90 degree division)PCD70
(Φ6.5x4 spot facing on the
reverse side)
4-M3x8
(Hexagon
socket bolt)
Approx. 70
2-M3x12
(Hexagon socket bolt)
4*2-M3
Hand body
(From finger center)
φ11
Hand curl cable
Connector
160±10
Connector
(150)
Curl cable for bending
40±10
Curl cable
Type 1A-GHCD
[Wiring system diagram]
For
pneumatic
hand
DC+
DCReserve
Reserve
Reserve
Fig.2-16 : Motorized hand outside dimensional drawing
2-28 Options
1
2
5
6
7
8
3
4
9
Yellow
Purple
Brown
Blue
Red
Black
6
5
4
3
1
2
2 Robot arm
(2) Pneumatic hand set
■ Order type: 4A-HP01 (Sink type)
4A-HP01E (Source type)
■ Outline
・ Pneumatic hand and the required parts come in a set.
・ The hand has a life of 10 million cycles.
・ There is a sensor at the open/close end.
■ Configuration
Table 2-13 : Configuration equipment
Qty.
Part name
Type
Pneumatic hand
Remarks
4A-HP01
4A-HP01E
1A-HP01
1 pc.
-
1A-HP01E
-
1 pc.
Pneumatic hand body.
Hand curl tube (1 set: 2pc.)
1A-ST0402C
1 pc.
1 pc.
Curl cable
1A-GHCD
1 pc.
1 pc.
Pneumatic hand interface
2A-RZ365
1 pc.
-
2A-RZ375
-
1 pc.
1E-VD01
1 pc.
-
1E-VD01E
-
1 pc.
M3 x 8
4 bolts
4 bolts
M3 x 12
4 bolts
4 bolts
1A-HA01
1 pc.
1 pc.
Solenoid valve set (1 set)
Installation bolt (with hole)
Adapter
Refer to the section on Page 35, "(6) Hand curl tube".
Refer to the section on Page 57, "(2) Pneumatic hand interface".
Refer to the section on Page 31, "(3) Solenoid valve set".
The adapter for installing the pneumatic hand to the robot's
mechanical interface.
■ Specifications
Table 2-14 : Pneumatic hand specifications
Item
Spacifications
Operating fluid
Remarks
Clean air
Operating pressure range
0.04 to 0.7MPa
Operating temperature range
0 to 40 ℃
Open/close stroke
12+2
0 mm
Life
10 million cycles or more
Operating method
Double action
Mass
0.45kg
Open/close confirmation sensor
Includes the adapter
Open edge and close edge
Pneumatic coupling size
Φ4 (quick coupling)
Radial
6.2N ・ m
Mro moment
10.8N ・ m
Myo moment
6.0N ・ m
Fp
Mpo
(=Lp*Fp)
When installing the finger attachment, avoid shock or
excessive moment to the tips.
Fr
Mro
(=Lr*Fr)
Ly
Radial
Lp
700N
Mpo moment
Lr
Maximum load per finger
Connection hose diameter: Φ4
Fy
Myo
(=Ly*Fy)
Options 2-29
2 Robot arm
Pneumatic hand body
Adapter
Type:1A-HA01
4-M3x8
(Hexagon socket bolt)
4-Φ3.4 hole
(90 degree division)PCD70
(Φ6.5x4 spot facing
on the reverse side)
Approx. 70
4-M3x12
(Hexagon socket bolt)
24.5
8 5
Hand body
(From finger center)
φ11
Hand curl cable
[Wiring system diagram]
<Sink type>
HC1(open) 1 Yellow
HC2(close) 2 Purple
+24V 5 Brown
Connector
0V(COM) 6 Blue
7 Red
For motorized hand
Black
Connector
160±10
Curl cable for bending
8
Reserve 3
Reserve 4
Reserve 9
40±10
(150)
Curl cable
Type 1A-GHCD
6
5
4
3
1
2
<Source type>
70
50
10
40
20
30
30
20
40
10
50
0.1
0.4
0.5
0.3
0.2
Pneumatic pressure MPa
0.6
0.7
Indication of gripping force and maximum
length of finger attachment
Fig.2-17 : Pneumatic hand outside dimensional drawing
2-30 Options
Attachment maximum length L cm
Gripping force N
60
HC1(open) 1 Yellow
HC2(close) 2 Purple
Brown
+24V(COM) 5 Blue
0V 6
7 Red
For motorized hand
8 Black
Reserve 3
Reserve 4
Reserve 9
6
5
4
3
1
2
2 Robot arm
(3) Solenoid valve set
■ Order type: One set:
Two sets:
1E-VD01(Sink type)/1E-VD01E(Source type)
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. All have double solenoid specification, and either one or two or three sets can be selected. This solenoid
valve set has a hand output cable attached to the solenoid valve. Also, for easy
installation of this electromaagnetic set onto the robot, it comes equipped with a
manifold, couplings, silencers, among other things.
When using the robot arm's hand output signal, the pneumatic hand interface option
must be installed on the separate controller.
■ Configuration
Table 2-15 : Configuration equipment
Qty.
Part name
Type
Remark
One set
Two sets
Solenoid valve set (1 set)
1E-VD01/
1E-VD01E
1 pc.
-
Solenoid valve set (2 sets)
1E-VD02/
1E-VD02E
-
1 pc.
Connecting the Page 34, "(5) Hand output cable".
M3x25 Two screws (Installation screws)
1E-VD01/VD02 are the sink type.
1E-VD01E/VD02E are the source type.
■ Specifications
Table 2-16 : Valve specifications
Item
Specifications
Number of positions
2
Port
5
Valve function
Double solenoid
Operating fluid
Clean air
Operating method
Pilot type
Effective sectional area (CV value)
1.5mm(0.08)
Oiling
Unnecessary
Operating pressure range
0.2 to 0.7MPa
Guaranteed proof of pressure
1.0MPa or more
Response time
12msec or less
Max. operating frequency
5c/s
Ambient temperature
-5 to 50 ℃
Table 2-17 : Solenoid specifications
Item
Specifications
Method
Built-in fly-wheel diodes with surge protection
Operation voltage
DC24V ± 10%
Current value
40mA
Insulation
B type
Insulation resistance
100MΩ or more
Surge protection
Fly-wheel diode
Options 2-31
2 Robot arm
(1)(4)
(6)
35.6
GR1
SOL1A
SOL2A
(30)
(24)
(12) 2- φ 3.3
(82)
(1)
(2)
GR3
(28)
(3)
GR2
SOL1B
SOL2B
GR4
(5)
28.4
36.4
(20)or less
(45)or less
(10)(11)
Part
no.
Part name
Solenoid valve
1
Manifold block
1
1
(3)
Quick coupling
2
4
(4)
Block plate
1
0
(5)
Quick coupling
1
1
(6)
Silencer
1
1
(10)
(11)
Connector
2
4
SMR-09V-B
Contact
4
8
SYM-001T-0.6
(12)
Installation screw
2
2
M3x25
Connector name
Black
Red
General purposes
output 900
General purposes
output 901
SOL2A
SOL2B
Black
Red
General purposes
output 903
General purposes
output 902
φ4
φ6
<Source type>
Connector name
Black General purposes Hand1ON
1
output 900
GR1
Red
2 24G
1 Hand1ON GR1
2 +24V
SOL1A
1 Hand1OFF
GR2
2 +24V
SOL1B
1 Hand2ON
GR3
2 +24V
SOL2A
Black General purposes 1 Hand1OFF
output 901
GR2
Red
2 24G
Black General purposes 1 Hand2ON
output 902
GR3
Red
2 24G
1 Hand2OFF
GR4
2 +24V
SOL2B
Black General purposes 1 Hand2OFF
output 903
GR4
Red
2 24G
Fig.2-18 : Outline dimensional drawing
2-32 Options
2
Specifications
(2)
Black
Red
Black
Red
SOL1B
2 sets
(1)
<Sink type>
SOL1A
1 sets
2 Robot arm
(4) Hand input cable
■ Order type: 1A-HC20
■ 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 connects to the sensor
inside the hand customer designed.
■ Configuration
Table 2-18 : Configuration equipment
Part name
Hand input cable
Type
Qty.
1A-HC20
Remarks
1 cable
■ Specifications
Table 2-19 : Specifications
Item
Specifications
Remarks
AWG#24(0.2mm2) x 8 cores
Total length
370mm (Including the curl section, which is 150mmlong)
(1)
φ11
Size x cable core
SMR-09V-N
60 ± 10
150 ± 10
160 ±10
Sink
type
(Yellow)
(Purple)
(Green)
(White)
(Brown)
(Blue)
(Red)
(Black)
1
2
3
4
5
6
7
8
9
HC1
HC2
HC3
HC4
+24V
0V(COM)
Reserve
Reserve
Reserve
Source
type
HC1
HC2
HC3
HC4
+24V(COM)
0V
Reserve
Reserve
Reserve
Fig.2-19 : Outside dimensional drawing and pin assignment
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-33
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 an 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 connector on the back of
the robot arm. The other end of the cable is connected.
■ Configuration
Table 2-20 : Configuration equipment
Part name
Type
Hand output cable
Qty.
1E-GR35S
Remarks
1 cable
■ Specifications
Table 2-21 : Specifications
Item
Specifications
Remarks
Size x Cable core
AWG#22(0.3mm2) x 2 cores x 4 sets (total 8 cores)
Total length
350mm
One side connector and one side cable connection
(1)(2)
(3)
0
35
*
*
*
* End cable connection
Connector
・ Configuration
Part no.
Part name
Qty.
Specifications
(1)
Connector
4
SMR-02V-B
(2)
Contact
8
BYM-001T-0.6
(3)
Twisted cable
4
2
AWG#22(0.3mm ) x 2 cores
Fig.2-20 : Outline dimensional drawing and pin assignment
2-34 Options
White
Black
general-purpose
output 900
White
Black
general-purpose
output 901
White
Black
general-purpose
output 902
White
Black
general-purpose
output 903
Sink
type
1 GR1 Hand 1 ON
+24V
2
Source
type
Hand 1 ON
+24G
1 GR2 Hand 1 OFF Hand 1 OFF
+24G
+24V
2
1
2
GR3
Hand 2 ON
+24V
1
2
GR4
Hand 2 OFF Hand 2 OFF
+24G
+24V
Hand 2 ON
+24G
2 Robot arm
(6) Hand curl tube
■ Order type: One set (2 pcs.)
Two sets (4 pcs.)
: 1E-ST0402C
: 1E-ST0404C
■ Outline
The hand curl tube is a curl tube for the pneumatic hand.
■ Configuration
Table 2-22 : Configuration equipment
Part name
Type
Qty.
Remarks
Hans curl tube (One set: 2 pcs.)
1E-ST0402C
1 pc.
For single-hand: Φ4 tube, 2pcs.
Hans curl tube (Two set: 4 pcs.)
1E-ST0404C
1 pc.
For double hand: Φ4 tube, 4pcs.
■ Specifications
This option can be installed on clean-type, but its cleanliness is not under warranty.
Table 2-23 : Specifications
Item
Material
Size
Specifications
Urethane
Outside diameter: Φ4 x Inside diameter: Φ2.5
180
(Robot side)
250
200
φ2
8
φ 3 (One s
e
6 (T
wo s t),
ets)
(Tooling side)
Fig.2-21 : Outline dimensional drawing
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-35
2 Robot arm
(7) Hand adapter
■ Order type : 1A-HA01
■ Outline
This is installed on the robot arm's mechanical interface.
The conventional model RV-M1 and the mechanical interface are compatible.
This is also included with the optional motorized hand set and pneumatic hand set.
■ Configuration
Table 2-24 : Configuration equipment
Part name
Type
Qty.
Adapter
BU164D693H01
1 pc.
Installation bolt (with hole)
M3 x 8
4 pc.
Remarks
■ Specifications
Table 2-25 : Specifications
Item
Mass
Material
Specifications
0.07kg
Aluminum alloy
4-M3 screw hole
(4-constant pitch)
*For installation
4-3.4 reamer through
Φ6.5 counterbore
depth 4
(4-constant pitch)
Cross-section A-A
Fig.2-22 : Outline dimensional drawing
2-36 Options
2 Robot arm
2.8 Maintenance parts
The consumable parts used in the robot arm are shown in Table 2-26. 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 2-26 : Consumable part list
No.
Part name
Type
Qty.
1
Lithium battery
A6BAT
5
2
Grrase
SK-1A
As needed
Usage place
Supplier
In the shoulder cover
Mitsubishi Electric
Reduction gears of each axis
Maintenance parts 2-37
3Controller
3 Controller
3.1 Standard specifications
3.1.1 Standard specifications
Table 3-1 : Standard specifications of controller
Item
Type
Number of control axis
CPU
Memory
Programmed positions and No.
capacity
of steps
Number of programs
Robot language
point
point
Assigned with general-purpose input/output
point
Input 4 point/Output 0 point
Emergency stop input/output
Door switch input
RS-232C
point
point
port
1
1
RS-422
port
1
Hand dedicated slot
slot
1
Expansion slot
slot
0
channel
1
V
1-phase, AC90 to132
1-phase, AC180 to 253
0.7
Robot input/output link
Power
source
Specification
CR1-571
Simultaneously 6(Maximum)
64 bit RISC, and DSP
2,500
5,000
88
MELFA-BASIC Ⅳ
or
MOVEMASTER COMMAND
Pose teaching method ,MDI method
16/16
Teaching method
External
input and output
input and
Dedicated input/output
output
Hand open/close input/output
Interface
Unit
Input voltage range
Power capacity
point
step
KVA
Outline dimensions
Mass
Construction
mm
kg
Operating temperature range
Ambient humidity
Grounding
deg.
%RH
Ω
Paint color
1
212(W)x290(D)x151(H)
Approx. 8
Self-contained floor type, Opened type
0 to 40
45 to 85
100 or less
Light gray
Remarks
Max. 240/240Note1)
"STOP" 1 point is fixed
Up to output points can be added as
an optionNote2)
Single emergency line
Single door switch line
For expansion such as the personal
cpmputer, Vision sensor
Dedicated for T/B
Dedicated for pneumatic hand interface
3 slot expansion is possible when
using expansion option box.
Used for general-purpose input/output (Max. 240/240)
Note3)
Does not include rush current Note4)
Excluding protrusions
IP20Note5)
Without dew drops
D class grounding earthNote6)
Munsell 7.65Y7.64/0.73
Note1) It is the value when seven maximums expand (224/224) the Parallel I/O unit.
(2A-RZ361 or 2A-RZ371:Input 32 points / Output 32 points.)
Note2) It is when an pneumatic hand interface (2A-RZ365 or 2A-RZ375) is installed. Note that the pneumatic
hand interface has 8 output points, but the robot arm side has 4 points.
Note3) 1-phase,AC180 to 253. This specification is changed for CE-Marking model.
Note4) The power capacity (0.7kVA) is the maximum rating value for normal operation. The power capacity does
not include the rush current when the power is turned ON. The power capacity is a guideline and the actual
operation is affected by the input power voltage. The power consumption in the specific operation pattern
with the RV-1A/2AJ is approx. 0.2kw.
Note5) The controller (CR1-571) of this robot is a general environment specification. If the robot is used in an oil
mist environment, use the optional controller protection box (CR1-MB) to protect the controller from the
oil mist environment. (Refer to Page 8, "2.2.3 Protection specifications and working environment")
Install to the place not to influence the cleanliness when using in the clean environment. (Refer toPage 9,
"2.2.4 Clean specifications")
Note6) The robot must be grounded by the customer.
3-38 Standard specifications
3Controller
3.1.2 Protection specifications and operating supply
A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.
IEC's 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.
Refer to the section Page 91, "5.2 Working environment" for details on the working environment.
CAUTION
If the robot is used in an oil mist environment, use the optional contorller protection box
(CR1-MB) to protect the controller from the oil mist environment.
Refer to the section Page 59, "(3) Controller protection box"for details on the controller
protection box.
Standard specifications 3-39
3Controller
3.2 Names of each part
<Front>
<Front side of operation panel>
9)
2)
7) 4)
15)
5)
EMG.STOP
STATUS NUMBER
CHANG DISP
11)
UP
DOWN
MODE
SVO ON
START
RESET
SVO OFF
STOP
END
TEACH
AUTO
(Op.)
AUTO
(Ext.)
14)
REMOVE T/B
6)
1)
Front operation panel
12)
10)
13) 3)
8)
Fig.3-1 : Names of controller parts
1)
2)
3)
4)
5)
6)
POWER switch ..................................... This turns the control power ON/OFF.
START button ...................................... This executes the program and operates the robot. The program is run continuously.
STOP button......................................... This stops the robot immediately. The servo does not turn OFF.
RESET button....................................... This resets the error. This also resets the program's halted state and resets the program.
Emergency stop switch .................... This stops the robot in an emergency state. The servo turns OFF.
T/B remove switch ............................ This is used to connect/disconnect the T/B without turning OFF the controller's control
power.
7) CHNGDISP button.............................. This changes the details displayed on the display panel in the order of "Override" → "Program No." → "Line No.".
8) END button............................................ This stops the program being executed at the last line or END statement.
9) SVO.ON button.................................... This turns ON the servo power. (The servo turns ON.)
10) SVO.OFF button ............................... This turns OFF the servo power. (The servo turns OFF.)
11) STATUS NUMBER
(display panel)...................................... The alarm No., program No., override value (%), etc., are displayed.
12) T/B connection connector ......... This is a dedicated connector for connecting the T/B.
13) Personal computer
connection connector ...................... This is an RS-232C specification connector for connecting the personal computer.
14) MODE key switch ............................. This changes the robot's operation mode. Note)
AUTO (Op.).................................. Only operations from the controller are valid. Operations for which the operation mode
must be at the external device or T/B are not possible.
TEACH........................................... When the T/B is valid, only operations from the T/B are valid. Operations for which the
operation mode must be at the external device or controller are not possible.
AUTO (Ext.)................................. Only operations from the external device are valid. Operations for which the operation
mode must be at the T/B or controller are not possible.
15) UP/DOWN button ............................ This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.
3-40 Names of each part
3Controller
CAUTION
Note) The servo will turn OFF when the controller's [MODE] switch is changed.
Note that axes not provided with brakes could drop with their own weight.
(6)
(7)
(5)
(1)
(2)
(4)
(3)
Fig.3-2 : Names of each controller part (Rear side)
(1) Machine cable connector (for motor power ) ....... Connects to the robot arm base. (CN1 connector)
(2) Machine cable connector (for motor signals)........ Connects to the robot arm base. (CN2 connector)
(3)Power supply terminals.
(4)Fuse box.
(5)External input/output signal connector.
(6)Network cable connector for parallel I/O unit expansion.
(7)Emergency stop switch and door switch terminals.
Names of each part 3-41
3Controller
(38)
(170 or more)
200
49
290
(40)
(13)
3.3 Outside dimensions/Installation dimensions
3.3.1 Outside dimensions
EMG.STOP
STATUS NUMBER
CHANG DISP
UP
DOWN
MODE
START
RESET
SVO OFF
STOP
END
151
SVO ON
TEACH
AUTO
(Op.)
(2.5)
150
212
Fig.3-3 : Outside dimensions of controller
3-42 Outside dimensions/Installation dimensions
REMOVE T/B
(15)
(31)
AUTO
(Ext.)
(31)
(2.5)
3Controller
3.3.2 Installation dimensions
50
EMG.STOP
STATUS NUMBER
50
CHANG DISP
UP
DOWN
MODE
SVO ON
START
RESET
SVO OFF
STOP
END
TEACH
AUTO
(Op.)
AUTO
(Ext.)
REMOVE T/B
170 or more
Fig.3-4 : Installation of controller
Outside dimensions/Installation dimensions 3-43
3Controller
3.4 External input/output
3.4.1 Types
(1) Dedicated input/output .............................. These inputs and outputs carry out the robot remote operation and
status display.
(2) General-purpose input/output ................ These are inputs and outputs that the customer can program for
peripheral device control.
(3) Hand input/output ........................................ These are inputs and outputs related to the hand that the customer
can program. (The hand output is an option. The Page 57, "(2) Pneumatic hand interface" is required.)
No. of input/output points
Class
Name
Input
Output
Standard Emergency stop
1
1
Standard Door switch
1
Standard Parallel input/output
Occupies 16 general-purpose points/(6)
dedicated points in general-purpose
Occupies 16 general-purpose points/(4)
dedicated points in general-purpose
Connection
format
Terminal block
Connector
3.4.2 Explanation
The parallel input/output unit uses connector bridging. Purchase the "External I/O cable" for connection with
external devices.
The hand output is an option. Refer to Page 57, "(2) Pneumatic hand interface" for details
The parallel input/output unit can be expanded outside of the controller.
The expansion parallel input/output unit is connected with the control unit in the controller using a robot I/O link
cable. Parallel input and output units can be expand as an option to seven maximums. With allows up to input 240
points and output 240 points of maximums can be used including 16 points input and 16 points output of standard.
Refer to Page 64, "(5) Parallel I/O unit" for details on the parallel input/output unit.
3-44 External input/output
3Controller
3.5 Dedicated input/output
Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "CR1/
CR2/CR4/CR7/CR8 Controller Detailed explanations of functions and operations" in the product for the other
functions . Each parameter indicated with the parameter name is used by designated the signal No., assigned in
the order of input signal No. and output signal No. If the number of dedicated inputs and general-purpose input
points used exceeds the standard No. of input/output points, install the parallel input /output unit (1st to 7th station: option).
Table 3-2 : Dedicated input/output list
Parameter
name
Input
Name
Output
Note1)
Function
Level
Name
Function
TEACHMD
None
Teaching mode output signal
Outputs that the teaching mode is
entered.
ATTOPMD
None
Automatic mode output signal
Outputs that the automatic mode is
entered.
ATEXTMD
None
Remote mode output
signal
Outputs that the remote mode is
entered.
Automatic operation
enabled output signal
Outputs the automatic operation
enabled state.
Operating output signal
Outputs that the slot is operating.
Wait output signal
Outputs that the slot is temporarily
stopped.
Automatic operation enabled input
signal
Disables automatic operation when
inactive, and enables automatic
operation when active.
START
Start input signal
Starts all slots.
STOP
Stop input signal
Stops all slots.
The input signal No. is fixed to 0.
Note) Use the emergency stop
input for stop inputs related
to safety.
L
Resets the wait state, and initializes all slots.
E
Program selection
enabled output signal
Outputs that the slot is in the program
selection enabled state.
E
Error occurring output signal
Outputs that an error has occurred.
E
In cycle stop operation output signal
Outputs that the cycle stop is operating.
AUTOENA
SLOTINIT
Slot initialization
input signal
L
E
ERRRESET Error reset input
signal
Resets the error state.
CYCLE
Cycle stop input
signal
Carries out cycle stop.
SRVOFF
Servo ON enabled
input signal
Sets all mechanisms to servo ON
enabled.
L
Servo ON enabled
output signal
Outputs the servo ON enabled state.
(Echo back)
SRVON
Servo ON input
signal
Turns the servo ON for all mechanisms.
E
In servo ON output
signal
Outputs the servo ON state.
IOENA
Operation rights
input signal
Requests the operation rights for
the external signal control.
E
Operation rights output signal
Outputs the operation rights valid state
for the external signal control.
MELOCK
Machine lock input
signal
Sets/resets the machine lock
state for all mechanisms.
E
In machine lock output signal
Outputs the machine lock state.
SAFEPOS
Evasion point
return input signal
Requests the evasion point return
operation.
E
In evasion point
return output signal
Outputs that the evasion point return
is taking place.
OUTRESET General-purpose
output signal reset
Resets the general-purpose output
signal.
E
EMGERR
None
None
Emergency stop output signal
Outputs that an emergency stop has
occurred.
S1START
:
S32START
Start input
Starts each slot.
E
In operation output
Outputs the operating state for each
slot.
S1STOP
:
S32STOP
Stop input
Stops each slot.
L
In wait output
Outputs that each slot is temporarily
stopped.
Program selection
input signal
esignates the setting value for the
program No. with numeric value
input signals.
E
None
Override selection
input signal
esignates the setting value for the
override with the numeric value
input signals.
E
None
PRGSEL
OVRDSEL
Dedicated input/output 3-45
3Controller
Parameter
name
Input
Output
Note1)
Name
Function
Level
Name
Function
Numeric value input
(start No., end No.)
Used to designate the program No.,
override value., mechanism value.
L
Numeric value output
(start No., end No.)
Used to output the program No., override value., mechanism No.
Program No. output request
Requests output of the program
No.
E
Program No. output
signal
Outputs that the program No. is being
output to the numeric value output signal.
LINEOUT
Line No. output
request
Requests output of the line No.
E
Line No. output signal
Outputs that the line No. is being output to the numeric value output signal.
OVRDOUT
Override value output request
Requests the override output.
E
Override value output signal
Outputs that the override value is being
output to the numeric value output signal.
ERROUT
Error No. output
request
Requests the error No. output.
E
Error No. output signal
Outputs that the error No. is being output to the numeric value output signal.
JOGENA
Jog valid input signal
Validates jog operation with the
external signals
E
Jog valid output signal
Outputs that the jog operation with
external signals is valid.
JOGM
Jog mode input 2bit
Designates the jog mode.
L
Jog mode output 2bit
Outputs the current jog mode.
JOG+
Jog feed + side for
8-axes
Requests the + side jog operation.
L
None
JOG-
Jog feed - side for
8-axes
Requests the - side jog operation.
L
None
HNDERR1
Mechanism 1 hand
error input signal
:
Mechanism 5 hand
error input signal
Requests the hand error occurrence.
IODATA
Note2)
PRGOUT
:
HNDERR5
AIRERR1
:
AIRERR5
Mechanism 1 pneumatic pressure
error input signal
Request the pneumatic pressure
:
error occurrence.
Mechanism 5 pneumatic pressure
error input signal
USERAREANote3)
None
L
Mechanism 1 hand
error output signal
:
Mechanism 5 hand
error output signal
Outputs that a hand error is occurring.
L
Mechanism 1 pneumatic pressure error
output signal.
:
Mechanism 5 pneumatic pressure error
output signal.
Outputs that a pneumatic pressure
error is occurring.
User-designated area
8-points
Outputs that the robot is in the userdesignated area.
Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the
signal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state,
and the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
3-46 Dedicated input/output
3Controller
3.6 Emergency stop input/output
This signal is input from the "emergency stop input" terminal in the controller.
Table 3-3 : Dedicated input terminals in controller
Class
Input
Input
Output
Name
Details
Emergency stop
Door switch
Emergency stop
Applies the emergency stop (Single emergency line.)
The servo turns OFF.
This output indicates that the emergency stop input or the door switch input is turned on.
3.6.1 Connection of the external emergency stop
The external emergency stop input and door switch input are short-circuited with a short cable at shipment as
shown in Fig. 3-5.
Connect the external emergency stop switch and door switch with the following procedure.
1) Prepare the "emergency stop switch" and "door switch".
2) Remove the two short pieces 1 and 2.
3) Securely connect the external emergency stop's contacts across "1)-2), and the door switch's contacts
across 3)-4)" on the terminal block.
24V
Short piece 1
1
2
Short piece 2
Emergency stop input
RA1
3
4
Door switch input
RA2
5
RA3
6
RG (24G)
Emergency stop output
Note1)
Composition of external emergency stop and door switch
DOOR
Switch
EMG.
STOP
1
2
3
4
24V
System emergency
stop line
(Prepared by customer)
Wire insert
Controller rear side
5
6
RA2
RG (24G)
Example of wiring for external emergency stop and door switch
1)
2)
3)
4)
5)
6)
Wire fixing screw
Terminal block array of
external emergency stop
Note1) Output the system emergency stop output when either following the switch or the signal is turned on.
・Emergency stop switch of the controller
・Emergency stop switch or deadman switch of the T/B
・External emergency stop input
・External door input
Fig.3-5 : Connection of the external emergency stop
[Note] Refer to Page 90, "5.1.7 Examples of safety measures" together, and carry out wiring to the emergency stop.
Emergency stop input/output 3-47
3Controller
3.6.2 Door switch function
This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in Fig. 3-5, and wire so that the contact
closes when the door is closed. Details of this function according to the robot status are shown below.
During automatic operation ............. When the door is opened, the servo turns OFF and the robot stops. An error
occurs.
The process of the restoration : Close the door, reset the alarm, turn on the
servo, and restart
During teaching ...................................... Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.
① Auto executing
Safeguard
STOP!!
TEACH
AUTO
(Op.)
AUTO
(Ext.)
Robot arm
(Example)
Open
Turns OFF the servo
② Teaching
Safeguard
TEACH
AUTO
(Op.)
AUTO
(Ext.)
Open
Robot arm
(Example)
Teaching
pendant
The servo can be turned ON/Off
by turning the deadman switch ON/OFF.
Fig.3-6 : Door switch function
3-48 Emergency stop input/output
3Controller
3.7 Parallel input/output unit
・ A parallel input/output card is mounted as a standard in the controller's control unit.
・ The external input/output circuit specifications are shown in Table 3-4 and Table 3-5.
・ The correspondence of the external input/output connector pin No. and the colors of the connected "external
input/output cable" wires (separate option) is as shown in Page 51, "Table 3-6"and Table 3-7. Refer to Page
72, "(6) External I/O cable" for details of external I/O cable.
・ Pin Nos. described as both general-purpose signal and dedicated signal can be shared.
・ The other dedicated input/output signals that are not assigned can be assigned to required general-purpose
input/output pins when creating the program.
・ If the standard inputs and outputs are insufficient, install the parallel input/output unit connection option outside the controller.
Table 3-4 : Electrical specifications of input circuit
Item
Specifications
Type
<Sink type>
DC input
No. of input points
16
Insulation method
Photo-coupler insulation
Rated input voltage
12VDC/24VDC
Rated input current
Approx. 3mA/approx. 7mA
Working voltage range
10.2VDC to 26.4VDC(ripple rate within 5%)
ON voltage/ON current
8VDC or more/2mA or more
OFF voltage/OFF current
4VDC or less/1mA or less
Input resistance
Response time
Internal circuit
Approx. 3.3kΩ
OFF-ON
10ms or less(DC24V)
ON-OFF
10ms or less(DC24V)
Common method
8 points per common
External wire connection
method
Connector
24V/12V
(COM)
820
3.3K
Input
3.3K
Input
<Source type>
820
0V(COM)
Table 3-5 : Electrical specifications of output circuit
Item
Specifications
Type
Transistor output
No. of output points
16
Insulation method
Photo-coupler insulation
Rated load voltage
DC12V/DC24V
Rated load voltage range
DC10.2 ~ 30V(peak voltage 30VDC)
Max. load current
0.1A/point (100%)
Leakage current at OFF
0.1mA or less
Max. voltage drop at ON
OFF-ON
ON-OFF
2ms or less
(Resistance load) (hardware response time)
Fuse rating
Fuse 3.2A (one per common) Replacement not possible
Common method
4 points per common (common terminal: 4 points)
External wire connection
method
Connector
External power
supply
<Sink type>
(24/12V)
Outline
DC0.9V(TYP.)
2ms or less
(hardware response time)
Response time
Internal circuit
Voltage
DC12/24V(DC10.2 ~ 30V)
Current
60mA (TYP. 24VDC per common)
(base drive current)
Fuse
(0V)
<Source type>
Fuse (24/12V)
Outline
(0V)
Parallel input/output unit 3-49
3Controller
<Sink type>
AX41C
(Mitsubishi programmable
controller)
+24V
COM
Parallel I/O interface
(Output)
60mA
(24/12V)
Output
……
X
Output
Fuse
24V
24G
(0V)
External
power supply
AY51C
(Mitsubishi programmable
controller)
CTL+
24V
(Input)
(COM)
Input
Y
……
3.3K
Input
24V
COM
CTLG
24G
External
power supply
Fig.3-7 : Connection with a Mitsubishi PLC (Example of sink type)
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
<Source type>
(Output)
AX81C
60mA
Fuse (24/12V)
+24V
……
Output
Output
X
24V
COM
24G
(0V)
External
power supply
CTL +
24V
(Input)
3.3K Input
……
Y
Input
(COM)
24V
CTLG
24G
AY81C
External
power supply
Fig.3-8 : Connection with a Mitsubishi PLC (Example of source type)
*The input/output circuit external power supply (24 VDC) must be prepared by the customer.
3-50 Parallel input/output unit
3Controller
Table 3-6 : Standard parallel I/O interface CN100pin No. and signal assignment list <Sink type> (2A-CBL □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Orange/Red A
Gray/Red A
White/Red A
Yellow/Red A
Pink/Red A
Orange/Red B
Gray/Red B
White/Red B
Yellow/Red B
Pink/Red B
Orange/Red C
Gray/Red C
White/Red C
Yellow/Red C
15
Pink/Red C
16
17
18
19
20
21
22
23
24
25
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
Function name
Pin
Dedicated/power supply, common No.
output 0
output 1
output 2
output 3
FG
0V:For pins 4-7
12V/24V:For pins 4-7
Running
Servo on
Error
Operation rights
0V:For pins 10-13
12V/24V:For pins 10-13
General-purpose output 8
General-purpose output 9
General-purpose output 10
General-purpose output 11
COM0:For pins 15-22
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
Note1)
Note2)
General-purpose input 0
40
Stop(All slot)
Servo off
Error reset
Start
Servo on
Operation rights
input 1
input 2
input 3
input 4
input 5
input 6
input 7
26
27
28
29
30
31
32
33
34
35
36
37
38
39
41
42
43
44
45
46
47
48
49
50
Reserved
Reserved
Reserved
Line color
Dedicated/power supply,
common
General-purpose
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
White/Blue C
Yellow/Blue C
FG
0V:For pins 29-32
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
4
5
6
7
0V:For pins 35-38
12V/24V:For pins 35-38
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
12
13
14
15
COM1:For pins 40-47
Note1)
Pink/Blue C General-purpose input 8
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
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input 9
input 10
input 11
input 12
input 13
input 14
input 15
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
Note2)The assignment of the dedicated input signal "STOP" is fixed.
Table 3-7 : Standard parallel I/O interface CN100pin No. and signal assignment list <Source type> (2A-CBL □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
12
Orange/Red A
Gray/Red A
White/Red A
Yellow/Red A
Pink/Red A
Orange/Red B
Gray/Red B
White/Red B
Yellow/Red B
Pink/Red B
Orange/Red C
Gray/Red C
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
10
13 White/Red C General-purpose
11
14 Yellow/Red C
15
Pink/Red C
16
17
18
19
20
21
22
23
24
25
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
Dedicated/power supply,
common
General-purpose
output 8
output 9
output
output
38 White/Blue C General-purpose output 15
output
output
output
output
0
1
2
3
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7, 10-13
Running
Servo on
Error
Operation rights
Reserved
Reserved
Line color
26
27
28
29
30
31
32
33
34
35
36
37
COM0:For pins 15-22
General-purpose input 0
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
Function name
Pin
Dedicated/power supply, common No.
input 1
input 2
input 3
input 4
input 5
input 6
input 7
Stop(All slot) Note2)
Servo off
Error reset
Start
Servo on
Operation rights
Reserved
Reserved
Reserved
Note1)
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32, 35-38
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
4
5
6
7
Reserved
Reserved
General-purpose output 12
General-purpose output 13
General-purpose output 14
39 Yellow/Blue C
40
41
42
43
44
45
46
47
48
49
50
COM1:For pins 40-47
Note1)
Pink/Blue C General-purpose input 8
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
General-purpose input 9
General-purpose input 10
General-purpose input 11
General-purpose input 12
General-purpose input 13
General-purpose input 14
General-purpose input 15
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
Note2)The assignment of the dedicated input signal "STOP" is fixed.
Parallel input/output unit 3-51
3Controller
・The signals assigned as dedicated inputs can be used as general-purpose inputs during program execution. Note
that for safety proposes, these should not be shared with the general-purpose inputs other than for numeric
value inputs. The signals assigned as dedicated outputs cannot be used in the program. An alarm will occur during operation if used.
50
25
26
1
<CN100>
Connector pin layout
Output 0 to 15
Input 0 to 15
Controller back side
*The I/O card in the control unit is equal to the PIO unit of the option.
(Input 32/Output 32 points)
Fig.3-9 : Parallel input/output unit (in the control unit) connection and pin layout
3-52 Parallel input/output unit
3Controller
3.8 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for user needs.
User installation is required for the options.
Options come in two types: "set options" and "single options".
1. Set options......................................A combination of single options and parts that together, form a set for serving
some purpose.
2. Single options.................................That are configured from the fewest number of required units of a part.
Please choose user's purpose additionally.
Options 3-53
3Controller
(1) Teaching pendant (T/B)
■ Order type: R28TB
:Cable length 7m
■ Outline
This is used to create, edit and control the program, teach the operation position and
for jog feed, etc.
For safety proposes, a 3-position deadman switch is mounted.Note1)
If there are several robots, one teaching pendant can be used by connecting it to the
respective robot.
■ Configuration
Table 3-8 : Configuration device
Part name
Teaching pendant
Type
R28TB
Qty.
One pc.
Remarks
Cable length is 7m. Hand strap is attached.
■ Specifications
Table 3-9 : Specifications
Items
Specifications
Outline dimensions
95(W) x 236(H) x 34(D) (refer to outline drawing)
Body color
Light gray (reference Munsell color: 7.65Y7.64/0.73)
Mass
Approx. 0.5kg (only arm, excluding cable)
Connection method
Connection with controller and round connector (30-pin)
Interface
RS-422
Display method
LCD method: 16 characters x 4 lines, LCD illumination: with backlight
Operation section
28 keys
Protection specifications
IP65
Remarks
Note2)
Note2) The manual operation section of the teaching pendant has a protection method that complies with the IEC
Standards IP65 (protection type).
[Reference] The IEC Standards IP65 refers to installing the test device in the testing room, and suspending talc powder, which passes through a nominal dimension 75μm mesh sieve, as specified with JISZ8001 (standard
sieve). This powder is continuously suspended around the device at a rate of 2kg per 1m3 volume of the
testing room. The air in the testing device is discharged at a discharge rate less than 60-times the volume
per hour. When the air is discharged at 80-times the test device capacity, the talc powder does not accumulate inside the test device even after eight hours.
Note1) <3-position deadman switch>
In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the
robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.
With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch"
and "Deadman switch".
The 3-position deadman switch has three statuses. The following modes are entered according to the switch state.
"Not pressed" ............................... The robot does not operate. *)
"Pressed lightly".......................... The robot can be operated and teaching is possible.
"Pressed with force" ................. The robot does not operate. *)
*) Operations, such as program editing and status display, other than robot operation are possible.
Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.
3-54 Options
3Controller
Hand strap
Contrast adjusting
switch
Enable/Disable switch
Display LCD
DISABLE
ENABLE
R28TB
TOOL
JOINT
=*/
( )?
XYZ
$" :
MENU
#%!
STOP
203
SVO ON
STEP
-X
+X
MOVE
(J1)
(J1)
EMG.STOP
ADD
+
-Y
+Y
FORWD
(J2)
(J2)
-
-Z
+Z
BACKWD
(J3)
(J3)
↑
RPL
↓
Emergency stop
switch
DEL
COND
-A
+A
(J4)
(J4)
←
HAND
POS
CHAR
ERROR
RESET
-B
+B
(J5)
(J5)
-C
+C
(J6)
(J6)
→
Teaching pendant
INP
EXE
Operation keys
Dead man switch
Cable
(with connection connector)
55
70
<Side>
153
Hand strap
<Front>
<Back>
Fig.3-10 : Outside dimensions of teaching pendant
■ Installation method
The teaching pendant is connected to the T/B connector on the front of the controller.
Options 3-55
3Controller
■ Key layout and main functions
DISABLE
3)
ENABLE
R28TB
2)
5)
4)
19)
Back
7)
8)
9)
10)
18)
1)
6)
TOOL
JOINT
= */
( )?
$" :
MENU
#%!
STOP
SVO ON
STEP
-X
+X
MOVE
(J1)
(J1)
+
-Y
+Y
FORWD
(J2)
(J2)
-
-Z
+Z
BACKWD
(J3)
(J3)
-A
+A
(J4)
(J4)
-B
+B
EMG.STOP
ADD
↑
RPL
ERROR
RESET
(J5)
(J5)
-C
+C
(J6)
(J6)
14)
15)
←
HAND
CHAR
13)
↓
DEL
COND
POS
11)
XYZ
16)
→
INP
17)
EXE
12)
1) : Emergency stop switch...................The robot servo turns OFF and the operation stops immediately.
2) : T/B enable/disable
changeover switch ............................This switch changes the T/B key operation between enable and disable.
3) : LCD display panel .............................The robot status and various menus are displayed.
4) : <TOOL, JOINT, XYZ> key .............This selects the jog mode (JOINT, XYZ, 3-AXIS XYZ, CYLINDER,
TOOL).
5) : <MENU> key ........................................This returns the display screen to the menu screen.
6) : <STOP> key ........................................This stops the program and decelerates the robot to a stop.
7) : <STEP/MOVE> key..........................Jog operation is carried out when this key is pressed simultaneously
with the jog operation key. This also turns the Servo ON and carries
out step jump.
8) : <( + FORWD> key............................This carries out step feed and increases the override.
9) : <( - BACKWD> key.........................This carries out step return (return along operation path) and
decreases the override.
10) : <COND> key .....................................This sets the program.
11) : <ERROR RESET> key...................This resets the error, and releases the software limit.
12) : Jog operation key ...........................This operates the robot according to the jog mode. When inputting
numeric values, this inputs each numeric value.
13) : <ADD/ ↑ > key...............................This additionally registers the position data. It also moves the cursor
upward.
14) : <RPL/ ↓ > key................................This corrects the position data. It also moves the cursor downward.
15) : <DEL/ ← > key................................This deletes the position data. It also moves the cursor to the left.
16) : <HAND/ → > key............................This opens and closes the hand. It also moves the cursor to the right.
17) : <INP/EXE> key................................This inputs the program, and carries out step feed/return.
18) : <POS CHAR> key...........................This changes the edit screen, and changes between numbers and
alphabetic characters.
19) : Deadman switch ..............................When the [Enable/Disable] switch "2)" is enabled, and this key is
released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.
Fig.3-11 : Teaching pendant key layout and main functions
3-56 Options
3Controller
(2) Pneumatic hand interface
■ Order type: 2A-RZ365(Sink type)
2A-RZ375(Source type)
■ Outline
This interface is required to use the robot arm's hand output signals.
・ Up to eight hand output points can be used with this interface.
・ The eight hand input points can be used without this interface.
・ When using more than eight hand input/output points, install the "Parallel I/O
unit". Refer to Page 64, "Parallel I/O unit" for detail.
■ Configuration
Table 3-10 : Configuration device
Part name
Pneumatic hand interface
Type
Qty.
2A-RZ365/
2A-RZ375
1pc.
Remarks
Output 8 point expansion. 2A-RZ365 is the sink type.
2A-RZ375 is the source type.
■ Specifications
Table 3-11 : Specifications
Item
Specification
Type
Transistor output
No. of output points
8Note1)
Insulation method
Photo coupler insulation
Rated load voltage
DC24V
Rated load voltage range
DC21.6 to 26.4VDC
Max. current load
0.1A/ 1 point (100%)
Current leak with power OFF
0.1mA or less
Maximum voltage drop with power ON
DC0.9V(TYP.)
Response time
OFF-ON
2ms or less (hardware response time)
ON-OFF
2 ms or less (resistance load) (hardware response time)
Fuse rating
Fuses 1.6A (each one common)
Common method
8 points, 1 common
External cable connection method
Connector (Connected from RZ386 or RZ387)Note2)
Supply voltage
DC5V (Supplied from RZ386 or RZ387)
Internal circuit
<Sink type>
24V
(Internal power supply)
GRn
*
Fuse
1.6A
0V
<Source type>
Fuse
1.6A
24V
GRn*
0V
* GRn = GR1 ~ GR8
Note1)Wiring to the robot side will differ according to the model. The No. of output points that can be used will differ according
to the state of the wiring on the robot arm side. Example) RV-1A/2AJ has 4 points.
Note2)RZ386:The control card mounted on the controller of the sink type.
RZ387:The control card mounted on the controller of the source type.
Options 3-57
3Controller
■ Installation method
This is mounted on the control unit (RZ386 or RZ387 card) in the controller.
Securely insert the pneumatic hand interface (2A-RZ365/375) into the CNHNDOUT/CNHND connector on the
control unit.
RZ386 or RZ387 card
Control unit
A
<RZ386>
or
<RZ387>
CNHND
CNHND
CNHNDOUT
2A-RZ365
or
2A-RZ375
CNHNDOUT
View A
Fig.3-12 : Installation of pneumatic hand interface
Note)The hand output doesn't work correctly in the case of "RZ386" + "RZ365" or "RZ387" + "RZ375" combination.
Choose either of sink type/source type properly, and use it.
3-58 Options
3Controller
(3) Controller protection box
■ Order type : ● CR1-MB
■ Outline
The controller protection box is used to protect the CR1-571 controller from an oil
mist or other operating environment. Put the controller and the earth leakage
breaker, etc. in controller protection box, and use it. Since the front cover of the
controller protection box can be removed, it is possible to operate the controller's
front panel and to install and remove the T/B.
■ Configuration
Table 3-12 : Configuration device
Part name
Type
Controller protection box
CR1-MB
Qty.
Remarks
1 unit
Serial number posting label
1
Protection seal transparent
1
Cable tie
2
Power supply wiring cable
1
For connecting the power relay terminal and the controller inside the box.
Grounding cable
1
For connecting the FG terminal and the controller inside the box.
External emergency stop box
(Controll box)
HW1X-BV401R
Protection for the serial number posting label.
1 unit
Single emergency line. Install at a location outside the controller protection
box where operation can be performed easily. The outside dimensions is
shown in Fig. 3-15.
■ Specifications
Table 3-13 : Specifications
Item
Unit
Specifications
Outside dimensions
mm
414(W) × 492(D) × 202(H)
Mass
Kg
10
Structure
Self-contained floor type
Grounding
D class grounding earth
Coating color
Remarks
Excluding protrusions
IP54
Light gray
Munsell 7.65Y7.64/0.73
(1) The installation of the controller, earth leakage breaker and wiring are constructed by customer.
(2) Prepare the 2 power cable and 1 grounding cable (both AWG#14(2mm2) or more).
(3) The emergency stop box does not come with a cable clamp (wiring connector). The cable clamp must be
provided by the customer according to the size of the cable.
The following table shows recommended cable clamps for your reference.
Table 3-14 : Cable clamp for external emergency stop box (recommendation)
Type
JIS wiring tube
OA-W1606
Manufacturer
4 ~ 6φ
OA-W1608
OA-W1609
Adaptation cable outside diameter
6 ~ 8φ
G1/2
7 ~ 9φ
OA-W1611
9 ~ 11φ
OA-W1613
11 ~ 13φ
OHM electric Corp
Options 3-59
3Controller
■ Names of each part
<Rear>
<Front>
Cable cover
Chassis cover (Top board)
Rear panel
(Machine cable for power)
Heat exchanger
Window
Front panel
Corner type catch clip
Cable cover
(Machine cable for signal)
Fig.3-13 : Names of controller parts
■ The outside dimension and controller layout
306
492
91.2
100
Cable cover
92.2
CR1-571 controller
arrangement place
(21.5)
310
414
Fig.3-14 : The outside dimension and controller layout
3-60 Options
(52)
(15)
(52)
187
Window
(21.5)
3Controller
■ The outside dimensions and installation dimensions of emergency stop box
BOX cover
BOX base
□ 70.0
Operation switch
TOP
32.0
BOX cover installation screw
58.0
φ23.0 conduit
(Knockout)
2-φ4.6
(Two M4 installation
screw holes)
42.4
TOP
*The M4 screw prepared by customer
58.0
Panel installation dimension
Fig.3-15 : The outside dimensions and installation dimensions of emergency stop box
■ Installation dimensions
150mm or more
Note)
150mm or more
Note)
Note)
Keep the space of
150mm or more for
opening and closing
the corner type catch clip.
150mm or more
Fig.3-16 : Installation of controller
Options 3-61
3Controller
(4) Expansion option box
■ Order type : ● CR1-EB3
■ Outline
By installing this expansion option box to the side of the CR1-571 controller, the
expansion serial interface, CC-Link interface and Ethernet interface can be used.
Up to three option cards can be mounted.
■ Configuration
Table 3-15 : Configuration device
Part name
Type
Expansion option box
Qty.
CR1-EB3
1
Installation screw
Remarks
With rubber foot
4
■ Specifications
Table 3-16 : Specifications
Item
Unit
Number of slot
slot
Power supply method
Current value
Specifications
3
RT-Bus 1, 2, 3
Power supply is supplied from controller by
the RT-Bus coupling(+5V/SG)
A
Max. 3
Ambient temperature
deg.
0 to 40
Ambient humidity
%RH
45 to 85
Grounding
D class grounding earth
Structure
Self-contained floor type opened structure
Outside dimensions
mm
85(W) x 290(D) x 165(H)
Mass
kg
Approx. 3
Note1) Self-contained floor type, under the condition combined with the body.
3-62 Options
Remarks
Max. 1A/slot
Without dew drops
Grounding from external terminal
Note1)
3Controller
Installation of expansion option box
CR1-571 controller
60
Expansion option box
65
Positioning latch
24
Positioning latch
Rear side
cable outlet
299.7
(38)
87.5
(13)
290
(15)
151
Installation
screw
Four
positions
42
Layout of expansion option box
Plates with rails
(Two positions)
Slot1
Slot2
Slot3
Controller connection connector
Positioning latch
Installation screw(Four positions)
The example which an option
card was mounted to.
Fan
Grounding terminal(M4)
Fig.3-17 : Outside dimensions and layout
■ Installation method
Remove the side plate of the CR1-571 controller, connect the connectors, and fix to the controller with the four
fixing screws in the expansion option box.
The option cards mounted in the slot are fixed with the plates with rails.
The cables required for the option card are lead out from the cable outlet on the rear side.
Options 3-63
3Controller
(5) Parallel I/O unit
■ Order type: 2A-RZ361(Sink type)
2A-RZ371(Source type)
■ Outline
This is used to expand the external inputs and outputs.
・ The connection cable is not included. Prepare the optional external input/output
cable (2A-CBL05 or 2A-CBL15).
■ Configuration
Table 3-17 : Configuration device
Part name
Parallel I/O unit
Robot I/O link connection connector
Type
Qty.
2A-RZ361/
2A-RZ371
1
NETcable-1
2 sets
Connector with pins.
The cable must be prepared and wired by the customer.
DCcable-2
1 sets
Connector with pins.
The cable must be prepared and wired by the customer.
R-TM
1
Power connection connector
Terminator
Remarks
Input/output 32 points/32 points
2A-RZ361 is the sink type.
2A-RZ371 is the source type.
150Ω(1/4W)
■ Specifications
1) Up to eight stations can be connected to this unit. (One station occupies one unit.)
One unit is built into the controller as a standard, so up to seven units can be installed as expansions.
2) The power supply (24V) must be prepared by the customer and connected with the power connection cable
(DCcable-2)
A separate 24V power supply is required for the input/output circuit wiring.
The detailed specifications of the input/output circuit are the same as the parallel input/output unit mounted as a
standard. Refer to Page 49, "3.7 Parallel input/output unit" for details.
Table 3-18 : Electrical specifications of input circuits
Item
Specification
Type
DC input
Number of input points
32
Insulation method
Photo coupler insulation
Rated input voltage
DC12V/DC24V
Rated input current
Approx 3mA/7mA
Working voltage range
DC10.2 to 26.4V(Ripple factor should be less than 5%.)
ON voltage/ON current
8VDC or more/ 2mA or more
OFF voltage/ OFF current
4VDC or less/ 1mA or less
Input resistance
Approx. 3.3kΩ
Response time
OFF-ON
10ms or less (24VDC)
ON-OFF
10ms or less (24VDC)
Common method
8 point 1 common
External cable connection method
Connector
Internal circuit
<Sink type>
24V/12V
(COM)
820
3.3K
Input
<Source type>
3.3K
Input
820
0V(COM)
3-64 Options
3Controller
Table 3-19 : Electrical specifications for the output circuits
Item
Specification
Type
Transistor output
No. of output points
32
<Sink type>
Insulation method
Photo-coupler insulation
Rated load voltage
DC12V/DC24V
Rated load voltage range
DC10.2 ~ 30V(peak voltage 30VDC)
Max. load current
0.1A/point (100%)
Leakage current at OFF
0.1mA or less
Max. voltage drop at ON
Internal circuit
(24/12V)
Outline
DC0.9V(TYP.)
OFF-ON
2ms or less
(hardware response time)
ON-OFF
2ms or less
(Resistance load) (hardware response time)
Response time
Fuse
<Source type>
Fuse rating
Fuse 3.2A (one per common) Replacement not possible
Common method
4 points per common (common terminal: 4 points)
External wire connection
method
Connector
External power
supply
(0V)
Fuse (24/12V)
Outline
Voltage
DC12/24V(DC10.2 ~ 30V)
Current
60mA (TYP. 24VDC per common) (base drive current)
(0V)
NETcable-1 (Network cable)
Pin No.
RIO1/2
RIO1/2
Pin No.
1
TXRXH
TXRXH
1
2
TXRXL
TXRXL
2
3
SG(GND)
SG(GND)
3
Note 2)
FG
DCcable-2 (Power cable)
Pin No.
DCIN
1
24V
Note 1)
+
24V Power
2
24G(RG)
3
FG(PE)
-
Connected the frame ground or protect ground
R-TM (Terminator)
Pin No.
RIO1/2
1
TXRXH
2
TXRXL
3
SG(GND)
150Ω
List of parts and manufacturer
Connector type
Contact type
Resistant
NETcable-1
Type
1-178288-3 (2)
175218-3 (6)
-
AMP
Manufacturer
DCcable-2
2-178288-3 (1)
175218-3 (3)
-
AMP
R-TM
1-178288-3 (1)
175218-3 (2)
150Ω(1/4W) (1)
Equivalent to KOA.
Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.)
Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of
AWG#22(0.3mm2) or more.
Fig.3-18 : Spacifications for the connection cable
Options 3-65
3Controller
■ Installation method
The expansion parallel input/output unit is installed outside of the controller. Connect with the network connection cable (NETcable-1) from the RIO1 connector in the rear of the controller.(Terminator is connected at the
time of shipment)
RIO1 connector
(175)
128
100
(40)
Wiring
space
2-M5 screw
6
156
150
Radiation/wiring space
<2A-RZ361>
54
60
6
Control panel installation dimensions
downside
Installation dimensions of 2A-RZ361
(The controller outside installation.)
Fig.3-19 : Installing the parallel input/output unit
3-66 Options
168
6
6
Heat radiation space
upside
3Controller
RIO1 connector
Parallel I/O unit 1 . . . 6
Parallel I/O unit 7
Controller back side
Station No. setting
7
Station No. setting
1...6
Note)
NETcable-1
cable
<CN300>
<CN300>
<CN100>
<CN100>
RIO1 connector
RIO2 connector RIO1 connector
FG
Note)
NETcable-1
cable
DCIN
connector
DCcable-2
cable
DCIN
connector
FG
RIO2 connector
R-TM
terminator
DCcable-2
cable
Front
RIO1 connector
RIO2 connector
DCIN connector
I/O unit the bottom
Connecta layout
Connect the NET cable-1 to the RIO1 connector on the back of the controller. Each unit is
connected to from a daisy chain.
Always install a terminator (R-TM) to the last unit.
Note) Use a shield cable for NET cable-1 as a measure against noise.
Always connect the shield to FG.
The unit could malfunction because of noise if the shield cable is not used.
Fig.3-20 : Connection method of expansion parallel input/output unit
Options 3-67
3Controller
■ Parallel I/O interface (First expansion unit)
Table 3-20 : Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Orange/Red A
Gray/Red A
White/Red A
Yellow/Red A
Pink/Red A
Orange/Red B
Gray/Red B
White/Red B
Yellow/Red B
Pink/Red B
Orange/Red C
Gray/Red C
White/Red C
Yellow/Red C
Pink/Red C
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
Function name
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 4-7
12V/24V:For pins 4-7
General-purpose
General-purpose
General-purpose
General-purpose
output 32
output 33
output 34
output 35
0V:For pins 10-13
12V/24V:For pins 10-13
General-purpose
General-purpose
General-purpose
General-purpose
output 40
output 41
output 42
output 43
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input
input
input
input
input
input
input
input
COM0:For pins 15-22
Note1)
32
33
34
35
36
37
38
39
Reserved
Reserved
Reserved
Pin
No.
Line color
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
White/Blue C
Yellow/Blue C
Pink/Blue C
Orange/Blue D
Gray/Blue D
White/Blue D
Yellow/Blue D
Pink/Blue D
Orange/Blue E
Gray/Blue E
White/Blue E
Yellow/Blue E
Pink/Blue E
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 29-32
12V/24V:For pins 29-32
General-purpose output 36
General-purpose output 37
General-purpose output 38
General-purpose output 39
0V:For pins 35-38
12V/24V:For pins 35-38
General-purpose
General-purpose
General-purpose
General-purpose
output 44
output 45
output 46
output 47
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input 40
input 41
input 42
input 43
input 44
input 45
input 46
input 47
COM1:For pins 40-47 Note1)
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
Table 3-21 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Orange/Red A
Gray/Red A
White/Red A
Yellow/Red A
Pink/Red A
Orange/Red B
Gray/Red B
White/Red B
Yellow/Red B
Pink/Red B
Orange/Red C
Gray/Red C
White/Red C
Yellow/Red C
15
16
17
18
19
20
21
22
23
24
25
Pink/Red C
Orange/Red D
Gray/Red D
White/Red D
Yellow/Red D
Pink/Red D
Orange/Red E
Gray/Red E
White/Red E
Yellow/Red E
Pink/Red E
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 4-7
12V/24V:For pins 4-7
General-purpose
General-purpose
General-purpose
General-purpose
output 48
output 49
output 50
output 51
0V:For pins 10-13
12V/24V:For pins 10-13
General-purpose
General-purpose
General-purpose
General-purpose
output 56
output 57
output 58
output 59
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
General-purpose
input
input
input
input
input
input
input
input
COM0:For pins 15-22
Note1)
48
49
50
51
52
53
54
55
Reserved
Reserved
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
3-68 Options
Pin
No.
Line color
26
27
28
29
30
31
32
33
34
35
36
37
38
39
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A
Pink/Blue A
Orange/Blue B
Gray/Blue B
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
White/Blue C
Yellow/Blue C
40
41
42
43
44
45
46
47
48
49
50
Pink/Blue C
Orange/Blue D
Gray/Blue D
White/Blue D
Yellow/Blue D
Pink/Blue D
Orange/Blue E
Gray/Blue E
White/Blue E
Yellow/Blue E
Pink/Blue E
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 29-32
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
52
53
54
55
0V:For pins 35-38
12V/24V:For pins 35-38
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
60
61
62
63
COM1:For pins 40-47 Note1)
General-purpose input 56
General-purpose input 57
General-purpose input 58
General-purpose input 59
General-purpose input 60
General-purpose input 61
General-purpose input 62
General-purpose input 63
Reserved
Reserved
Reserved
3Controller
Channel No. setting
(Set channel No. to 1.) [*1]
TXD
LED display
<CN100>
Input 32 to 47
Output 32 to 47
50
25
<CN300>
Input 48 to 63
Output 48 to 63
26
1
*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit
(Occupies one channel)
Fig.3-21 : Parallel input/output unit <2A-RZ361/2A-RZ371:First expansion> connection and pin layout
CAUTION
[*1] For the 1st expansion unit, set the channel No. to "1".
The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may
be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.
Options 3-69
3Controller
■ Parallel I/O interface (Second expansion unit)
Table 3-22 : Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
Orange/Red A
2
3
Gray/Red A
White/Red A
4
5
6
Line color
FG
26
Orange/Blue A
0V:For pins 4-7
12V/24V:For pins 4-7
27
28
Gray/Blue A
White/Blue A
Yellow/Red A General-purpose output 64
Pink/Red A General-purpose output 65
29
30
Yellow/Blue A General-purpose output 68
Pink/Blue A General-purpose output 69
Orange/Red B General-purpose output 66
31
Orange/Blue B General-purpose output 70
General-purpose
7
Gray/Red B
8
9
White/Red B
Yellow/Red B
10
11
Function name
Pin
No.
Pink/Red B
Dedicated/power supply,
common
General-purpose output 67
0V:For pins 10-13
12V/24V:For pins 10-13
General-purpose
32
Gray/Blue B
33
34
White/Blue B
Yellow/Blue B
General-purpose output 72
35
Orange/Red C General-purpose output 73
36
Pink/Blue B
FG
0V:For pins 29-32
12V/24V:For pins 29-32
General-purpose output 71
0V:For pins 35-38
12V/24V:For pins 35-38
General-purpose output 76
Orange/Blue C General-purpose output 77
12
Gray/Red C
General-purpose output 74
37
Gray/Blue C
13
White/Red C
General-purpose output 75
38
White/Blue C General-purpose output 79
14
Yellow/Red C
15
Pink/Red C
16
Note1)
39
Yellow/Blue C
General-purpose input 64
40
Pink/Blue C
Orange/Red D General-purpose input 65
COM0:For pins 15-22
Dedicated/power supply,
common
General-purpose output 78
COM1:For pins 40-47 Note1)
General-purpose input 72
41
Orange/Blue D General-purpose input 73
17
18
Gray/Red D
White/Red D
General-purpose input 66
General-purpose input 67
42
43
Gray/Blue D General-purpose input 74
White/Blue D General-purpose input 75
19
20
Yellow/Red D General-purpose input 68
Pink/Red D General-purpose input 69
44
45
Yellow/Blue D General-purpose input 76
Pink/Blue D General-purpose input 77
21
22
Orange/Red E General-purpose input 70
Gray/Red E General-purpose input 71
46
47
Orange/Blue E General-purpose input 78
Gray/Blue E General-purpose input 79
23
24
White/Red E
Yellow/Red E
Reserved
Reserved
48
49
White/Blue E
Yellow/Blue E
Reserved
Reserved
25
Pink/Red E
Reserved
50
Pink/Blue E
Reserved
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
Table 3-23 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
Orange/Red A
2
3
Gray/Red A
White/Red A
4
5
Function name
Pin
No.
Line color
FG
26
Orange/Blue A
0V:For pins 4-7
12V/24V:For pins 4-7
27
28
Gray/Blue A
White/Blue A
Yellow/Red A General-purpose output 80
Pink/Red A General-purpose output 81
29
30
Yellow/Blue A General-purpose output 84
Pink/Blue A General-purpose output 85
6
7
Orange/Red B General-purpose output 82
Gray/Red B General-purpose output 83
31
32
Orange/Blue B General-purpose output 86
Gray/Blue B General-purpose output 87
8
9
10
White/Red B
0V:For pins 10-13
Yellow/Red B
12V/24V:For pins 10-13
Pink/Red B General-purpose output 88
33
34
35
White/Blue B
0V:For pins 35-38
Yellow/Blue B
12V/24V:For pins 35-38
Pink/Blue B General-purpose output 92
11
12
Orange/Red C General-purpose output 89
Gray/Red C General-purpose output 90
36
37
Orange/Blue C General-purpose output 93
Gray/Blue C General-purpose output 94
13
14
White/Red C General-purpose output 91
Yellow/Red C
COM0:For pins 15-22
15
16
Pink/Red C General-purpose input 80
Orange/Red D General-purpose input 81
General-purpose
Dedicated/power supply,
common
Note1)
General-purpose
FG
0V:For pins 29-32
12V/24V:For pins 29-32
38
White/Blue C General-purpose output 95
39
Yellow/Blue C
40
41
Pink/Blue C General-purpose input 88
Orange/Blue D General-purpose input 89
COM1:For pins 40-47 Note1)
17
18
Gray/Red D
White/Red D
General-purpose input 82
General-purpose input 83
42
43
Gray/Blue D General-purpose input 90
White/Blue D General-purpose input 91
19
20
21
Yellow/Red D General-purpose input 84
Pink/Red D General-purpose input 85
Orange/Red E General-purpose input 86
44
45
46
Yellow/Blue D General-purpose input 92
Pink/Blue D General-purpose input 93
Orange/Blue E General-purpose input 94
22
23
Gray/Red E
White/Red E
24
25
Yellow/Red E
Pink/Red E
General-purpose input 87
Reserved
47
48
Gray/Blue E
White/Blue E
Reserved
Reserved
49
50
Yellow/Blue E
Pink/Blue E
Note1)Sink type:24V/12V(COM), Source type:0V(COM)
3-70 Options
Dedicated/power supply,
common
General-purpose input 95
Reserved
Reserved
Reserved
3Controller
[*1]
Channel No. setting (Set channel No. to 2.)
TXD
LED display
<CN100>
Input 64 to 79
Output 64 to 79
50
25
<CN300>
Input 80 to 95
Output 80 to 95
26
1
*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit
(Occupies one Channel)
Fig.3-22 : Parallel input/output unit <2A-RZ361/2A-RZ371:Second expansion unit> connection and pin layout
CAUTION
[*1] For the 2nd expansion unit, set the channel No. to "2".
The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may
be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.
Options 3-71
3Controller
(6) External I/O cable
■ Order type: 2A-CBL □□ Note) The numbers in the boxes □□ refer to the length. (05: 5m、 15: 15m)
■ Outline
This is the dedicated cable used to connect an external peripheral device to the connector on the parallel input/output unit.
One end matches the connector on the parallel input/output unit, and the other end
is free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with
built-in standard.
■ Configuration
Table 3-24 : Configuration device
Part name
External I/O cable
Type
Qty.
2A-CBL □□
1pc.
Remarks
5m or 15m
■ Specifications
Table 3-25 : Specifications
Items
Specifications
Number of cables x cable size
50 pairs x AWG #28
Total length
5m or 15m
■ Connector pin numbers and cable colors
Table 3-26 : Connector pin numbers and cable colors
Pin
no.
Cable colors
Pin
no.
Cable colors
Pin
no.
Cable colors
Pin
no.
Cable colors
Pin
no.
Cable colors
1
Orange/Red A
11
Orange/Red C
21
Orange/Red E
31
Orange/Blue B
41
Orange/Blue D
2
Gray/Red A
12
Gray/Red C
22
Gray/Red E
32
Gray/Blue B
42
Gray/Blue D
3
White/Red A
13
White/Red C
23
White/Red E
33
White/Blue B
43
White/Blue D
4
Yellow/Red A
14
Yellow/Red C
24
Yellow/Red E
34
Yellow/Blue B
44
Yellow/Blue D
5
Pink/Red A
15
Pink/Red C
25
Pink/Red E
35
Pink/Blue B
45
Pink/Blue D
6
Orange/Red B
16
Orange/Red D
26
Orange/Blue A
36
Orange/Blue C
46
Orange/Blue E
7
Gray/Red B
17
Gray/Red D
27
Gray/Blue A
37
Gray/Blue C
47
Gray/Blue E
8
White/Red B
18
White/Red D
28
White/Blue A
38
White/Blue C
48
White/Blue E
9
Yellow/Red B
19
Yellow/Red D
29
Yellow/Blue A
39
Yellow/Blue C
49
Yellow/Blue E
10
Pink/Red B
20
Pink/Red D
30
Pink/Blue A
40
Pink/Blue C
50
Pink/Blue E
3-72 Options
3Controller
■ Connections and outside dimensions
The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color specifications in "Table 3-26Connector pin numbers and cable colors" when making the connections.
(Eg.) Pin number: color indication
1
: Orange / Red / A
Type of dot mark (see figure below)
Color of dot mark
Color of sheath
Type of dot mark
Type of dot mark
Dot pattern
1
A type
Dot pattern
3
F type
18.5
18.5
1.5
B type
3
G type
18.5
18.5
1.5
C type
3
H type
18.5
18.5
1.5
7.5
I type
D type
18.5
18.5
1.5
7.5
J type
E type
Continuous
Continuous
5000
1
50
25
66
76.74
64.53
51.816
2.159
26
13.54
16.2
9.27
35.7
Maker
Receptacle type (PCB side):57AE-40500-21D(D8)
Plug type (cable side):57YE-30500-2(D8) Note1)
……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.3-23 : Connections and outside dimensions
Options 3-73
3Controller
(7) Personal computer cable
■ Order type: ● For PC/AT : RS-MAXY-CBL
RS-AT-RCBL (For expansion option box(CR1-EB3).)
■ Outline
This is the RS-232C interface cable used for connecting the controller with a personal
computer. The personal computer on hand may be usable with the above interface cable.
Confirm the connection specifications when placing an order.
Personal computer cables for the PC/AT compatible model is available.
The cable for the NEC PC9821 (half-pitch 14-pin) must be manufactured by the customer.
Use "RS-AT-RCBL" when you use expansion serial I/F with the expansion option box.
■ Configuration
Table 3-27 : Configuration device
Part name
Personal computer cable (for PC/AT)
Type
Qty.
Remarks
pinNote1)
RS-MAXY-CBL
1pc.
3m, D-SUB 9
RS-AT-RCBL
1pc.
3m, D-SUB 9 pin
For expansion serial I/F at expansion option box(CR1-EB3).
Note1)The personal computer cable is the same as that for use with "Movemaster M1/M2/E/EN series".
■ Specifications
(1) For PC/AT
RS-MAXY-CBL
RS-AT-RCBL
Controller side
(Signal name, pin No.)
(FG) 1
(SD) 2
1 (CD)
2 (RD)
(RD) 3
(RS) 4
(CS) 5
3 (SD)
4 (DTR)
6 (DSR)
(DR) 6
(ER)20
8 (CTS)
7 (RTS)
(SG) 7
5 (GND)
(2) For PC98
Controller side
(Signal name, pin No.)
Personal computer side
25 pin connector
(Signal name, pin No.)
(FG) 1
1 (FG)
(SD) 2
2 (SD)
(RD) 3
3 (RD)
(RS) 4
4 (RS)
(CS) 5
(DR) 6
(ER)20
5 (CS)
6 (DR)
20 (ER)
(SG) 7
7 (SG)
Fig.3-24 : Personal computer cabe connection
3-74 Options
Personal computer side
(Signal name, pin No.)
3Controller
RS-MAXY-CBL
25
13
6
54
31
1
5
1
15
9
P/C side
14
15
39
Robot side
Type:17JE-23250(D8A6) (DDK)
RS-AT-RCBL
1
15
39
31
5
P/C side
9
14
15
25
6
54
13
1
Robot side
Type:17JE-23250-02(D18A1) (DDK)
Fig.3-25 : Personal computer cabe connector
Options 3-75
3Controller
(8) Personal computer support software/Personal computer support software mini
■ Order type : ● Personal computer support software
*For windows CD-ROM
: 3A-01C-WINE
● Personal computer support software mini
*For windows CD-ROM
: 3A-02C-WINE
■ Outline
This is handy software that fully uses the personal computer functions. It can be used in
various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of
program), and maintenance (remote maintenance.)
The "personal computer support software" which supports these function fully, and the
"personal computer support software mini" which does not have the simulation function
are available. Select according to the required application.
■ Configuration
Table 3-28 : Product configuration
Part name
Type
Medium
Remarks
Personal computer support software
3A-01C-WINE
CD-ROM
One operation manual included
Personal computer support software mini
3A-02C-WINE
CD-ROM
One operation manual included
■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations
can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry
out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and displays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially
sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the
machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) Increased maintenance efficiency with remote maintenance function
With remote operations over a telephone line, the robot's operation status can be monitored without going to
the site. Losses incurred while moving to the site can be reduced, and the time required to investigate the
trouble and determine measures to be taken can be shortened.
3-76 Options
3Controller
■ Functions
Table 3-29 : Functions
Function
Compatible model
Program editing
functions
○
Debugging functions
Personal computer running Microsoft Windows 95/98/NT 4.0
○
○
・ MELFA BASIC IV language compatible
・ Multiple editing screen simultaneously display
・ Command input, comment writing
・ Position data editing
・ File operation (writing to controller, floppy disk, personal computer)
・ Search and replace function (using characters, line Nos., labels)
・ Copy, cut, paste, insert (per character, line), undo (per command
statement, position conversion)
・ Line No. automatic generation, renumbering
・ Batch syntax check
・ Command template
・ Position conversion batch editing
・ Position variable template
・ Print, print preview
○
○
・ Program file control (list, copy, movement, delete, content comparison, name change, protect)
○
○
・ Direct editing of program in controller
・ Confirmation of robot program operation (step execution, direct execution)
・ Tact time measurementNote2)
○
×
・ Off-line simulation of robot program operation using CG (computer
graphics)
・ Tact time calculation
○
○
・ Robot operation monitor (robot operation state, stop signal, error
monitor, program monitor (execution program, variables), general-purpose input/output signals (forced output possible), dedicated input/
output signals, operation confirmation (operation range, current position, hand, etc.)
・ Operation monitor (working time statistics, production information,
robot version)
・ Servo monitor (position, speed, current, load, power)
○
○
・ Parameter setting
・ Batch, divided backup
○
○
・ Monitoring and maintenance of robot state at remote site using telephone line.
(A separate modem is required for this function.)
Monitor functions
Maintenance
function
Remote maintenance function
Details
○
Editing functions
Control functions
Simulation functionNote3)
Functional existenceNote1)
Personal computer support software mini
(3A-01C-WINE)
Personal computer support software
(3A-02C-WINE)
Note1)The functions included with the personal computer support software and the personal computer support
software mini are shown below. ○ : Function provided × : Function not provided
Note2)When using the "personal computer support software mini", connect with the controller and measure.
Note3)A simulation function is available only with "MELFA-BASIC Ⅳ ".
Options 3-77
3Controller
3.9 Maintenance parts
The consumable parts used in the controller are shown in Table 3-30. Purchase these parts from your dealer
when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part
name, robot arm and controller serial No. and purchase the parts from your dealer.
Table 3-30 : Contloller consumable parts list
No.
1
Part name
Lithium battery
3-78 Maintenance parts
Type
ER6 BKO-NC2157H01
Qty.
1
Usage place
RZ182 card
Manufacturer
Mitsubishi Electric
4Software
4 Software
4.1 List of commands
The robot language to use can choose "MELFA-BASIC Ⅳ " (default setting) or "MOVEMASTER language
(MOVEMASTER commands)" by changing the parameter.
Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions.
The available new functions in MELFA-BASIC IV are given in Table 4-1.
Table 4-1 : The available new functions in MELFA-BASIC IV
Class
Robot Status Variable
Command example
Function
P_TOOL
keep current tool length
M_SPD
keep current speed (linear/circular interpolation)
ABS
Produces the absolute value
VAL
Converts a character string into a numeric value
ATN
Calculates the arc tangent
STR$
Converts the numeric expression value into a decimal character string
ZONE
Check current position area
P1=P1*P2
Relative calculation of position data
M1=M1*M2
Multiplication of numerical variable
P1.X=10
Operation of the position element data
SELECT CASE
More than one condition branch
ON GOSUB
Condition branch by the value
WHILE WEND
Repeat with condition
Optimum acceleration/
deceleration control
LOADSET
Load condition setting
OADL
valid/invalid setting for the optimum acceleration/deceleration
Float control
(compliance in the XYZ
coordinate system)
CMP POS
Compliance control
CMPG
Force control
Parallel execution
(Multitask)
XRUN, XSTP, XRST,
XLOAD
Parallel executions of another task, the stops, the resets, and, the loads
Conveyor trucking
[Special specification]
TRKON, TRKOFF
Valid/invalid of the trucking
TRBASE
Setting the base coordinate for the trucking
Built-in functions
Operation function
Conditional branching
(1) The procedure of robot language selection
Table 4-2 : Robot language parameter
Parameter
Parameter
name
No. of arrays
No. of characters
Robot language
RLNG
Integer 1
Details explanation
Select the robot language to use
1 : MELFA-BASIC Ⅳ
0 : MOVEMASTER COMMAND
Factory
setting
1
Note 1) "MELFA-BASIC Ⅳ " is default setting.
Note 2) Refer to the separate manual "Explanation of MOVEMASTER COMMANDS"(BFP-A8056) for details of
"MOVEMASTER COMMAND".
List of commands 4-79
4Software
(2) MELFA-BASIC Ⅳ commands
Table 4-3 : List of MELFA-BASIC IV commands
Type
Class
Input format (example)
Joint interpolation
Moves to the designated position with joint interpolation.
MOV P1
Linear interpolation
Moves to the designated position with linear interpolation.
MVS P1
Circular interpolation
Moves along a designated arc (start point → passing point → start point (end
point)) with 3-dimensional circular interpolation (360 degrees).
MVC P1,P2,P1
Moves along a designated arc (start point → passing point → end point) with
3-dimensional circular interpolation.
MVR P1,P2,P3
Moves along the arc on the opposite side of a designated arc (start point →
reference point → end point) with 3-dimensional circular interpolation.
MVR2 P1,P9,P3
Moves along a set arc (start point → end point) with 3-dimensional circular
interpolation.
MVR3 P1,P9,P3
Designates the speed for various interpolation operations with a percentage
(0.1% unit).
OVRD 100
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
JOVRD 100
Designates the speed for linear and circular interpolation with a numerical
value (0.1mm/s unit).
SPD 123.5
Designates the acceleration/deceleration time as a percentage in respect to
the predetermined maximum acceleration/deceleration. (1% unit)
ACCEL 50,80
Automatically adjusts the acceleration/deceleration according to the parameter setting value.
OADL 1,5,20
ets the hand and work conditions for automatic adjustment of the acceleration/deceleration.
LOADSET 1,1
Adds a process unconditionally to the operation.
WTH
Adds a process conditionally to the operation.
WTHIF
Speed designation
Position and operation control
Function
Operation
Position control
Float control
Designates smooth operation.
CNT 1,100,200
Designates the positioning completion conditions with a No. of pulses.
FINE 200
Turns the servo power ON/OFF for all axes.
SERVO OFF
Limits the operation of each axis so that the designated torque is not
exceeded.
TORQ 4,60
Designates the base conversion data.
BASE P1
Designates the tool conversion data.
TOOL P1
The robot arm rigidity is lowered and softened. (XYZ coordinate system)
CMP POS ,00000011
The robot arm rigidity is lowered and softened. (JOINT coordinate system)
CMP JNT ,00000011
The robot arm rigidity is lowered and softened. (TOOL coordinate system)
CMP TOOL ,00000011
The robot arm rigidity is returned to the normal state.
CMP OFF
The robot arm rigidity is designated.
CMPG
1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Pallet
Program control
Branching
Defines the pallet.
DEF PLT 1,P1,P2,P3,P4,5,3,1
Operates the pallet grid point position.
PLT 1,M1
Branches unconditionally to the designated place.
GOTO 120
Branches according to the designated conditions.
IF IN1=1 THEN GOTO 100
ELSE GOTO 20
Repeats until the designated end conditions are satisfied.
FOR M1=1 to 10
NEXT
Repeats while the designated conditions are satisfied.
WHILE M1<10
WEND
Branches corresponding to the designated expression value.
4-80 List of commands
ON M1 GOTO 100,200,300
4Software
Type
Class
Branching
Function
Executes program block corresponding to the designated expression value..
Input format (example)
SELECT
CASE 1
CASE 2
END SELECT
Program control
Subroutine
Interrupt
Wait
SKIP
Executes the designated subroutine. (Within program)
GOSUB 200
Returns from the subroutine.
RETURN
Executes the designated program.
CALLP "P10",M1,P1
Defines the program argument executed with the CALLP command.
FPRM M10,P10
Executes the subroutine corresponding to the designated expression value.
ON M1 GOSUB 100,200,300
Defines the interrupt conditions and process.
DEF ACT 1 IN1=1 GOTO 100
Enables/disables the interrupt.
ACT 1=1
Defines the start line of the program to be executed when an interrupt is
generated from the communication line.
ON COM(1) GOSUB 100
Enables the interrupt from the communication line.
COM(1) ON
Disables the interrupt from the communication line.
COM(1) OFF
Stops the interrupt from the communication line.
COM(1) STOP
DLY 0.5
WAIT M_IN(1)=1
Stops the program execution.
HLT
Generates an error. During program execution, continue, stop or servo OFF
can be designated.
ERROR 9000
Ends the program execution.
END
Hand open
Opens the designated hand.
HOPEN
Hand close
Closes the designated hand.
HCLOSE
Assignment
Defines the input/output variables.
DEF IO PORT1=BIT,0
Input
Retrieves the general-purpose input signal.
M1=IN 1
Output
Calls out the general-purpose output signal.
Mechanism designation
Acquires the mechanism with the designated mechanism No.
GETM 1
Releases the mechanism with the designated mechanism No.
RELM 1
Selection
Selects the designated program for the designated slot.
XLOAD 2,"P102"
Start/stop
Carries out parallel execution of the designated program.
XRUN 3,"100",0
Stops parallel execution of the designated program.
XSTP 3
Returns the designated program's execution line to the head and enters the
program selection enabled state.
XRST 3
Parallel execution
End
Hand
Designates the wait time, and the output signal pulse output time. (0.01s unit)
Waits until the variable becomes the designated value.
Input/output
Stop
Moves the program process to the next line.
Others
Definition
Clear
File
OUT 1=0
Defines the integer type or real number type variable.
DEF INT KAISUU
Defines the character string variable.
DEF CHAR MESSAGE
efines the layout variable. (Up to 3-dimensional possible)
DIM PDATA(2,3)
Defines the joint variable.
DEF JNT TAIHI
Defines the position variable.
DEF POS TORU
Defines the function.
DEF FNTASU(A,B)=A+B
Clears the general-purpose output signal, variables in program, variables
between programs, etc.
CLR 1
Opens a file.
OPEN "COM1:" AS #1
Closes a file.
CLOSE #1
Inputs data from a file.
INPUT# 1,M1
Outputs data to a file.
PRINT# 1,M1
Comment
Describes a comment.
REM "ABC"
Label
Indicates the branching destination.
*SUB1
List of commands 4-81
4Software
(3) MOVEMASTER commands
Table 4-4 : List of MOVEMASTER command
Type
Class
Joint interpolation
Position and operation control
Linear
interpolation
Circular
interpolation
Speed designation
Position
control
Pallet
4-82 List of commands
Function
Moves to the designated position variable with joint interpolation.
Input format (example)
MO 1
Moves to the designated position with joint interpolation.
MP 100,200,125.3,0,90
Moves to a position obtained by adding two position variables.
MA 1,2
Turns the joint by the specified angle from the current position.
MJ 10,20,0,0,0,0
Moves the axis by the designated amount from the current position.
DJ 1,15
Moves by the specified distance from current position.
DW 100,80,0
Moves to the next position in number from current position.
IP
Moves to the previous position in number from current position.
DP
Moves to a position separated by the designated distance (+/- direction) in the Z axis direction of the tool coordinates from the designated position variable's position.
MT 1,-50
Moves to the origin in the axis order designated in the parameters.
NT
Moves to the user specified origin position.
OG
Moves to the designated position variable with linear interpolation.
MS 1
Moves by the specified distance from current position.
DS 10,20,0
Continuously moves the position variable with linear interpolation between the two designated
position variables.
MC 10,20
Moves to a position separated by the designated distance (+/- direction) in the Z axis direction of the tool coordinates from the designated position variable position.
MTS 1,-50
Moves along a designated arc (start point → transient point → end point) with three-dimensional circular interpolation.
MR 1,2,3
Moves with circular interpolation with the position data of two MRA commands designated
previously or subsequently.
MRA 4
Establishes program over-ride。 (0.1% unit)
OVR 100
Designate the speed level and acceleration/deceleration rate for various interpolation operations.
SP 25,H
Designate the speed, time constant, acceleration/deceleration rate and CNT setting validity
for linear and circular interpolation.
SD 123.5,50,50,0
It establishes die length to hand nose from hand installation.
TL 128
Designates the tool matrix.
TLM 0,0,128,0,0,0
Waits for in position till all axis ring inward pulse appointing.
PW 10
Adds ± 360 degrees to current R axis joint position and rewrites current position.
JRC +1
Memorizes current position as the position number.
HE 1
Memorizes current position as the origin.
HO
Sets the designated coordinate value (x, y, z, a, b, c) in the designated position variable.
PD 1,100,200,300,0,90,0
Deletes the position variable between two designated position variables.
PC 1,20
Changes the pose of the robot at position。
CF 1,R,A,F
Defines the pallet.
PA 1,5,3
Operates the designated pallet No. grid point position, and substitutes into the corresponding
position variable.
PT 1
4Software
Type
Class
Program control
Branching
Subroutine
Input format (example)
GT 120
Jump to line number if internal register value/strings equals specified value/strings.
EQ 20,120
EQ "OK",120
Jump to line number if internal register value/strings does not equal specified value/strings.
NE 20,120
NE "NG",120
Jump to line number if internal register value/strings is greater than specified value/strings.
LG 20,120
LG "NG",120
Jump to line number if internal register value/strings is smaller than specified value/strings.
SM 20,120
SM "NG",120
Jump to line number by internal register bit status.
TB +5,100
Jump to line number by external input signal bit status.
TBD +5,100
Repeats the loop specified by command NX.
RC 8
Specifies the range of a loop in a program by command RC.
NX
Executes the subroutine of the line designated in the designated program.
GS 3,10
Returns from the subroutine. (The return line No. can be designated.)
RT
RT 200
Validates the interrupt by the bit designated by the external input terminal, and designated
the branching method and branching line at the interrupt.
EA +16,100,1
Disables interrupt by the bit of external input signal.
DA 16
Wait
Stops the operation for the designated time. (0.1 sec unit)
TI 50
Select
Selects the program.
N1
Start
Executes the program between the designated line numbers.
RN 10,50
Stop
Halts the program.
HLT
Ends the program.
ED
Opens the specified hand.
GO
Closes the specified hand.
GC
Setting
Sets the motorized hand's gripping force and open/close time.
GP 40,30,50
Sets the hand open/close state when the "PD" command is executed.
GF 1
Hand
End
Open
Close
Input/output
Program control
Interrupt
Function
Jump to line number.
Input
Gets signal from external input.
ID
Output
Outputs data to external output signal.
OD 20
Outputs the counter value to external output signal.
OC 1
addition
Operation/Substitution
Subtraction
Sets the output signal bit status.
OB +16
Adds the designated value to the internal register value.
ADD 10
Adds 1 to the designated number's counter.
IC 5
Adds the coordinate values of the designated position variable to the coordinate values of the
designated position variable.
SF 1,2
Subtracts the designated value from the designated register value.
SUB 10
Subtracts one from the designated number's counter.
DC 5
Multiplication
Multiples the designated value to the internal register value.
Division
Divides the internal register value by the designated value.
DIV 10
AND
Logical AND of the internal register value and specified value.
AN 7
OR
Logical OR of the internal register value and specified value.
OR 3
XOR
Logical exclusive OR of the internal register value and specified value.
XO 2
Substitution
Substitutes the designated value (character string) in the designated counter.
SC 1,10
SC $1,"OK"
Exchange
MUL 2
Substitutes the designated position variable coordinate value in the designated position variable.
PL 1,2
Substitutes the internal register value (character string) in the designated number's counter.
CL 1
Sets the designated number's counter value (character string) in the internal register.
CP 1
Exchanges the coordinate values of two designated position variables.
PX 1,2
List of commands 4-83
4Software
Type
Class
Other
RS-232C
read
Function
Input format (example)
Reads the selected program No. or designated program information.
QN 1
Reads the program of specified line number.
LR 10
Reads the program of specified step number.
STR 10
Reads the coordinate value of specified position number.
PR 1
Reads the value/strings of specified counter number.
CR 1
Reads the hand input signal, internal register value and the 16-bit width data from the designated external output signal bit.
DR 16
Reads the current error No. or error history.
ER 10
Reads the coordinate value of current position.
WH
Reads the value of current tool length.
WT
Reads the current tool matrix.
WTM
Reads the name of system software version.
VR
Reads the value of specified parameter.
PMR "HANDINIT"
Clear
Deletes the program between the designated line numbers.
DL 10,90
Deletes the selected program and position variables.
NW
File
Opens the file.
OPEN 1,1
Reads the data from the file.
INP 1,2,0
Sends the value to the file.
PRN 2
Sets the contents of the designated parameter.
PMW 1,0,1,0,1,0,1,0
Reset
Resets the error, or program line number.
RS
Comment
Describes a comment.
'
4-84 List of commands
4Software
4.2 List of parameters
(1) List of parameters
show the main parameter in the Table 4-5.
Table 4-5 : List of parameters
Parameter
Details
Standard tool coordinates.
MEXTL
Set the default value for the tool data.
Unit: mm or deg.
Standard base coordinates
MEXBS
Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
XYZ operation range
MEPAR
Designate the overrun limit value for the world coordinate system.
JOINT operation range
MEJAR
Set the overrun limit value for each joint axis.
Free plane limit
This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of the
plane as the outside operation range (error). The following three types of parameters are used.
SFC1P
:
SFC8P
Eight types of free plane limits can be set in SFC1P to SFC8P.
There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC1ME
:
SFC8ME
Designate which mechanism to use eight types of set free plane limits.
The mechanism No. to use is set with 1 to 8.
SFC1AT
:
SFC8AT
Set the validity of the eight types of set free plane limits.
(Valid/invalid = 1/0)
User-defined area
An area (cube) defined with two XYZ coordinate points can be designated and that area set as
the outside operation range. Furthermore, a signal can be output when the axis enters that
area. Up to eight types of area can be designated.
AREA1P1
:
AREA8P1
Designated the 1st point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1P2
:
AREA8P2
Designated the 2nd point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1ME
:
AREA8ME
Designate which mechanism to use the eight types of set area.
The mechanism No. to use is set with 1 to 8
AREA1AT
:
AREA8AT
Designate the area check type.
(Invalid/zone/interference = 0/1/2)
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
Automatic return setting
RETPATH
Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
Buzzer ON/OFF
BZR
Designate whether to the turn buzzer ON or OFF.
Automatic operation speed.
SPI
Designate the initial level for the automatic operation speed.
Automatic operation override
EOV
Designate the initial override for automatic operation.
(External override, program override)
Jog setting
JOGJSP
Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGPSP
Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
Jog speed limit value
JOGSPMX
Limit the operation speed during the teaching mode. Max. 250[mm/s]
Hand type
HANDTYPE
Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
List of parameters 4-85
4Software
Parameter
Details
Stop input B contact designation
INB
Change the dedicated input (stop) between the A contact and B contact.
User-designated origin
USERORG
Designate the user-designated origin position.
Program selection memory
SLOTON
Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.
Communication setting
CBAU232
Set the baud rate.
CLEN232
Set the character length.
CPRTY232
Set the parity.
CSTOP232
Set the stop bit.
CTERM232
Set the end code.
Slot table
SLT
:
SLT32
Make settings (program name, operation type, order of priority, etc.) for each slot during slot
initialization.
No. of multi-tasks
TASKMAX
Designate the No. of programs to be executed simultaneously.
Robot language setting
RLNG
Select the robot language ("MELFA-BASIC Ⅳ "/"MOVEMASTER COMMAND")
Select the function of
singular point adjacent alarm
MESNGLSW
Designate the valid/invalid of the singular point adjacent alarm.
(Invalid/Valid = 0/1)
When this parameter is set up "VALID", this warning sound is buzzing even if parameter:
BZR (buzzer ON/OFF) is set up "OFF".
Display language.Note1)
表示言語 Note1)
LNG
Change the language to display on the LCD display of teaching pendant.
テ ィ ーチ ン グボ ッ ク スの表示 LCD な ど に表示する言語を切 り 替え ます。
Note1)The procedure of Language as shown in "(2) Change the display language / 表示言語の切 り 替え ".
注 1) 表示言語切 り 替え方法の詳細を "(2) Change the display language / 表示言語の切 り 替え " に示 し ます。
4-86 List of parameters
4Software
(2) Change the display language / 表示言語の切 り 替え
The language to display on the LCD display of teaching pendant can be changed by "the display language
parameter". (Japanese or English)
Show the details of the parameter in the Table 4-5. Refer to the separate "Instruction Manual/Detailed
Explanation of Functions and Operations" for details on changing the parameter.
The parameter is set up based on the order specifications before shipment. Order to dealer when the instruction
manual of the other language is necessity.
More, the caution seals that stuck on the robot arm and the controller are made based on the language of the
order specification. Use it carefully when selecting the other language.
表示言語設定パラ メ ー タ に よ っ て、 テ ィ ーチ ン グボ ッ ク スの表示 LCD な どに表示する言語を切 り 替え る
こ と がで き ます。 (日本語、 または英語) Table 4-5 にそのパラ メ ー タ の詳細を示 し ます。 パラ メ ー タ の変
更方法は、 別冊の 「取扱説明書/機能 と 操作の詳細解説」 を参照願います。
なお、 出荷時はご注文仕様に基づ き弊社で設定いた し ます。 別の言語の取扱説明書を ご希望の場合はご用
命願います。
また、 ロボ ッ ト 本体 と コ ン ト ロー ラ に貼 り 付けてある注意シールは、 ご注文仕様に基づいた言語で製作い
た し ます。 本パラ メ ー タ を変更 し て言語を切 り 替え てご使用の場合はご注意願います。
Table 4-5 : Display language parameter / 表示言語設定パラ メ ー タ
Parameter
パラ メ ー タ
Display language
表示言語設定
Parameter
name
パラ メ ータ名
LNG
No. of arrays
No. of characters
配列数
文字数
Default
setting
出荷時
設定
Details explanation
内容説明
Character string 1 Set up the display language.
文字列 1
"JPN" : Japanese
"ENG" : English
1
The following language is changed.
(1)The display LCD of teaching pendant.
(2) Personal computer support software.
*alarm message of the robot.
*Parameter explanation list.
(3)Alarm message that read from the robot with external
communication. (Standard RS232C, Extended serial I/
F, Ethernet I/F)
表示言語を設定 し ます。
"JPN" : 日本語表示
"ENG" : 英語表示
以下に示す表示言語が変更 さ れます。
(1) テ ィ ーチ ングボ ッ ク スの表示 LCD
(2) パ ソ コ ンサポー ト ソ フ ト ウ ェ ア
・ ロボ ッ ト のア ラ ーム メ ッ セージ
・ パラ メ ー タ 説明 リ ス ト
(3) 外部通信で ロボ ッ ト か ら読み出 し たア ラ ーム メ ッ
セージ (標準 RS232C、 増設シ リ アルイ ン タ
フ ェ ース、 イ ーサネ ッ ト イ ン タ フ ェ ース)
List of parameters 4-87
5Safety
5 Safety
5.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.
5.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in Table 5-1 and the stop functions shown in Table 5-2
for safe use.
Table 5-1 : Self-diagnosis stop functions
No.
Function
Details
1
Overload protection function
Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and
the specified value.
an alarm displays.
2
Overcurrent diagnosis
function
Activates when an overcurrent flows to the motor
circuit.
The drive circuit is shut off. The robot stops, and
an alarm displays.
3
Encoder disconnection
diagnosis function
Activates when the encoder cable is disconnected.
The drive circuit is shut off. The robot stops, and
an alarm displays.
4
Deflection over diagnosis
function
Activates when an error occurs between the command value and actual position, and the error
exceeds the specified amount.
The drive circuit is shut off. The robot stops, and
an alarm displays.
5
AC power voltage drop
diagnosis function
Activates when the AC power voltage drops below
the specified value.
The drive circuit is shut off. The robot stops, and
an alarm displays.
6
CPU error detection func- Activates when an error occurs in the CPU.
tion
The drive circuit is shut off. The robot stops, and
an alarm displays.
7
Overrun
prevention
function
Software limit This is the limit provided by the software to enable
detection
operation only in the operation range.
The drive circuit is shut off. The robot stops, and
an alarm displays.
Mechanical
stopper
The robot mechanically stops, and function 1 or 2
activates.
This is the mechanical stopper provided outside the
software.
Remarks
Table 5-2 : List of stop functions
Stop
function
Operation
panel
Teaching
pendant
External
input
Emergency
stop
◯
◯
◯
This is the stop with the highest degree of emergency. The servo power is shut off,
and the mechanical brakes (all axes) activate to stop the robot.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
Stop
◯
◯
◯
This is a stop operation with a high degree of emergency. The robot immediately
decelerates and stops.
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.
Details
5.1.2 External input/output signals that can be used for safety protection measures
Table 5-3 : External input/output signals that can be used for safety protection measures
Signal
Input
External emergency stop
Stop
Servo OFF
Automatic operation enable
Output
In servo ON
Command
Functions
(Input signal) This servo power is shut off, and the robot
stops immediately.
STOP
SRVOFF
AUTOENA
SRVON
Waiting
STOP
In alarm
ERRRESET
Usage method
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
The program execution is stopped, and the
robot stops. The servo power is not shut off.
The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
The servo power can be shut off.
The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
Disables automatic operation when inactive.
Door switch on safety protection fence
The servo power ON/OFF state is output.
The servo power ON/OFF state is shown and
alerted with the display lamps.
Outputs that the robot is temporarily stopped.
The temporary stop state is shown and alerted
with the display lamps.
Outputs when an alarm occurs in the robot.
The alarm state is shown and alerted with the display lamps.
[Caution] The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emergency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to
"Fig. 5-1 Example of safety measures"for details.
5-88 Safety
5Safety
5.1.3 Precautions for using robot
The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of
the rules is given below.
(1) Robot installation
・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the
robot.
・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)
・ Install the controller where the entire robot operation can be viewed.
・ Install display lamps, etc., to indicate the robot's operation state.
・ Securely fix the robot arm onto the fixing table with the designated bolts.
(2) Prevention of contact with operator
・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.
(3) Work procedures
・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
・ Create hand signals to be followed when several operators are working together.
・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is
in the robot's motion space so that other operators will not operate the operation panel (controller, control
panel).
(4) Training
・ Train the operators about the operations, maintenance and safety required for the robot work.
・ Only trained and registered operators must operate the robot.
Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Committee, etc., is recommended for safety training.
(5) Daily inspection and periodic inspection
・ lways inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and
perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more
years.
5.1.4 Safety measures for automatic operation
(1) Install safety fences so that operators will not enter the operation area during operation and indicate that
automatic operation is in progress with lamps, etc.
(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the
operator follows the signals.
5.1.5 Safety measures for teaching
Observe the following measures when teaching, etc., in the robot's operation range.
(1) Specify and follow items such as procedures related to teaching work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.
(4) Always inspect that stop functions such as the emergency stop device before starting the work.
(5) Immediately stop the work when trouble occurs, and correct the trouble.
(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial
robots and work methods, etc.)
(8) Create signals to be used when several operators are working together.
5.1.6 Safety measures for maintenance and inspections, etc.
Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the
start switch when performing inspections, repairs, adjustments, cleaning or oiling.
If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.
(1) Specify and follow items such as procedures related to maintenance work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that work is being done.
(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and
work methods, etc.)
(6) Create signals to be used when several operators are working together.
Safety 5-89
5Safety
5.1.7 Examples of safety measures
Emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as
shown below for safety measures
.
<Customer-prepared wiring>
<Robot controller system>
MC1
+
To servo main circuit power
External emergency
stop input
RA1
RA3
S/W-EMG
Teaching pendant
deadman switch
RA2
Door switch
input
Door switch
Operation panel
emergency stop
External emergency
stop
24V
1
Teaching pendant
emergency stop
T/B remove
switch
2
RA1
RA1
RA2
RA2
Teaching pendant
deadman switch
3
4
5
6
Software emergency
stop
RA3
External emergency
stop output
RA4
MC1
MC1
[Caution] Some information has been omitted for explanation proposes, so some parts may differ.
Fig.5-1 : Example of safety measures
(1) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door
switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is
opened) when the door is open.
(2) Use a b contact manual-return type operator emergency stop switch.
(3) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input(terminal block) on the user wiring in the controller can be used for safety
measures as shown in Fig. 5-1. Note that there are limits to the No. of switch contacts, capacity and
cable length, so refer to the following and install.
・ Switch contact capacity....... Use a contact that operates with a switch contact capacity of approx.
1mA to 100mA/24V.
・ Cable length ............................... The length of the wire between the switch and terminal block must be
max. 15m or less.
[Reference] The specifications of the RA1 and RA2 coil shown in Fig. 5-1 are as follow.
・ Rated voltage ............................ DC24V ± 10%
・ Rated excitation current ...... 12.5mA ± 10% (at25 deg.)
* Note that these specifications are subject to change without prior notice for modification purposes.
5-90 Safety
5Safety
5.2 Working environment
Avoid installation in the following places as the equipment's life and operation will be affected by the ambient
environment conditions. When using in the following conditions, the customer must pay special attention to the
preventive measures.
(1) Power supply
・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.
(2) Noise
・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high
output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this
product is used near radios or televisions. Keep the robot away from these items.
(3) Temperature and humidity
・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.
(4) Vibration
・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s2 or less during transportation and 5m/s2 or less during operation.)
(5) Installation environment
・ Where strong electric fields or magnetic fields are generated.
・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)
5.3 Precautions for handling
(1) This robot has brakes J1 to J3 and J5 axes. The precision of the robot may drop, looseness may occur and
the reduction gears may be damaged if the robot is moved with force with the brakes applied.
(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accuracy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) 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. Note1)
(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.
When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy
may drop or servo alarms may occur. If these types of phenomena occur, run the robot with row-speed operation for a short time.
(5) The robot arm and controller must be grounded with 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 configuration may break due to the fixed installation specifications. In this case, use the machine cable extension (for
flexed)" factory shipment special specifications or options.
(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.
Take care to prevent interference with the workpiece or peripheral devices during operation.
(9) The hanging installation jig can be borrowed from the maker. Order to dealer when need.
(10) 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.
Note1)Jog operation refers to operating the robot manually using the teaching pendant.
Working environment 5-91
6Appendix
6 Appendix
Appendix 1 : Specifications discussion material
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Specification
Type
□ RV-1A
□ RV-1AC-SB
Standard specification
Clean specification
□ RV-2AJ
□ RV-2AJC-SB
■ Shipping special specifications (Settings can be made only at time of shipment)
Standard
specifications
Item
Robot arm
Machine cable
□ 5m fixed type
Controller
Controller structure
□ Floor type
Special shipping specifications
□ 10m fixed type □ 15m fixed type
□ 5m flexed type □ 10m flexed type □ 15m flexed type
■ Options (Installable after shipment)
Controller
Robot arm
Item
Provision, and specifications when provided.
Pneumatic hand set
4A-HP01/4A-HP01E
□ Not provided □ 4A-HP01 □ 4A-HP01E
Motorized hand set
4A-HM01
□ Not provided □ Provided
Solenoid valve set
1E-VD0 □ /
1E-VD0 □ E
□ Not provided 1E-VD0 □ : □ 1 set □ 2 sets
1E-VD0 □ E: □ 1 set □ 2 sets
Hand input cable
1A-HC20
□ Not provided □ Provided
Hand output cable
1E-GR35S
□ Not provided □ Provided
Hand curl tube
1E-ST04 □ C
□ Not provided □ 1 pc. □ 2 pc.
Hand adapter
1A-HA01
□ Not provided □ Provided
Teaching pendant
R28TB
□ Not provided □ Provided
Pneumatic hand interface
2A-RZ365/2A-RZ375 □ Not provided □ Provided
Parallel I/O interface
2A-RZ361/2A-RZ371 □ Not provided □ 1pc. □ 2pc. □ 3pc. □ 4pc. □ 5pc. □ 6pc. □ 7pc.
External I/O cable
2A-CBL □□
□ Not provided □ 5m-1pc. □ 5m-2pc. □ 5m-3pc.
□ 15m-1pc. □ 15m-2pc. □ 15m-3pc. CC-LINK interface
2A-HR575E
□ Not provided □ Provided
ETHERNET interface
2A-HR533E
□ Not provided □ Provided
Extended serial interface
2A-RZ581E
□ Not provided □ Provided
Additional axis interface
2A-RZ541E
□ Not provided □ Provided
Personal computer cable
RS-MAXY-CBL/
RS-AT-RCBL
□ Not provided □ RS-MAXY-CBL □ RS-AT-RCBL
Personal computer support
software
3A-01C-WINE
□ Not provided □ Windows95/98/NT4.0 CD-ROM
Personal computer support
software mini
3A-02C-WINE
Expansion option box
CR1-EB3
□ Not provided □ Provided
Controller protection box
CR1-MB
□ Not provided □ Provided
□ Not provided □ Windows95/98/NT4.0 CD-ROM
Note1) Up to eight units, including the one unit mounted as a standard.
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries A6BAT (
) pcs. □ Backup batteries ER6 (
) pcs.
□ Grease (
) cans
■ Robot selection check list
Work description
Workpiece mass (
□ Material handring □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
)g
Hand mass (
)g
Remarks
Copy this page and use the copy.
Appendix-92 Specifications discussion material
)
Atmosphere □ General enveronment □ Clean □ Dust provided □ Other(
)
MITSUBISHI ELECTRIC
HEADQUARTERS
EUROPEAN REPRESENTATIVES
EUROPEAN REPRESENTATIVES
EURASIAN REPRESENTATIVE
MITSUBISHI ELECTRIC
EUROPE
EUROPE B.V.
German Branch
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Phone: +49 (0) 21 02 / 486-0
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CORPORATION
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Fax: +81 3 6221 6075
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AUTOMATION
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Phone: +1 847 / 478 21 00
Fax: +1 847 / 478 22 83
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Phone: +43 (0) 2252 / 85 55 20
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Getronics b.v.
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Phone: +32 (0) 2 / 4 67 17 51
Fax: +32 (0) 2 / 4 67 17 45
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INEA CR d.o.o.
CROATIA
Drvinje 63
HR-10000 Zagreb
Phone: +385 (0)1/ 36 67 140
Fax: +385 (0)1/ 36 67 140
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AutoCont
CZECHIA
Control Systems s.r.o.
Nemocnicni 12
CZ-702 00 Ostrava 2
Phone: +420 (0) 69 / 615 21 11
Fax: +420 (0) 69 / 615 25 62
e mail: [email protected]
louis poulsen
DENMARK
industri & automation
Geminivej 32
DK-2670 Greve
Phone: +45 (0) 43 / 95 95 95
Fax: +45 (0) 43 / 95 95 91
e mail: [email protected]
Beijer Electronics OY
FINLAND
Ansatie 6a
FIN-01740 Vantaa
Phone: +358 (0) 9 / 886 77 500
Fax: +358 (0) 9 / 886 77 555
e mail: [email protected]
Kouvalias s
GREECE
Industrial Robot
25, El. Venizelou Ave.
GR-17671 Kallithea
Phone: +302 (0) 10 / 958 92 43
Fax: +302 (0) 10 / 953 65 14
e mail: [email protected]
Axicont Automatika Kft.
HUNGARY
Reitter F. U. 132
H-1131 Budapest
Phone: +36 (0)1 / 412-0882
Fax: +36 (0)1 / 412-0883
e mail: [email protected]
Meltrade Automatika Kft. HUNGARY
55, Harmat St.
HU-1105 Budapest
Phone: +36 (0)1 / 2605 602
Fax: +36 (0)1 / 2605 602
e mail: [email protected]
MITSUBISHI ELECTRIC
IRELAND
EUROPE B.V. – Irish Branch
Westgate Business Park
Ballymount
IRL-Dublin 24
Phone: +353 (0) 1 / 419 88 00
Fax: +353 (0) 1 / 419 88 90
e mail: [email protected]
Getronics
NETHERLANDS
Industrial Automation B.V.
Donauweg 2 B
NL-1043 AJ Amsterdam
Phone: +31 (0) 20 / 587 6700
Fax: +31 (0) 20 / 587 6839
e mail: [email protected]
Beijer Electronics AS
NORWAY
Teglverksveien 1
N-3002 Drammen
Phone: +47 (0) 32 / 24 30 00
Fax: +47 (0) 32 / 84 85 77
e mail: [email protected]
MPL Technology Sp. z o.o.
POLAND
ul. Sliczna 36
PL-31-444 Kraków
Phone: +48 (0) 12 / 632 28 85
Fax: +48 (0) 12 / 632 47 82
e mail: [email protected]
ACP Autocomp a.s.
SLOVAKIA
Chalupkova 7
SK-81109 Bratislava
Phone: +421 (02) / 5292- 22 54/55
Fax: +421 (02) / 5292- 22 48
e mail: [email protected]
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0) 1- 513 8100
Fax: +386 (0) 1- 513 8170
e mail: [email protected]
Beijer Electronics AB
SWEDEN
Box 426
S-20124 Malmö
Phone: +46 (0) 40 / 35 86 00
Fax: +46 (0) 40 / 35 86 02
e mail: [email protected]
ECONOTEC AG
SWITZERLAND
Postfach 282
CH-8309 Nürensdorf
Phone: +41 (0) 1 / 838 48 11
Fax: +41 (0) 1 / 838 48 12
e mail: [email protected]
GTS
TURKEY
Darülaceze Cad. No. 43A KAT: 2
TR-80270 Okmeydani-Istanbul
Phone: +90 (0) 212 / 320 1640
Fax: +90 (0) 212 / 320 1649
e mail: [email protected]
Elektrostyle
RUSSIA
Ul Garschina 11
RUS-140070 Moscowskaja Oblast
Pos. Tomilino
Phone: +7 095 / 261 3808
Fax: +7 095 / 261 3808
e mail: —
ICOS
RUSSIA
Ryazanskij Prospekt, 8A, Office 100
RUS-109428 Moscow
Phone: +7 095 / 232 0207
Fax: +7 095 / 232 0327
e mail: [email protected]
MITSUBISHI ELECTRIC
Gothaer Strasse 8 Phone: +49 2102 486-0
D-40880 Ratingen Hotline: +49 1805 000-765
MIDDLE EAST REPRESENTATIVE
ILAN & GAVISH LTD
ISRAEL
Automation Service
24 Shenkar St., Kiryat Arie
IL-49001 Petach-Tiqva
Phone: +972 (0) 3 / 922 18 24
Fax: +972 (0) 3 / 924 07 61
e mail: [email protected]
AFRICAN REPRESENTATIVE
CBI Ltd
SOUTH AFRICA
Private Bag 2016
ZAF-1600 Isando
Phone: +27 (0) 11 / 928 2000
Fax: +27 (0) 11 / 392 2354
e mail: [email protected]
INDUSTRIAL AUTOMATION
Fax: +49 2102 486-7170 www.mitsubishi-automation.de
[email protected] www.mitsubishi-automation.com
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