RV-4F-D, RV-7F-D, RV-13F-D, RV-20F-D Series Standard Specifications Manual (CR750

RV-4F-D, RV-7F-D, RV-13F-D, RV-20F-D Series Standard Specifications Manual (CR750
Mitsubishi Industrial Robot
RV-4F-D/7F-D/13F-D/20F-D Series
Standard Specifications Manual
(CR750-D Controller)
BFP-A8931-F
Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during
teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the
operator and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.
Never carry out modifications based on personal judgments, or use nondesignated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
CAUTION
CAUTION
CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.
Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.
■Revision history
Date of print
Specifications No.
Details of revisions
2012-10-04
BFP-A8931
・ First print.
2012-10-16
BFP-A8931-A
・ ”1.3 CE marking specifications” was added.
・ ”Declaration of Incorporation” was added.
・ The user's guide of KC mark was added.
2012-11-20
BFP-A8931-B
・ The statement about trademark registration was added.
・ The notes of "set the Optimization of overload detection level parameter OLTMX" were
added. (Environmental temperature in the table of Standard specifications of robot)
・ The notes about the input-output connected to the controller were added. (do not ground
the + side of 24V power supply prepared by customer)
・ ”Declaration of Incorporation” was updated.
・ ”Fig. 2-18: Outline dimensional drawing” was added.
2012-12-05
BFP-A8931-C
・The terminal name to connect when using the three phase specification by the single phase
power supply was added.
・ EC-Statement of Compliance was updated.
2013-01-17
BFP-A8931-D
・ Note of the external emergency stop were added (opens the connector terminal at factory
shipping).
・ J1 axis operating range change (option) was added.
・ The connector name and pin assignment were added to Wiring and piping system diagram for
hand.
・ The description of SH04 and SH05 of Internal wiring and piping specification types was
added.
・ ”Table 2-23: Pin assign of hand input cable” and “Table 2-26: Pin assign of hand output
cable” were added.
・ The specification description of CR750-MB was added.
・ The outside dimensions and operating ranges of RV-4F/4FL, RV-7F/7FL were changed.
2013-03-22
BFP-A8931-E
・ The specification description of RV-7FLL, RV-13F and RV-20F were added.
・ The metal plate which fixes CR750 controller vertically was changed. (upward compatibility)
・ The mass of the controller was shown which was divided by each robot type.
・ The type name of “J1 axis operating range change” for RV-7F series was corrected.
(formerly: 1F-DH-04)
2013-04-04
BFP-A8931-F
・ The diameter of A/B ports on the optional solenoid valve set for RV-13F/20F series were
corrected. (formerly: φ4)
・ The values of "Allowable moment load" and "Allowable inertia" of RV-20F were corrected.
・ ”Table 2-4: Position of center of gravity for loads (for loads with comparatively small
volume): RV-20F” was added.
■ Introduction
This series is a full-scale industrial vertical multi-joint type robot that is designed for use in machining
processes and assembling. This series supports varied environments, offering a variety of specifications
including clean specification, oil mist specification and long-arm specification.
However, to comply with the target application, a work system having a well-balanced robot arm, peripheral devices or robot and hand section must be structured.
When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics and specifications can be easily understood by users considering the implementation of robots.
However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard specifications and use our robots.
Note that in this specification document the specifications related to the robot arm is described Page 9,
"2 Robot arm", the specifications related to the controllerPage 76, "3 Controller", and software functions
and a command list Page 133, "4 Software" separately.
This document has indicated the specification of the following types robot.
*RV-4F-D/RV-4FL-D (CR750-D controller) series
Note) Indicates it as RV-4F series.
*RV-7F-D/RV-7FL-D (CR750-D controller) series
Note) Indicates it as RV-7F series.
*RV-7FLL-D (CR750-D controller) series *1)
*RV-13F-D (CR750-D controller) series *1)
*RV-20F-D (CR750-D controller) series *1)
Note) *1) Indicates it as "RV-13F series" for a general name of these robots.
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ The specifications values are based on Mitsubishi standard testing methods.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・ This specifications is original.
・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
・ The ETHERNET is a registered trademark of the Xerox Corp.
・All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
Copyright(C) 2012-2013 MITSUBISHI ELECTRIC CORPORATION
Contents
Page
1 General configuration ....................................................................................................................................................................
1.1 Structural equipment .............................................................................................................................................................
1.1.1 Standard structural equipment ..................................................................................................................................
1.1.2 Special specifications ....................................................................................................................................................
1.1.3 Options .................................................................................................................................................................................
1.1.4 Maintenance parts ...........................................................................................................................................................
1.2 Model type name of robot ....................................................................................................................................................
1.2.1 How to identify the robot model ................................................................................................................................
1.2.2 Combination of the robot arm and the controller ..............................................................................................
1.2.3 Internal wiring and piping specification types ......................................................................................................
1.3 CE marking specifications ....................................................................................................................................................
1.4 Contents of the structural equipment ............................................................................................................................
1.4.1 Robot arm ...........................................................................................................................................................................
1.4.2 Controller ............................................................................................................................................................................
1.5 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
1-3
1-4
1-5
1-5
1-6
1-7
2 Robot arm ........................................................................................................................................................................................... 2-9
2.1 Standard specifications ........................................................................................................................................................ 2-9
2.1.1 Basic specifications ........................................................................................................................................................ 2-9
(1) RV-4F/7F series ......................................................................................................................................................... 2-9
(2) RV-13F series ............................................................................................................................................................ 2-13
2.1.2 The counter-force applied to the installation surface ................................................................................... 2-16
2.2 Definition of specifications ................................................................................................................................................ 2-17
2.2.1 Pose repeatability .......................................................................................................................................................... 2-17
2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-18
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-21
(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-21
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-21
2.2.5 Collision detection ......................................................................................................................................................... 2-21
2.2.6 Protection specifications ............................................................................................................................................ 2-22
(1) Types of protection specifications .................................................................................................................... 2-22
(2) About the use with the bad environment ........................................................................................................ 2-22
2.2.7 Clean specifications ...................................................................................................................................................... 2-23
(1) Types of clean specifications ............................................................................................................................... 2-23
2.3 Names of each part of the robot .................................................................................................................................... 2-24
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-25
(1) RV-4F ............................................................................................................................................................................ 2-25
(2) RV-4FL .......................................................................................................................................................................... 2-27
(3) RV-7F ............................................................................................................................................................................ 2-29
(4) RV-7FL .......................................................................................................................................................................... 2-31
(5) RV-7FLL ....................................................................................................................................................................... 2-33
(6) RV-13F/20F ................................................................................................................................................................ 2-35
(7) RV-13FL ....................................................................................................................................................................... 2-37
2.5 Tooling ........................................................................................................................................................................................ 2-39
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-39
(1) Standard specification (with no internal wiring and piping) ..................................................................... 2-39
(2) Internal wiring and piping specification (SH01) ............................................................................................. 2-40
(3) Internal wiring and piping specification (SH02) ............................................................................................. 2-41
(4) Internal wiring and piping specification (SH03) ............................................................................................. 2-42
(5) Internal wiring and piping specification (SH04) ............................................................................................. 2-43
(6) Internal wiring and piping specification (SH05) ............................................................................................. 2-44
2.5.2 Internal air piping ............................................................................................................................................................ 2-45
(1) Standard type ............................................................................................................................................................. 2-45
(2) Clean type .................................................................................................................................................................... 2-45
2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-45
2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-45
i
Contents
Page
2.5.5 Ethernet cable, option wiring cable ........................................................................................................................
2.5.6 Wiring and piping system diagram for hand .........................................................................................................
(1) Standard specification (with no internal wiring and piping) .....................................................................
(2) Internal wiring and piping specification (SH01) .............................................................................................
(3) Internal wiring and piping specification (SH02) .............................................................................................
(4) Internal wiring and piping specification (SH03) .............................................................................................
(5) Internal wiring and piping specification (SH04) .............................................................................................
(6) Internal wiring and piping specification (SH05) .............................................................................................
2.5.7 Electrical specifications of hand input/output ..................................................................................................
2.5.8 Air supply circuit example for the hand ...............................................................................................................
2.6 Shipping special specifications, options, and maintenance parts ......................................................................
2.6.1 Shipping special specifications .................................................................................................................................
(1) Machine cable .............................................................................................................................................................
2.7 Options .......................................................................................................................................................................................
(1) Machine cable extension ........................................................................................................................................
(2) J1 axis operating range change ...........................................................................................................................
(3) Solenoid valve set .....................................................................................................................................................
(4) Hand input cable ........................................................................................................................................................
(5) Hand output cable .....................................................................................................................................................
(6) Hand curl tube ............................................................................................................................................................
(7) Forearm external wiring set/ Base external wiring set .............................................................................
2.8 About Overhaul ......................................................................................................................................................................
2.9 Maintenance parts .................................................................................................................................................................
2-45
2-46
2-46
2-47
2-48
2-49
2-50
2-51
2-52
2-53
2-54
2-54
2-55
2-56
2-57
2-59
2-65
2-68
2-69
2-70
2-71
2-74
2-75
3 Controller .......................................................................................................................................................................................... 3-76
3.1 Standard specifications ...................................................................................................................................................... 3-76
3.2 Protection specifications and operating supply ....................................................................................................... 3-77
3.3 Names of each part .............................................................................................................................................................. 3-78
3.4 Outside dimensions/Installation dimensions .............................................................................................................. 3-80
3.4.1 Outside dimensions ....................................................................................................................................................... 3-80
3.4.2 Installation dimensions ................................................................................................................................................. 3-81
3.5 External input/output .......................................................................................................................................................... 3-83
3.5.1 Types .................................................................................................................................................................................. 3-83
3.6 Dedicated input/output ...................................................................................................................................................... 3-84
3.7 Emergency stop input and output etc. ......................................................................................................................... 3-87
3.7.1 Connection of the external emergency stop ...................................................................................................... 3-87
3.7.2 Special stop input (SKIP) ........................................................................................................................................... 3-92
3.7.3 Door switch function .................................................................................................................................................... 3-93
3.7.4 Enabling device function ............................................................................................................................................. 3-93
(1) When door is opening ............................................................................................................................................... 3-93
(2) When door is closing ................................................................................................................................................ 3-93
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-94
3.8 Additional Axis Function ..................................................................................................................................................... 3-95
3.8.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-95
3.9 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-98
3.10 Options .................................................................................................................................................................................... 3-99
(1) Teaching pendant (T/B) ...................................................................................................................................... 3-100
(2) Parallel I/O interface ............................................................................................................................................ 3-103
(3) External I/O cable .................................................................................................................................................. 3-108
(4) Parallel I/O unit ...................................................................................................................................................... 3-110
(5) External I/O cable .................................................................................................................................................. 3-119
(6) CC-Link interface .................................................................................................................................................. 3-121
(7) Controller protection box .................................................................................................................................... 3-124
(8) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-129
(9) Instruction Manual(bookbinding) ....................................................................................................................... 3-131
3.11 Maintenance parts ........................................................................................................................................................... 3-132
ii
Contents
Page
4 Software ......................................................................................................................................................................................... 4-133
4.1 List of commands ............................................................................................................................................................... 4-133
4.2 List of parameters .............................................................................................................................................................. 4-136
5 Instruction Manual ..................................................................................................................................................................... 5-138
5.1 The details of each instruction manuals ................................................................................................................... 5-138
6 Safety .............................................................................................................................................................................................. 6-139
6.1 Safety ...................................................................................................................................................................................... 6-139
6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-139
6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-140
6.1.3 Precautions for using robot .................................................................................................................................... 6-140
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-141
6.1.5 Safety measures for teaching ............................................................................................................................... 6-141
6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-141
6.1.7 Examples of safety measures ................................................................................................................................ 6-142
(1) CR750 controller .................................................................................................................................................... 6-142
(2) External emergency stop connection [supplementary explanation] ................................................. 6-147
6.2 Working environment ......................................................................................................................................................... 6-149
6.3 Precautions for handling .................................................................................................................................................. 6-149
7Appendix ........................................................................................................................................................................... Appendix-151
Appendix 1 : Specifications discussion material (RV-4F/7F series) ................................................. Appendix-151
Appendix 2 : Specifications discussion material (RV-7FLL) ................................................................. Appendix-152
Appendix 3 : Specifications discussion material (RV-13F/13FL) ....................................................... Appendix-153
Appendix 4 : Specifications discussion material (RV-20F) ................................................................... Appendix-154
iii
1General configuration
1 General configuration
1.1 Structural equipment
Structural equipment consists of the following types.
1.1.1 Standard structural equipment
The following items are enclosed as a standard.
(1) Robot arm
(2) Controller
(3) Machine cable
(4) Robot arm installation bolts
(5) Safety manual, CD-ROM (Instruction manual)
(6) Guarantee card
1.1.2 Special specifications
For the special specifications, some standard configuration equipment and specifications have to be changed
before factory shipping. Confirm the delivery date and specify the special specifications at the order.
1.1.3 Options
User can install options after their delivery.
1.1.4 Maintenance parts
Materials and parts for the maintenance use.
Structural equipment 1-1
1General configuration
1.2 Model type name of robot
This robot has arranged the type name corresponding to load mass, arm length, and environment specification.
Details are shown below, please select the robot suitable for the customer's use.
1.2.1 How to identify the robot model
RV - ◇ F L ● - D -Sxx
(a)
(b) (c) (d)
(e)
(f)
(g)
(a). RV .............................................. Indicates the vertical multiple-joint robot.
Ex.)
RV: Vertical multiple-joint type.
RH: Horizontal multiple-joint type.
(b). ◇ ............................................... Indicates the maximum load.
Ex)
4: 4kg
7: 7kg
13: 13kg
20: 20kg
(c). F.................................................. Indicates the F series.
(d). L.................................................. Indicates long arm type.
Ex)
Omitted: Standard type
L or LL: Long arm type
(e). ●................................................ Indicates environment specification.
Ex)
Omitted: General specifications (IP40)
M: Oil mist specifications (IP67)
C: Clean specifications (ISO class3)
Note) RV-7FLL has only general environment specification.
(f). D .................................................. Indicates the controller type.
D: Stand alone type
(g). -Sxx........................................... Indicates a special model. In order, limit special specification.
Ex)
-SHxx: Indicates the internal wiring and piping specification.
-Sxx: Indicates a special model.
1-2 Model type name of robot
1General configuration
1.2.2 Combination of the robot arm and the controller
Table 1-1 : Combination of the robot arm and the controller
Robot arm
Type name
Note1)
Protection
RV- □ F-D
-
RV- □ FL-D
RV- □ F-D-SH
Long arm
Standard specification
Standard arm
RV-20F-D-SH
equipped Note2)
RV- □ FL-D-SH
Long arm
RV-7FLL-D-SH
RV- □ FM-D
RV-20FM-D
Protection specification Note3)
RV- □ FLM-D
RV- □ FC-D
RV-20FC-D
Controller
Standard arm
RV-20F-D
RV-7FLL-D
Internal wiring and piping
Arm length
CR750- □ VD-1
Standard arm
Long arm
Clean specification
Note4)
RV- □ FLC-D
-
Standard arm
Long arm
Note1) The " □ " indicates the load mass."4" for 4kg, "7" for 7kg, "13" for 13kg. (" □ " of the controller type name is
"04", "07" or "13".)
Note2) The types of the internal wiring and piping specification models are shown in Page 3, "1.2.3 Internal wiring and piping specification types". This robot arm is a shipping special specification model. Check the delivery date.
Note3) This robot arm's protective structure is IP67. The protective structure of all the controllers is IP20 (open type).
To protect a controller, use the optional controller protection box (IP54).
Note4) The protective structure of all the controllers is IP20 (open type). To use a controller in a clean environment,
install the controller to a place that does not violate the cleanliness.
1.2.3 Internal wiring and piping specification types
The robot arm with in-wrist cables and piping is available. Before the robot arm is shipped from the factory, the
tool cables/piping are built into the robot arm's wrist and pulled out from the side of the mechanical interface. This
robot arm model eases wiring/piping tasks at the customer's side and improves the reliability against cable
disconnections, etc. The following section shows the types. For wiring/piping system diagram for hand of each
models, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand".
(The unlisted robot arms do not have internal cables/pipes. However, they can use the hand input signals and
devices such as a visual sensor.)
Table 1-2 : Internal wiring and piping specification types
Robot-arm type Note1)
RV- □ F-D-SH**
RV- □ FL-D-SH**
RV-7FLL-D-SH**
RV-20F-D-SH**
Wiring (cable for the connection to each equipment)
Base section external
wiring set Note2)
Piping
Hand input
signal
01
φ4x4 Note3)
8 points
02
Not available
8 points
1
1
1F-HA01S-01
03
Not available
Not available
1
1
1F-HA02S-01
04
φ4x2
8 points
-
1
1F-HA01S-01
05
φ4x2
8 points
1
-
1F-HA01S-01
Vision sensor
camera
Force sensor
unit
Not available
Not available
Note1) " □ " shows the load. 4kg: "4", 7kg: "7", 13kg: "13". The numeral in the table shows the applicable numeral to
"**" of the type.
Example) When internal wiring/piping specification is "01" in the standard arm and load is 4 kg, the type name is
RV-4F-D-SH01.
Note2) The corresponding base external wiring set is attached.
Note3) It can use as a secondary piping of the solenoid-valve set option.
Model type name of robot 1-3
1General configuration
1.3 CE marking specifications
The robot shown in the Table 1-3 is the CE Marking specification.
Table 1-3 : Robot models with CE marking specifications
Robot type
Controller
RV- □ F-D1-S15
RV- □ FL-D1-S15
CR750-0 □ VD1-1-S15
RV- □ F-D1-SH15xx
RV- □ FL-D1-SH15xx
CR750-0 □ VD1-1-SH15xx
RV- □ FM-D1-S15
RV- □ FLM-D1-S15
RV- □ FC-D1-S15
RV- □ FLC-D1-S15
CR750-0 □ VD1-1-S15
Note 1) " □ " shows the load. 4kg: "4", 7kg: "7".
Note 2) "xx" shows the number of the special specification.
1-4 CE marking specifications
External signal logic
Language setting
Source type
English (ENG)
1.4 Contents of the structural equipment
1.4.1 Robot arm
The list of structural equipment is shown in below.
Vertical six-axis multiplejointed type
(RV-4F-D/4FL-D、
RV-7F-D/7FL-D)
Vertical six-axis multiple-jointed
type
Machine cable
(Standard product: 5m attachment)
(RV-13F-D/13FL-D,
RV-7FLL-D/RV-20F-D)
Machine cable
(Fix type: 2m)
・ 1S-02UCBL-01
Either one
Machine cable extension
・ Fix type: 1S- □□ CBL-01
・ Flex type: 1S- □□ LCBL-01
Internal wiring and piping specification
The robot of the factory-shipments special specification which
equipped the inside of the wrist with wiring and the piping, and
was pulled out from the mechanical interface
Refer to Page 3, "1.2.3 Internal wiring and piping specification
types" for details.
Solenoid valve set
1F-VD04-02
1F-VD04-03
Hand output cable
・ 1F-GR35S-02
Hand input cable
・ 1F-HC35S-02
Hand curl tube
RV-4F/7F/7FLL
・ 1 set: 1E-ST0402C - 4 set: 1E-ST0408C
RV-13F/20F
・ 4 set: 1N-ST0608C
Pulled out from robot arm
・ Forearm external wiring set/ Base
external wiring set
Forearm
Pneumatic hand customer-manufactured parts
(Special hand output cable is attached)
<Sink type/Source type>
・ 1 set: 1F-VD01-**/1F-VD01E-**
Note) "**" differs by
・ 2 set: 1F-VD02-**/1F-VD02E-**
robot arm.
・ 3 set: 1F-VD03-**/1F-VD03E-**
Refer to Table
1-4 for details.
・ 4 set: 1F-VD04-**/1F-VD04E-**
Note1) □□ refer the length.
Refer to Table 1-4 for details.
Note2) Extend by adding to the arm side of
the standard accessory cable (for fixing).
Pulled out from robot arm
Base
J1 axis operating range change
(Stopper parts)
・ RV-4F series: 1F-DH-03
・ RV-7F series: 1F-DH-04
・ RV-13F series: 1F-DH-05J1
* Installed by customer.
[Caution]
Standard configuration
equipment
Special specifications
Option
Prepared by customer
Fig.1-1 : Structural equipment (Robot arm)
Contents of the structural equipment 1-5
1
General configuration
1.4.2 Controller
The devices shown below can be installed on the controller.
The controllers that can be connected differ depending on the specification of the robot. (Refer to Page 2, "1.2
Model type name of robot".)
Controller
・ RV-4F :
・ RV-7F :
・ RV-7FLL :
・ RV-13F :
・ RV-20F :
CR750-04VD-1
CR750-07VD-1
CR750-07VLD-1
CR750-13VD-1
CR750-20VD-1
Controller protection box
・ CR750-MB
Teaching pendant (T/B)
R32TB
CC-Link interface
2D-TZ576
Parallel I/O interface
Parallel I/O unit
2D-TZ368(Sink)/
2D-TZ378(Source)
2A-RZ361(Sink)/
2A-RZ371(Source)
R56TB
External I/O cable
External I/O cable
・ 2D-CBL05 (5m)
・ 2D-CBL15 (15m)
・ 2A-CBL05 (5m)
・ 2A-CBL15 (15m)
PLC(Programmable
Logic Controller)
External device
Prepared by
customer
Personal computer
Prepared by customer
RT ToolBox2/RT ToolBox2 mini
RT ToolBox2
・ 3D-11C-WINJ(CD-ROM)
(MS-Windows2000/XP/Vista/7)
RT ToolBox2 mini
・ 3D-12C-WINJ(CD-ROM)
(MS-Windows2000/XP/Vista/7)
*)Refer to Table
1-5 for USB
cable.
Instruction Manual(bookbinding)
・ RV-4F-D/7F-D/13F-D:
5F-FF01-PE01
[Caution]
Standard configuration
equipment
Special specifications
Options
Prepared by customer
The photograph is the image figure.
Fig.1-2 : Structural equipment
1-6
1
General configuration
1.5 Contents of the Option equipment and special specification
A list of all Optional equipment and special specifications are shown below.
Table 1-4 : The list of Option equipment and special specification
Item
Internal wiring and piping
specification
(robot arm)
J1 axis operating range
change
Type
Specifications
Classification
RV- □ F-D-SH01
RV- □ FL-D-SH01
RV-7FLL-D-SH01
RV-20F-D-SH01
Functions equipped inside of wrist:
Air-hose φ4 x 4, Eight hand input
signals.
RV- □ F-D-SH02
RV- □ FL-D-SH02
RV-7FLL-D-SH02
RV-20F-D-SH02
Functions equipped inside of wrist:
Eight hand input signals, connection cable for vision-sensor camera, connection cable for force
sensor unit.
RV- □ F-D-SH03
RV- □ FL-D-SH03
RV-7FLL-D-SH03
RV-20F-D-SH03
Functions equipped inside of wrist:
Connection cable for vision-sensor camera and force sensor unit.
RV- □ F-D-SH04
RV- □ FL-D-SH04
RV-7FLL-D-SH04
RV-20F-D-SH04
Functions equipped inside of wrist:
Air-hose φ4 x 2, Eight hand input
signals, connection cable for force
sensor unit.
RV- □ F-D-SH05
RV- □ FL-D-SH05
RV-7FLL-D-SH05
RV-20F-D-SH05
Functions equipped inside of wrist:
Air-hose φ4 x 2, Eight hand input
signals, connection cable for
vision-sensor camera.
1F-DH-03
Stopper part for RV-4F series:
Sets as the + side/- side each by
the combination within 30, 73, 103
and 146.
○
Stopper part for RV-7F series:
Sets as the + side/- side each by
the combination within 35, 77, 99
and 141.
○
Stopper part for RV-13F series:
Sets as the + side/- side each by
the combination within 30, 73, 103
and 146.
○
1F-DH-04
1F-DH-05J1
Description
Note1)
○
○
The connection with the force sensor unit
uses the attached adapter cable in the
force-sensor option.
Note) The corresponding base external
wiring set is attached.
○
○
○
This must be installed and setting the
parameter by the customer.
* Refer to Page 59, "(2) J1 axis
operating range change" for details.
Machine cable
1S-02UCBL-01
(Replaced to shorter cable)
For fixing
(Set of power and signal)
○・□
Extended machine cable
1S- □□ CBL-01
For fixing
(Set of power and signal)
○
5, 10, 15m
1S- □□ LCBL-01
For flexing
(Set of power and signal)
○
5, 10, 15m
The solenoid-valve set for the hand of
the customer setup.
Use for RV-4F/7F series and RV-7FLL.
Solenoid valve set
1F-VD01-02/VD01E-02 1 set (Sink type)/(Source type)
○
1F-VD02-02/VD02E-02 2 set (Sink type)/(Source type)
○
1F-VD03-02/VD03E-02 3 set (Sink type)/(Source type)
○
1F-VD04-02/VD04E-02 4 set (Sink type)/(Source type)
○
1F-VD01-03/VD01E-03 1 set (Sink type)/(Source type)
○
1F-VD02-03/VD02E-03 2 set (Sink type)/(Source type)
○
1F-VD03-03/VD03E-03 3 set (Sink type)/(Source type)
○
1F-VD04-03/VD04E-03 4 set (Sink type)/(Source type)
○
2m(A 2 m cable is supplied instead of
the 5 m cable that is supplied as standard)
The solenoid-valve set for the hand of
the customer setup.
Use for RV-13F/13FL and RV-20F.
Hand input cable
1F-HC35S-02
Robot side: connector.
Hand side: wire.
○
The cable is connected to the sensor by
the customer.
Hand output cable
1F-GR35S-02
Robot side: connector.
Hand side: wire
○
This cable can be used for the solenoid
valve prepared by the customer.
Hand curl tube
1E-ST0402C
For solenoid valve 1set.: φ4x2
○
Curl type air tube
1E-ST0404C
For solenoid valve 2set.: φ4x4
○
1E-ST0406C
For solenoid valve 3set.: φ4x6
○
1E-ST0408C
For solenoid valve 4set.: φ4x8
○
1E-ST040*C: use for RV-4F/7F series
and RV-7FLL.
1N-ST0608C: use for RV-13F/13FL and
RV-20F.
1N-ST0608C
For solenoid valve 4set.: φ6x8
○
Contents of the Option equipment and special specification 1-7
1
General configuration
Item
Forearm external wiring
set
Base external wiring set
Simple teaching pendant
Highly efficient teaching
pendant
Parallel I/O Interface
Type
Description
Note1)
1F-HB01S-01
The following cables can be wired outside:
hand input signals, force sensor and vision
sensor.
○
1F-HB02S-01
The following cables can be wired outside:
force sensor and vision-sensor.
○
1F-HA01S-01
The following cables can be wired outside:
force sensor and vision-sensor.
○
1F-HA02S-01
The following cables can be wired outside:
force sensor and vision-sensor.
○
R32TB
Cable length 7m
○
R32TB-15
Cable length 15m
○
R56TB
Cable length 7m
○
R56TB-15
Cable length 15m
○
Pulls out from forearm lower part.
Pulls out from base side.
DO: 32 point
DI: 32 point
2D-TZ368(Sink type)/
2D-TZ378(Source type) Insulated type output signal
External I/O cable
2D-CBL05
(For Parallel I/O Interface)
2D-CBL15
Parallel I/O Unit
Classification
Specifications
With 3-position enable switch
IP65
The card type external input-and-output.
Interface. Install to the slot of controller.
(0.1A/24V /point)
Insulated type input signal
(9mA/ 24V /point)
○
5m
○
15m
○
Use to connect the external peripheral
device to the parallel input/output
interface.
○
The unit for expansion the external
input/output.
Electrical isolated Type
(100mA/Point)
2A-RZ361(Sink type)/ DO: 32 point/
2A-RZ371(Source type) DI: 32 point
Insulated type output signal
(0.1A/24V /point)
Insulated type input signal
(7mA/ 24V /point)
External I/O cable
(For Parallel I/O Unit)
2A-CBL05
5m
○
2A-CBL15
15m
○
CC-Link interface
2D-TZ576
Only Intelligent device station,
Local station
○
For MELSEC PLC with CC-Link connection.
Controller protection box
CR750-MB
IP54
○
The controller protection box is used to
protect the controller from an oil mist or
other operating environment.
RT ToolBox2
(Personal computer Sup-
3D-11C-WINE
CD-ROM
○
MS-Windows2000/XP/Vista/7
(With the simulation function)
RT ToolBox2 mini
(Personal computer Sup-
3D-12C-WINE
CD-ROM
Instruction Manual
5F-FF01-PE01
RV-4F/7F/13F-D (CR750 controller) series
port software)
○
port software mini)
Use to connect the external peripheral
device to the parallel input/output unit
MS-Windows2000/XP/Vista/7
○
Note1) ○ : option, □ : special specifications.
[Reference]:The recommendation products of the USB cable are shown below
Table 1-5 : Recommendation article of the USB cable
Name
Type name
USB cable
(USB A type-USB mini B type)
USB adapter
(USB B type-USB mini B type)
Caution
Caution
Supplier
KU-AMB530
SANWA SUPPLY INC.
USB-M53
ELECOM CO., LTD.
GT09-C30USB-5P
MITSUBISHI ELECTRIC SYSTEM & SERVICE CO.,
LTD.
MR-J3USBCBL3M
MITSUBISHI ELECTRIC CO., LTD.
AD-USBBFTM5M
ELECOM CO., LTD.
Be careful to the USB cable to apply neither the static electricity nor the noise.
Otherwise, it becomes the cause of malfunction.
Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer.
The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in
the equipments connected to USB. When using network equipment, measures against the noise, such
as measures against EMI and the addition of the ferrite core, may be necessary. Please fully confirm
the operation by customer. Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.
1-8 Contents of the Option equipment and special specification
2Robot arm
2 Robot arm
2.1 Standard specifications
2.1.1 Basic specifications
(1) RV-4F/7F series
Table 2-1 : Standard specifications of robot (with no internal wiring and piping)
Item
Unit
Specifications
RV-4F
Type
RV-4FL
RV-7FL
6
Degree of freedom
On floor, hanging, (against wall Note1) )
Installation posture
Structure
Vertical, multiple-joint type
Drive system
AC servo motor (brake provided on all axes)
Position detection method
Absolute encoder
Motor capac- Waist (J1)
ity
Shoulder (J2)
Operating
range
W
400
750
400
750
Elbow (J3)
100
400
Wrist twist (J4)
100
100
Wrist pitch (J5)
100
100
Wrist roll (J6)
50
50
±240
±240
Waist (J1)
Degree
Shoulder (J2)
±120
Elbow (J3)
0 to 161
0 to 164
Wrist twist (J4)
±200
Wrist pitch (J5)
±120
Wrist roll (J6)
Speed of
motion
360
288
Shoulder (J2)
450
336
401
321
Elbow (J3)
300
250
450
360
Wrist twist (J4)
540
337
Wrist pitch (J5)
623
450
Wrist roll (J6)
720
Note2)
Pose repeatability Note3)
Note4)
Ambient temperature
mm
514.5
720
648.7
mm/sec
9,000
kg(N)
4
907.7
7
±0.02
0.36
0.32
℃
kg
713.4
11,000
mm
sec
Note5)
Mass
0.35
0 to 40
39
41
65
67
6.66
16.2
6.66
16.2
Wrist roll (J6)
3.90
6.86
Wrist twist (J4)
0.20
0.45
Allowable
Wrist twist (J4)
moment load
Wrist pitch (J5)
Wrist pitch (J5)
N・m
kg ・ m2
0.20
0.45
0.10
Wrist roll (J6)
Hand input eight points / hand output eight points
Hand input/output
Equipped (eight cores) <100BASE-TX>
LAN cable
Tool pneumatic pipes
0 to 162
420
Load
Tool wiring
-110 to 130
0 to 156
450
Maximum resultant velocity
Allowable
inertia
-115 to 125
±360
Degree/s
Waist (J1)
Maximum reach radius (P point)
Cycle time
RV-7F
Omitted: Standard specification
C: Clean specification
M: Oil mist specification
Environment
Wiring for user
Equipped (24 cores) <Force sensor etc.>
Primary piping
φ6×2
Secondary piping
Supply pressure
φ4×8
MPa
0.54
Standard specifications 2-9
2Robot arm
Item
Unit
Specifications
Standard specification: IP20
Clean specification: ISO class 3 Note7)
Oil mist specification: IP67 Note8) Note9)
Protection specification Note6)
Painting color
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) This is the value on the mechanical interface surface when all axes are combined.
Note3) The pose repeatability details are given in Page 17, "2.2.1 Pose repeatability"
Note4) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
25
300
Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed
explanations of functions and operations for details.)
Note6) The protection specification details are given in Page 22, "2.2.6 Protection specifications".
Note7) The details of the clean specifications are described in Page 23, "2.2.7 Clean specifications".
Note8) The protection performance cannot be ensured with some oil characteristics. Contact the dealer.
Note9) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller
from the operation environment. A robot equipped with the controller protection box as standard is available.
2-10 Standard specifications
2Robot arm
Table 2-2 : Standard specifications of robot (with internal wiring and piping)
Item
Unit
Type
Specifications
RV-4F-SH
RV-4FL-SH
Environment
Degree of freedom
RV-7FL-SH
6
Installation posture
On floor, hanging, (against wall
Structure
Note1)
)
Vertical, multiple-joint type
Drive system
AC servo motor (brake provided on all axes)
Position detection method
Motor capac- Waist (J1)
ity
Shoulder (J2)
Operating
range
Absolute encoder
W
400
750
400
750
Elbow (J3)
100
400
Wrist twist (J4)
100
100
Wrist pitch (J5)
100
100
Wrist roll (J6)
50
50
±240
±240
Waist (J1)
Degree
±120
Shoulder (J2)
Elbow (J3)
0 ~ 161
Speed of
motion
±200
Wrist pitch (J5)
±120
±200
360
288
336
401
321
Elbow (J3)
300
250
450
360
Wrist twist (J4)
540
337
Wrist pitch (J5)
623
450
Wrist roll (J6)
720
mm
648.7
713.4
907.7
10,000
9,900
12,000
11,700
4
7
mm
Note5)
±0.02
sec
Note6)
Ambient temperature
℃
Mass
kg
Allowable
Wrist twist (J4)
moment load
Wrist pitch (J5)
N・m
Wrist twist (J4)
Wrist pitch (J5)
kg ・ m2
0.35
0 to 40
40
42
66
68
16.2
6.66
16.2
3.90
6.86
0.20
0.45
0.20
0.45
Hand input eight points / hand output eight points
Hand input/output
LAN cable
Equipped (eight cores) <100BASE-TX>
Equipped (24 cores) <Force sensor etc.>
Wiring for user
Promary piping
φ6×2
φ4×4: forearm section
φ4×4: passes through in the wrist.
Secondary piping
MPa
Note8)
0.32
0.10
Wrist roll (J6)
Supply pressure
0.36
6.66
Wrist roll (J6)
Protection specification
720
514.5
kg(N)
Pose repeatability Note4)
Painting color
Note2)
420
Load
Tool pneumatic pipes
0 ~ 162
450
Maximum resultant velocity Note3) mm/sec
Tool wiring
0 ~ 156
450
Maximum reach radius (P point)
Allowable
inertia
-110 ~ 130
Shoulder (J2)
Waist (J1)
Degree/s
-115 ~ 125
0 ~ 164
Wrist twist (J4)
Wrist roll (J6)
Cycle time
RV-7F-SH
Standard specification
Note7)
0.54
Standard specification: IP40
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.
Note3) This is the value on the mechanical interface surface when all axes are combined.
Note4) The pose repeatability details are given in Page 17, "2.2.1 Pose repeatability"
Standard specifications 2-11
2Robot arm
Note5) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
25
300
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed
explanations of functions and operations for details.)
Note7) The internal wiring and piping specification is φ4x4.
Note8) The protection specification details are given in Page 22, "2.2.6 Protection specifications".
2-12 Standard specifications
2Robot arm
(2) RV-13F series
Table 2-3 : Standard specifications of robot (with no internal wiring and piping)
Item
Unit
Specifications
RV-13F
Type
RV-13FL
RV-20F
Omitted: Standard specification
C: Clean specification
M: Oil mist specification
Environment
Standard specification
Degree of freedom
6
Installation posture
On floor, hanging (against wallNote1) )
Structure
Vertical, multiple-joint type
AC servo motor (brake provided on all axes)
Drive system
Position detection method
Motor capacity
Operating
range
Waist (J1)
Absolute encoder
W
1500
Shoulder (J2)
1500
Elbow (J3)
750
Wrist twist (J4)
400
Wrist pitch (J5)
200
100
Wrist roll (J6)
100
50
Waist (J1)
Degree
±190
-90 to +150
Shoulder (J2)
Elbow (J3)
Speed of
motion
-10 to +157.5
Wrist twist (J4)
±200
Wrist pitch (J5)
±120
Wrist roll (J6)
±360
290
234
110
234
Shoulder (J2)
234
164
110
164
Elbow (J3)
312
219
110
219
Waist (J1)
Degree/s
Wrist twist (J4)
375
124
375
Wrist pitch (J5)
375
125
450
Wrist roll (J6)
720
360
720
Maximum reach radius (P point)
Maximum resultant
velocityNote2)
Load Rating (Maximum)
mm
1,094
1,388
1,094
1,503
mm/sec
10,450
9,700
4,200
15,300
15(20)
7(7)
kg
Pose
repeatabilityNote3)
mm
Cycle
timeNote4)
sec
Ambient temperatureNote5)
℃
Mass
kg
Allowable
moment load
Wrist twist (J4)
N・m
Wrist pitch (J5)
12(13)
±0.05
0.53
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
±0.06
0.68
0.70
0.63
120
130
19.3
49
16.2
19.3
49
16.2
0 to 40
120
130
Wrist roll (J6)
Allowable
inertia
RV-7FLL
11
kg ・ m2
6.86
0.47
1.4
0.45
0.47
1.4
0.45
0.14
0.1
Standard specifications 2-13
2Robot arm
Item
Tool wiring
Specifications
Unit
Hand input eight points / hand output eight points
Hand input/output
Equipped (eight cores) <100BASE-TX>
LAN cable
Wiring for user
Tool pneumatic pipes
Equipped (24 cores) <Force sensor etc.>
Promary piping
φ6×2
Secondary piping
φ6×8
MPa
Supply pressure
Protection specification
0.54
Note6)
Standard specification: IP40
Clean specification: ISO class 3 Note7)
Oil mist specification: IP67 Note8) Note9)
Painting color
IP40
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) This is the value on the mechanical interface surface when all axes are combined.
Note3) The pose repeatability details are given in Page 17, "2.2.1 Pose repeatability"
Note4) The required time period to execute one cycle of the following operation pattern with 5kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
25
300
Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note6) The protection specification details are given in Page 22, "2.2.6 Protection specifications".
Note7) The details of the clean specifications are described in Page 23, "2.2.7 Clean specifications".
Note8) The protection performance cannot be ensured with some oil characteristics. Contact the dealer.
Note9) To use a controller in an oil mist environment, use the optional controller protection box and protect the controller from
oil mists.
2-14 Standard specifications
2Robot arm
Table 2-4 : Standard specifications of robot (with internal wiring and piping)
Item
Unit
Type
Specifications
RV-13F-SH
RV-13FL-SH
Environment
RV-20F-SH
Standard specification
Degree of freedom
6
Installation posture
On floor, hanging (against wallNote1) )
Structure
Vertical, multiple-joint type
AC servo motor (brake provided on all axes)
Drive system
Position detection method
Motor capacity
Operating
range
Waist (J1)
Absolute encoder
W
1500
Shoulder (J2)
1500
Elbow (J3)
750
Wrist twist (J4)
400
Wrist pitch (J5)
200
100
Wrist roll (J6)
100
50
Waist (J1)
±190
Degree
-90 to +150
Shoulder (J2)
Elbow (J3)
-10 to +157.5
Wrist twist (J4)
±200
Wrist pitch (J5)
±120
±200Note2)
Wrist roll (J6)
Speed of
motion
Waist (J1)
290
234
110
234
Shoulder (J2)
234
164
110
164
Elbow (J3)
312
219
110
219
375
124
375
Wrist pitch (J5)
375
125
450
Wrist roll (J6)
720
360
720
Maximum resultant
velocityNote3)
Load Rating (Maximum)
repeatabilityNote4)
Cycle time
Ambient
Note5)
mm
1,094
1,388
1,094
1,503
mm/sec
10,450
9,700
4,200
15,300
15(20)
7(7)
kg
Wrist twist (J4)
±0.05
0.53
N・m
Wrist pitch (J5)
0.70
0.63
120
130
19.3
49
16.2
19.3
49
16.2
0-40
120
130
Wrist roll (J6)
Allowable
inertia
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Tool wiring
Hand input/output
LAN cable
Wiring for user
±0.06
0.68
℃
kg
Mass
12(13)
mm
sec
temperatureNote6)
Allowable
moment load
Degree/s
Wrist twist (J4)
Maximum reach radius (P point)
Pose
RV-7FLL-SH
11
kg ・ m2
6.86
0.47
1.4
0.45
0.47
1.4
0.45
0.14
0.1
Hand input eight points / hand output eight points
Equipped (eight cores) <100BASE-TX>
Equipped (24 cores) <Force sensor etc.>
Standard specifications 2-15
2Robot arm
Item
Unit
Specifications
Promary piping
Tool pneumatic pipes
φ6×2
φ4×4Note7)
Secondary piping
MPa
Supply pressure
Protection specification
0.54
Note8)
Standard specification: IP40
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)
Painting color
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.
Note3) This is the value on the mechanical interface surface when all axes are combined.
Note4) The pose repeatability details are given in Page 17, "2.2.1 Pose repeatability"
Note5) The required time period to execute one cycle of the following operation pattern with 5kg load. The cycle time may be
longer depending on the required positioning accuracy for the workpiece and the operating position.
25
300
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the
continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the
overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note7) The internal wiring and piping specification is φ4x4.
Note8) The protection specification details are given in Page 22, "2.2.6 Protection specifications".
2.1.2 The counter-force applied to the installation surface
The counter-force applied to the installation surface for the strength design of the robot installation surface is
shown.
Table 2-5 : Value of each counter-force
Item
Falls moment: ML
N・m
Torsion moment: MT
N・m
Horizontal translation force:
FH
N
Vertical translation force: FV
N
2-16 Standard specifications
Value
Unit
RV-4F/7F series
RV-13F series
900
2,060
900
2,060
1,000
1,750
1,700
2,900
2 Robot arm
2.2 Definition of specifications
The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.
2.2.1 Pose repeatability
For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value
is based on 100 measurements (although 30 measurements are required according to JIS).
[Caution] The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.
[1] Operation pattern factors
1) When an operation that approaches from different directions and orientations are included in relation to the teaching position during repeated operations
2) When the speed at teaching and the speed at execution are different
[2] Load fluctuation factor
1) When work is present/absent in repeated operations
[3] Disturbance factor during operation
1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway
[4] Temperature factors
1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation
[5] Factors due to differences in accuracy definition
1) When accuracy is required between a position set by a numeric value in the robot's internal coordinate system and a position within the actual space
2) When accuracy is required between a position generated by the pallet function and a position
within the actual space
Definition of specifications 2-17
2 Robot arm
2.2.2 Rated load (mass capacity)
The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass,
eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the following issues.
(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable
moment found in Page 9, "2.1.1 Basic specifications".
(2) Fig. 2-1, Fig. 2-2, Fig. 2-3 and Fig. 2-4 shows the distribution dimensions for the center of gravity in the
case where the volume of the load is relatively small. Use this figure as a reference when designing the
tooling.
(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allowable
moment. Refer to Page 9, "2.1 Standard specifications" for details of allowable moment value.
[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.
Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt
alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceleration, the operating speed, and the motion posture.
[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia
defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes
or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling.
Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note
that if the point of operation is kept away from the mechanical interface surface by long and low-rigid
tooling, the positioning accuracy may deteriorate or may cause vibration.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascending operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending
speed.
Unit: :mm
単位
mm
1kg
200
220
J5軸回転中心
Rotation center
for J5 axis
2kg
155
3kg
4kg
120
150
100
100
50
405
400
290
300
225
200
170
100
0
Rotation
center
J6軸回転中心
for J6 axis
Fig.2-1 : Position of center of gravity for loads (for loads with comparatively small volume): RV-4F/4FL
2-18
2 Robot arm
Unit: :mm
単位
mm
1kg
300
310
J5軸回転中心
Rotation center
for J5 axis
2kg
3kg
220
200
4kg
5kg
6kg
100
7kg
600
600
430
400
300
355
Rotation
center
J6軸回転中心
for J6 axis
100
240
310
500
175
155
135
115
200
100
280 255
Fig.2-2 : Position of center of gravity for loads (for loads with comparatively small volume): RV-7F/7FL
Unit:: mm
mm
単位
300
Rotation
center
J5軸回転中心
for J5 axis
210
3kg
200
150
120
6kg
9kg
100
12kg
390
600
500
400
275
300
215
90
160
200
100
Rotation
center
J6軸回転中心
for J6 axis
Fig.2-3 : Position of center of gravity for loads (for loads with comparatively small volume): RV-13F/13FL
2-19
2 Robot arm
Unit:: mm
mm
単位
300
Rotation center
J5軸回転中心
for J5 axis
200
150
120
6kg
9kg
12kg
100
15kg
475
600
390
500
400
90
70
300
335
300
200
100
Rotation
center
J6軸回転中心
for J6 axis
Fig.2-4 : Position of center of gravity for loads (for loads with comparatively small volume): RV-20F
2-20
2 Robot arm
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to
the load capacity and size that have been set, and operates using these automatically set speeds.
To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.
However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending
on the robot operation pattern or ambient temperature.
In such a case, change the setting value to the +20% range.
If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism elements used in the robot may be shortened. In the case of a work requiring a high degree of accuracy, set up the
load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.
(1) Setting Load Capacity and Size (Hand Conditions)
Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration
setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8
can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using
the "LoadSet" command in a program.
For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations."
It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending
on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count
specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These
vibrations at the tip of the arm can be reduced by taking the following measures:
1) Lower the robot's operating speed by approximately 5% from high speed using the Ovrd command.
2) Change and move the teaching points of the robot.
3) Change the hand mass and hand inertia.
2.2.5 Collision detection
This series have the "collision detection function" which detects the abnormalities by the collision of the robot
arm, however initial setting is in invalid condition.
The enable/disable of this function can be changed by parameter: COL and command: ColChk, this function is
effective for protect of the robot and of the peripheral equipment.
The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any
time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should
be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for
example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold condition, the operation after long term stoppage)
In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection
level according to actual use environment, the sensitivity of collision detection can be optimized and the damage
risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate
by accustoming at low speed (warm-up), or use the warm-up operation mode.
Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related
parameter.
2-21
2 Robot arm
2.2.6 Protection specifications
(1) Types of protection specifications
The robot arm has protection specifications that comply with the IEC Standards. The protection specifications
and applicable fields are shown in Table 2-6.
Even oil mist environment can be used in addition to the general environment.
Table 2-6 : Protection specifications and applicable fields
Protection
specifications
(IEC Standards value)
Type
RV-4F-D/4FL-D
RV-7F-D/7FL-D
RV-7FLL-D
RV-13F-D/13FL-D
RV-20F-D
RV-4FM-D/4FLM-D
RV-7FM-D/7FLM-D
RV-13FM-D/13FLM-D
RV-20FM-D
CAUTION
Classification
Applicable field
General environment specifications
General assembly
Slightly dusty environment
Oil mist specifications
Machine tool (cutting)
Machine shop with heavy oil mist
Dusty work shop
Remarks
IP40
IP67
Use the controller protection box 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 2-6.
The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective
structure against the entry of oil or water.
The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the
robot with the liquids, such as the water and the oil.
【Information】
・ The IEC IP40
The protection standard for approach in the dangerous spot in the tool. It indicates the protective structure
that the proximity probe 2.5mm in diameter must not advance.
・ The IEC IP67
Protection against water infiltration as specified in IP67 indicates a protective structure that is not harmfully
affected, even if the test device dives underwater for the 30 minutes. The diving depth is shown below. When
the height of the test device is less than 850 mm, the position of the lowest part is 1 m from the water surface.
When the height of the test device is 850 mm or more, the position of the highest part is 150 mm from the
water surface.
(2) About the use with the bad environment
The robot arm with protection specification (oil mist specification) is made by order. This robot has protection
methods that conform to IEC's IP67 standards (splashproof type). Recommended usage conditions.
1) The robot is designed for use in combination with machining device.
2) To ensure IP67 over the warranty period and further, the inside of the robot arm needs to be pressurized.
Use the provided φ8 joint (AIR PURGE) to supply dry air for pressurizing. The φ8 joint (AIR PURGE) can
be found at the base rear part of the robot arm.
Table 2-7 : Specification of the dry air for pressurization
Item
Specification
Dew point
The atmospheric pressure dew point is 20 degree or less.
Pressure
0.01MPa or less
3) We are confirming examining with the cutting oil, and satisfying protection specification. Our warranty does
not cover damages or failure resulting from the robot being operated in any environment where other cutting
oils than those listed in the table are used (except cutting oils with respect to which the robot's compatibility with the protection specification is verified through our operability evaluation) or where the robot body
2-22
2 Robot arm
may be directly splashed with water, oil or dust in quantities larger than stated in the protection specification.
4) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.
Also, entrained water droplets lead to the formation of rust on the robot, but would not usually affect the robot's
ability to operate normally.
The warranty is invalid for any faults that occur when the robot is used under the following conditions.
Also, if the cover and/or other parts are damaged by interferences caused by the peripheral devices and the
robot, the protection specification (seal performance, etc.) may be degraded. Therefore, please pay extra attention
when handling the robot.
Refer to Page 149, "6.2 Working environment".
1) In surroundings that generate inflammable gases or corrosive gasses.
2) Atmosphere of the mist containing polish liquid etc.
3) Atmosphere in which the water, the oil, and the dust exceeding protection specification fall on the robot arm
directly.
4) Pressurization by the dry air exceeding the specification of Table 2-7.
2.2.7 Clean specifications
(1) Types of clean specifications
The robot arm with clean specification is made by order. Please check the delivery schedule.
Table 2-8 : Clean specifications
Type
Degree of cleanliness
RV-4FC-D/4FLC-D
RV-7FC-D/7FLC-D
RV-13FC-D/13FLC-D
RV-20FC-D
ISO class3
Internal suction
Concentrated suction with vacuum
generating valve.
Use it in the clean room with the
down flow (flow velocity 0.3 m/s
above).
Remarks
The use of a vacuum generating valve
is recommended.
■ Precautions for use
1) A φ8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.
(Refer to Fig. 2-20) When using the robot, connect this coupling with the vacuum generating valve (Refer to
Table 2-9) and vacuum pump (furnished by the customer).
2) To suck in the robot arm, use the vacuum generator of the specification shown in following a) and b).
a) When using the vacuum generator
Table 2-9 : Specifications of vacuum generation valve (Confirmed in our company)
Type
MEDT 14
Maker
Air pressure Note1)
KONEGAI CORPORATION ・ Vacuum rate: 90.0 L/min(ANR)
Quantity
1
Note1) It is the vacuum pump maker's written specification.
b) When using the vacuum pump
Assure the vacuum flow rate of more than 30 L/min. And, secure the exhaust course from the pump not
to affect the power supply and the cleanness for the vacuum pumps.
2-23
2 Robot arm
2.3 Names of each part of the robot
リスト
Wrist
+
J5 axis
J5軸
フォアアーム
Fore arm
(No.2 arm)
(No.2アーム)
J4J4軸
axis
Elbow block
エルボブロック
-
+
メカニカルインタフェース
Mechanical
interface
(Hand
installation flange surface)
(ハンド取付フランジ面)
+
-
-
J3
axis
J3軸
+
J6 J6軸
axis -
Elbow
エルボ
+
ショルダ
Shoulder
-
Upper arm
アッパーアーム
(No.1 arm)
(No.1アーム)
J2 axis
J2軸
-
J1軸
J1 axis
+
ベース
Base
Note) Although the figure is RV-4F, and RV-7F/13F series is also the same.
Fig.2-5 : Names of each part of the robot
2-24 Names of each part of the robot
2 Robot arm
2.4 Outside dimensions ・ Operating range diagram
(1) RV-4F
Notes
1.
2.
3.
4.
5.
6.
Rev. A
*1) Ensure the cable connection space to connect machine cables.
*2) Ensure the maintenance space to take out the cover.
*3) The screw should go in to a depth of 7.5mm to 8mm.
*4) Screw hole (M4 depth 8) for securing the user cables/piping.
*5) The size of the internal wiring and piping specification model (-SHxx).
*6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.
Standard
specification
Clean/oil mist
specification
-SH**
specification
-SH**
specification
Clean/oil mist
specification
Clean/oil mist
specification
-SH**
specification
Approx. 100
Minimum
*2)
Maintenance
space
Cable connection space
(Installation surface)
Standard
specification
(Installation surface)
Clean/oil mist
specification
-SH**
specification
4-φ9 installation hole
depth 8
*3)
4-M5 screw depth 8
φ20H
7 dep
th 6
View A: Detail of mechanical interface
View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-6 : Outside dimensions: RV-4F
Outside dimensions ・ Operating range diagram 2-25
2 Robot arm
Rev. A
Notes
1. *1) Rear face operation limit: When the J axis angle is -35° <= J1 <= +115°, the J2 axis operation is limited to -113° <=
J2 <= +120°.
2. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Operating range of each axis:
P-point path
J6 (-SH** specification): ±200°
The area which
P point cannot
be moved
Top view
*3)
The area which P point cannot be moved
(240 from the
installation surface)
When Internal wiring
and piping specification
(-SH**)
Flange downward
limit line
Control point
(R point)
*1)
Rear-face/side-face
operating area
Control point of
"-SH**" specification (R point)
The area which P point
cannot be moved
P-point
P-point path
The boundary of the singularpoint of flange downward
The area which P point
cannot be moved
The area which P point
cannot be moved
Side view
Fig.2-7 : Operating range diagram: RV-4F
2-26 Outside dimensions ・ Operating range diagram
2 Robot arm
(2) RV-4FL
Notes
1.
2.
3.
4.
5.
6.
Rev. A
*1) Ensure the cable connection space to connect machine cables.
*2) Ensure the maintenance space to take out the cover.
*3) The screw should go in to a depth of 7.5mm to 8mm.
*4) Screw hole (M4 depth 8) for securing the user cables/piping.
*5) The size of the internal wiring and piping specification model (-SHxx).
*6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.
Standard
specification
Clean/oil mist
specification
-SH**
specification
-SH**
specification
Clean/oil mist
specification
Clean/oil mist
specification
-SH**
specification
Approx. 100
Minimum
*2)
Cable connection space
Maintenance
space
Standard
specification
(Installation surface)
Clean/oil mist
specification
(Installation surface)
-SH**
specification
4-φ9 installation hole
depth 8
*3)
4-M5 screw depth 8
φ20H
7
depth
6
View B bottom view drawing: Detail of installation dimension
View A: Detail of mechanical interface
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-8 : Outside dimensions: RV-4FL
Outside dimensions ・ Operating range diagram 2-27
2 Robot arm
Rev. A
Notes
1. *1) Rear face operation limit: When the J axis angle is -35° <= J1 <= +110°, the J2 axis operation is limited to -114° <=
J2 <= +120°.
2. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
P-point path
Operating range of each axis:
P-point
J6 (-SH** specification): ±200°
The area which P point
cannot be moved
Top view
*3)
The area which P point cannot be moved
When Internal wiring
and piping specification
(-SH**)
(240 from the
installation surface)
*1)
Rear-face
operating area
Flange downward
limit line
Control point
(R point)
Control point of
"-SH**" specification (R point)
P-point path
The boundary of the singularpoint of flange downward
The area which P point
cannot be moved
P-point
The area which
P point cannot
be moved
The area which P point
cannot be moved
Side view
Fig.2-9 : Operating range diagram: RV-4FL
2-28 Outside dimensions ・ Operating range diagram
2 Robot arm
(3) RV-7F
Notes
1.
2.
3.
4.
5.
6.
Rev. A
*1) Ensure the cable connection space to connect machine cables.
*2) Ensure the maintenance space to take out the cover.
*3) The screw should go in to a depth of 7.5mm to 8mm.
*4) Screw hole (M4 depth 8) for securing the user cables/piping.
*5) The size of the internal wiring and piping specification model (-SHxx).
*6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.
Standard
specification
Clean/oil mist
specification
-SH**
specification
-SH**
specification
Clean/oil mist
specification
Clean/oil mist
specification
-SH**
specification
Approx. 100
Cable connection space
Minimum
*2)
(Installation surface)
Maintenance
space
(Installation surface)
Standard
specification
Clean/oil mist
specification
4-φ9 installation hole
-SH**
specification
depth 8
*3)
4-M5 screw depth 8
φ20H
7
depth
6
View A: Detail of mechanical interface
View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-10 : Outside dimensions: RV-7F
Outside dimensions ・ Operating range diagram 2-29
2 Robot arm
Rev. A
Notes
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
P-point path
Operating range of each axis:
P-point
J6 (-SH** specification): ±200°
The area which P
point cannot be moved
Top view
*1)
The area which P point cannot be moved
When Internal wiring
and piping specification
(-SH**)
(271 from the
installation surface)
Flange downward
limit line
Control point
(R point)
Control point of
"-SH**" specification (R point)
The area which P point
cannot be moved
P-point path
P-point
The boundary of the singularpoint of flange downward
The area which P
point cannot be
moved
Side view
Fig.2-11 : Operating range diagram: RV-7F
2-30 Outside dimensions ・ Operating range diagram
The area which P point
cannot be moved
2 Robot arm
(4) RV-7FL
Notes
1.
2.
3.
4.
5.
6.
Rev. A
*1) Ensure the cable connection space to connect machine cables.
*2) Ensure the maintenance space to take out the cover.
*3) The screw should go in to a depth of 7.5mm to 8mm.
*4) Screw hole (M4 depth 8) for securing the user cables/piping.
*5) The size of the internal wiring and piping specification model (-SHxx).
*6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.
Standard
specification
Clean/oil mist
specification
-SH**
specification
-SH**
specification
Clean/oil mist
specification
Clean/oil mist
specification
-SH**
specification
Approx. 100
Minimum
*2)
Maintenance
space
(Installation surface)
Cable connection space
(Installation surface)
Standard
specification
Clean/oil mist
specification
4-φ9 installation hole
-SH**
specification
depth 8
4-M5 screw depth 8
φ20H
7
View A: Detail of mechanical interface
*3)
depth
6
View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-12 : Outside dimensions: RV-7FL
Outside dimensions ・ Operating range diagram 2-31
2 Robot arm
Notes
Rev. A
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) Front face operation limit: When the J1 axis angle is +145° <= J1 <= +215° or -145° <= J1 <= -215°, the J2 axis
operation is limited to -110° <= J2 <= +120°.
3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
P-point path
P-point
Operating range of each axis:
J6 (-SH** specification): ±200°
The area which P point cannot be moved
Top view
*2)
The area which P point cannot be moved
When Internal wiring
and piping specification
(-SH**)
(271 from the
installation surface)
Flange downward
limit line
Control point (R point)
Control point of "-SH**"
specification (R point)
P-point path
The area which P point
cannot be moved
P-point
The area which P point
cannot be moved
The boundary of the singularpoint of flange downward
Side view
*1)
Front-face/side-face
operating area
Fig.2-13 : Operating range diagram: RV-7FL
2-32 Outside dimensions ・ Operating range diagram
The area which P point
cannot be moved
2 Robot arm
(5) RV-7FLL
Notes
1.
2.
3.
4.
Rev. *
*1) Ensure the cable connection space to connect machine cables.
*2) The screw should go in to a depth of 7.5mm to 8mm.
*3) The size of the internal wiring and piping specification model (-SHxx).
*4) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH**
specification.
Standard
specification
Clean/oil mist
specification
-SH**
specification
Clean/oil mist
-SH**
specification specification
Clean/oil mist
specification
(Installation surface)
-SH**
specification
reamer
Minimum
4-φ14 installation hole
(Installation surface)
depth 8
*3)
4-M5 screw depth 8
φ20H
7 dep
th 6
View A: Detail of mechanical interface
View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-14 : Outside dimensions: RV-7FLL
Outside dimensions ・ Operating range diagram 2-33
2 Robot arm
Notes
Rev. *
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
2. *1) Front face operation limit: When the J1 axis angle is +120° <= J1 or J1 <= -120°, the J2 axis operation is limited to 90° <= J2 <= +130°.
3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
P-point
P-point path (+ side)
P-point path (- side)
The area which P
point cannot be moved
Top view
Flange downward
limit line
P-point
Top view
Control point (R point)
Front-face/side-face
operating area
*1)
Fig.2-15 : Operating range diagram: RV-7FLL
2-34 Outside dimensions ・ Operating range diagram
The area which P point
cannot be moved
Side view
2 Robot arm
(6) RV-13F/20F
Notes
Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) The screw should go in to a depth of 8.5mm to 9.5mm.
*1)
Cable connection space
SH specification
*1)
Cable connection space
(Installation surface)
Minimum
rimer
4-φ14 installation hole
(Installation surface)
depth 8
*2)
4-M6 screw depth 10
depth 10
depth 6
(SH specification)
depth 6.5
depth 8
(SH specification)
View A: Detail of mechanical interface
View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-16 : Outside dimensions: RV-13F/20F
Outside dimensions ・ Operating range diagram 2-35
2 Robot arm
Notes
Rev. A
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
P-point
P-point movement area
P-point movement area
(plus side)
Flange downward limit line
P-point
R-point
(control point)
Fig.2-17 : Operating range diagram: RV-13F/20F
2-36 Outside dimensions ・ Operating range diagram
(minus side)
2 Robot arm
(7) RV-13FL
Notes
Rev. A
1. *1) Ensure the cable connection space to connect machine cables.
2. *2) The screw should go in to a depth of 8.5mm to 9.5mm.
*1)
Cable connection space
SH specification
*1)
Cable connection space
(Installation surface)
Minimum
rimer
4-φ14 installation hole
(Installation surface)
depth 8
*2)
4-M6 screw depth 10
depth 10
depth 6
(SH specification)
depth 6.5
depth 8
(SH specification)
View A: Detail of mechanical interface
View B bottom view drawing: Detail of installation dimension
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the
robot arm may rise, and the error may occur.
Fig.2-18 : Outside dimensions: RV-13FL
Outside dimensions ・ Operating range diagram 2-37
2 Robot arm
Notes
Rev. *
1. The following figure shows a robot at the position of:
J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0°
P-point
P-point movement area
(plus side)
Flange downward limit line
P-point
R-point
(control point)
Fig.2-19 : Operating range diagram: RV-13FL
2-38 Outside dimensions ・ Operating range diagram
P-point movement area
(minus side)
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) Standard specification (with no internal wiring and piping)
Fore arm
Primary piping pneumatic hose (AIR IN, RETURN)
Hand output signal connector (GR1, GR2)
P
R
GR1
GR2
OP1
OP3
OP2
OP4
LAN
Note 1)
<A>
Mechanical interface
*1) Descriptions of cable connectors
OP1: Connector for option signals
(hand input signals HC1 to HC8)
OP2: Connector for option signals
OP3: Connector for option power supply
(power supply for hand input signals)
OP4: Connector for option power supply
LAN: Connector for Ethernet options
* For details, refer to Page 46, "2.5.6 Wiring
and piping system diagram for hand".
Upper arm
Pull out the cables/ piping
When using the Hand input cable or the Hand output
cable (option), the cables can be pulled out from the
underneath of the forearm (shown as <A> in the
figure).
When using the Forearm external wiring set or the
Base external wiring set (option), the cables/piping
can be pulled out from the underneath of the
forearm and the side of the base area. (For the pullout position, refer to Page 71, "(7) Forearm external
wiring set/ Base external wiring set".
The shipping special specification model, which the
cables/piping equipped into its wrist and pulled out
from the mechanical interface, is also available.
The details on the wiring and piping specification can
be found on Page 46, "2.5.6 Wiring and piping system
diagram for hand".
}
Base
OP1
OP3
OP2
OP4
LAN
Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
φ8 coupling
(Only for oil mist specification (AIR PURGE)
or clean specification (VACUUM))
Fig.2-20 : Wiring and piping for hand
Tooling 2-39
2 Robot arm
(2) Internal wiring and piping specification (SH01)
Installation position of the solenoid valve option
Mechanical interface Note1)
Hand output signal connector
(GR1, GR2)
Fore arm
Secondary piping pneumatic hose
(four φ4 hoses)
Primary piping pneumatic hose
(AIR IN, RETURN)
P
R
GR1
GR2
OP1
OP3
OP2
OP4
LAN
Upper arm
Hand input signal cable connector (HC)
Note1)
Mechanical interface (Front view)
Cable length of outside the robot arm
150mm
Hand input cable
(HC)
*3)
*1)
depth 8
screw
depth 8
Air hoses
*2)
Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
depth 6
}
Cable outlet
*4)
*1) The screws should go in to a depth of 7.5mm to 8mm.
*2) Four air tubes have numbered marking tube. Those lengths from the cable
outlet are 300 mm.
*3) Refer to Fig. 2-27 for pin assignment of the hand input cable (HC).
*4) The hand input cable and two air tubes are fixed on the surface of
mechanical interface. And, all cables and hoses are fixed also in the cable
outlet section.
OP1
OP3
OP2
OP4
LAN
Base
* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand".
Fig.2-21 : Wiring and piping for hand (SH01)
2-40 Tooling
2 Robot arm
(3) Internal wiring and piping specification (SH02)
Mechanical interface Note1)
Hand input signal cable
connector (HC)
Hand output signal connector
(GR1, GR2)
Fore arm
Force sensor unit
(E ・ F1)
Primary piping pneumatic hose
(AIR IN, RETURN)
P
R
GR1
GR2
OP1
OP3
OP2
OP4
LAN
Vision sensor (LAN)
(Ethernet)
Upper arm
Note1)
Mechanical interface (Front view)
Cable length of outside the robot arm
150mm
Force sensor unit (E ・ F1)
Hand input cable
(HC)
*1)
depth 8
screw
depth 8
Vision sensor (LAN)
(Ethernet)
Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
depth 6
}
Cable outlet
*2)
RIO
*1) The screws should go in to a depth of 7.5mm to 8mm.
*2) The hand input cable and two air tubes are fixed on the surface of
mechanical interface. And, all cables and hoses are fixed also in the cable
outlet section.
OP1
OP3
OP2
OP4
LAN
E・F1
LAN
Base
* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand".
Fig.2-22 : Wiring and piping for hand (SH02)
Tooling 2-41
2 Robot arm
(4) Internal wiring and piping specification (SH03)
Mechanical interface Note1)
Hand output signal connector
(GR1, GR2)
Fore arm
Reserved (E ・ F1)
Primary piping pneumatic hose
(AIR IN, RETURN)
P
R
Force sensor unit
(E ・ F2)
GR1
GR2
OP1
OP3
OP2
OP4
LAN
Vision sensor (LAN)
(Ethernet)
Upper arm
Note1)
Cable length of outside the robot arm
150mm
Mechanical interface (Front view)
Reserved
(E ・ F1)
Force sensor unit
(E ・ F2)
*1)
depth 8
screw
depth 8
Vision sensor (LAN)
(Ethernet)
Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
depth 6
}
Cable outlet
*2)
RIO
*1) The screws should go in to a depth of 7.5mm to 8mm.
*2) The hand input cable and two air tubes are fixed on the surface of
mechanical interface. And, all cables and hoses are fixed also in the cable
outlet section.
OP1
OP3
OP2
OP4
LAN
Base
* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand".
Fig.2-23 : Wiring and piping for hand (SH03)
2-42 Tooling
E・F1
E・F2
LAN
2 Robot arm
(5) Internal wiring and piping specification (SH04)
Mechanical interface
Note1)
Hand output signal connector
(GR1, GR2)
Fore arm
Secondary piping pneumatic hose
(two φ4 hoses)
Hand input signal cable
connector (HC)
Primary piping pneumatic hose
(AIR IN, RETURN)
P
R
GR1
GR2
OP1
OP3
OP2
OP4
LAN
Force sensor unit
(E ・ F2)
Upper arm
Note1)
Cable length of outside the robot arm
150mm
Mechanical interface (Front view)
Hand input cable *3)
(HC)
Force sensor unit
(E ・ F2)
depth 8
screw
depth 8
*1)
Air hoses
*2)
Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
depth 6
}
Cable outlet
*4)
*1) The screws should go in to a depth of 7.5mm to 8mm.
*2) Two air tubes have numbered marking tube. Those lengths from the
cable outlet are 300 mm.
*3) Refer to Fig. 2-30 for pin assignment of the hand input cable (HC).
*4) The hand input cable and force sensor cable are fixed on the surface
of mechanical interface. And, all cables and hoses are fixed also in the
cable outlet section.
RIO
OP1
OP3
OP2
OP4
LAN
E・F2
Base
* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand".
Fig.2-24 : Wiring and piping for hand (SH04)
Tooling 2-43
2 Robot arm
(6) Internal wiring and piping specification (SH05)
Mechanical interface Note1)
Fore arm
Secondary piping pneumatic hose
(two φ4 hoses)
Hand input signal cable
connector (HC)
Hand output signal connector
(GR1, GR2)
Primary piping pneumatic hose
(AIR IN, RETURN)
P
R
GR1
GR2
OP1
OP3
OP2
OP4
LAN
Vision sensor (LAN)
(Ethernet)
Upper arm
Note1)
Cable length of outside the robot arm
150mm
Mechanical interface (Front view)
Hand input cable *3)
(HC)
Vision sensor
(LAN)
depth 8
*1)
screw
depth 8
Air hoses
*2)
Primary piping pneumatic coupling (φ6)
(AIR IN, RETURN)
depth 6
}
Cable outlet
*4)
*1) The screws should go in to a depth of 7.5mm to 8mm.
*2) Two air tubes have numbered marking tube. Those lengths from the
cable outlet are 300 mm.
*3) Refer to Fig. 2-31 for pin assignment of the hand input cable (HC).
*4) The hand input cable and force sensor cable are fixed on the surface
of mechanical interface. And, all cables and hoses are fixed also in
the cable outlet section.
RIO
OP1
OP3
OP2
OP4
LAN
Base
* For details, refer to Page 46, "2.5.6 Wiring and piping system diagram for hand".
Fig.2-25 : Wiring and piping for hand (SH05)
2-44 Tooling
LAN
2 Robot arm
2.5.2 Internal air piping
(1) Standard type
1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the shoulder
cover. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air
exhaust.
2) The optional solenoid is provided with a maximum of eight couplings for the air hose. The diameter of the
couplings are shown below.
1F-VD0*-02 (Sink type)/1F-VD0*E-02 (Source type): φ4
1F-VD0*-03 (Sink type)/1F-VD0*E-03 (Source type): φ6
3) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.
4) Refer to Page 65, "(3) Solenoid valve set" for details on the electronic valve set (optional).
5) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR
PURGE) of φ8 is prepared at the rear of the base section, please supply the dry air for pressurization from
this joint. Refer to Page 22, "2.2.6 Protection specifications" for the details of dry air.
(2) Clean type
1) The clean specification basically includes the same piping as the standard type.
2) With the clean specification, a φ8 coupling is provided in the base section for suction inside the machine.
For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the
vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use
the exhaust filter (prepared by the customer).
3) Refer to Page 23, "2.2.7 Clean specifications" for details of the vacuum for suction.
4) Supply clean air to the vacuum generator.
2.5.3 Internal wiring for the hand output cable
1) The hand output primary cable extends from the connector PCB of the base section to the inside of the
forearm. (AWG#24(0.2mm2) x 2 cores: 8 cables) The cable terminals have connector bridges for eight hand
outputs.The connector names are GR1 and GR2.
To extend the wiring to the outside of the arm, a separate cable (optional "hand output cable 1F-GR35S02" ) is required.
2.5.4 Internal wiring for the hand input cable
1) The hand input cable extends from the connector PCB of the base section to the inside of the forearm.
(AWG#24(0.2mm2) for eight points) The cable terminals have connector bridges for eight hand inputs. The
connector names are OP1 and OP3.
2) The hand check signal of the pneumatic hand is input by connecting this connector.
To extend the wiring to the outside of the arm, a separate cable (optional "hand input cable "1F-HC35C02") is required.
2.5.5 Ethernet cable, option wiring cable
Ethernet cables, eight option signal cables, and four power supply cables internally run from the robot’s base
section up to the forearm area.
These cables can be also pulled out from the underneath of the forearm or from the side of the base area by using
options. (Options "Forearm external wiring set" and "Base external wiring set".)
Table 2-10 : Ethernet cable specification
Item
Communication speed
Size
Externality of insulator
Specification
100BASE-TX
AWG #26 (0.13mm2) x four pair (total eight cores)
Approx. 0.98 mm
Tooling 2-45
2 Robot arm
2.5.6 Wiring and piping system diagram for hand
Shows the wiring and piping configuration for a standard-equipped hand.
(1) Standard specification (with no internal wiring and piping)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
白
White
黒
Black
White
白
黒
Black
White
白
Black
黒
<+24V(COM)>
<Reserved>
<予約>
<GR
<GR
<GR
<GR
5>
6>
7>
8>
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
1>
2>
3>
4>
Robot arm wiring relay board
or
<GR
<GR
<GR
<GR
コントローラ
Connect to the optional solenoid
valve set directly
白
White
黒
Black
White
白
黒
Black
White
白
Black
黒
<+24V(COM)>
<Reserved>
<予約>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
<TXRXH>
<TXRXL>
A1
A2
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
OP4
A1
A2
B1
B2
A19
A20
B19
B20
Pull out the cables
Note1)
A1
A2
A3
A4
B1
B2
B3
B4
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
茶
Brown
<TXRXH>
<TXRXL>
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1
A2
A3
A4
B1
B2
B3
B4
1次配管エアホース
Primary piping
pneumatic hose
Solenoid
電磁弁
セット
valve
set
(オプション)
(Option)
φ6 φ6クイック継手
quick coupling
φ6
hose
φ6ホース
AIR IN
φ6
hose
φ6ホース
RETURN
φ6クイック継手
φ6 quick coupling
φ8 quick
coupling
φ8クイック継手
Fore arm
フォアアーム内
VACCUM
: Clean specification
オイルミスト仕様(加圧)
クリーン仕様(吸引)
AIR
PURGE: Oil-mist specification
のみ
Base
ベース部
Note1) The forearm side has the structural which can pull out the hand output cable and the hand input cable (respectively option
cable) as standard.
Fig.2-26 : Wiring and piping system diagram for hand and example the solenoid valve installation (Sink type)
2-46 Tooling
2 Robot arm
(2) Internal wiring and piping specification (SH01)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
白
White
黒
Black
White
白
黒
Black
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Note1) The pin assignment of hand
input signal connector.
A1
A2
A3
A4
A6
B1
B2
B3
B4
B6
<HC1>
<HC2>
<HC3>
<HC4>
<24V>
<HC5>
<HC6>
<HC7>
<HC8>
<24G(RG)>
Connector
Manufacturer:
Tyco Electronics AMP
Robot arm side:
1-1827864-6
Customer-prepared side:
1-1903130-6
Mechanical interface
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
Robot arm wiring relay board
or
<GR 1>
<GR 2>
<GR 3>
<GR 4>
コントローラ
Connect to the optional solenoid
valve set directly
白
White
黒
Black
White
白
黒
Black
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
<TXRXH>
<TXRXL>
A1
A2
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
OP4
A1
A2
B1
B2
A19
A20
B19
B20
A1
A2
A3
A4
B1
B2
B3
B4
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
茶
Brown
<TXRXH>
<TXRXL>
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1
A2
A3
A4
B1
B2
B3
B4
Primary piping
pneumatic hose
1次配管エアホース
1 2 3 4
Air tube (φ4x4)
Note1)
Solenoid
電磁弁
セット
valve
set
(Option)
(オプション)
HC
Hand input signals
φ6 φ6クイック継手
quick coupling
φ6
hose
φ6ホース
AIR IN
φ6
hose
φ6ホース
RETURN
φ6クイック継手
φ6 quick coupling
φ8クイック継手
φ8 quick
coupling
Fore arm
フォアアーム内
オイルミスト仕様(加圧)
VACCUM : Clean specification
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Base
ベース部
Fig.2-27 : Wiring and piping system diagram for hand and example the solenoid valve installation: SH01 (Sink type)
Tooling 2-47
2 Robot arm
(3) Internal wiring and piping specification (SH02)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
White
白
黒
Black
White
白
黒
Black
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR
<GR
<GR
<GR
5>
6>
7>
8>
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Note2) The pin assignment of hand
input signal connector.
A1
A2
A3
A4
A6
B1
B2
B3
B4
B6
<HC1>
<HC2>
<HC3>
<HC4>
<24V>
<HC5>
<HC6>
<HC7>
<HC8>
<24G(RG)>
Option (attached):
1F-HA01S-01
<TXRXH>
<TXRXL>
RIO
A1
A2
A3
A4
Connector
Manufacturer:
Tyco Electronics AMP
Robot arm side:
1-1827864-6
Customer-prepared side:
1-1903130-6
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
A1
A2
B1
B2
A19
A20
B19
B20
Mechanical interface
OP4
LAN
Vision-sensor
camera. (Ethernet)
E ・ F1
Force sensor
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
1>
2>
3>
4>
Robot arm wiring relay board
or
<GR
<GR
<GR
<GR
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
黒
Black
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
Note1)
A1
A2
A3
A4
B1
B2
B3
B4
Reserved
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
Brown
茶
<TXRXH>
<TXRXL>
<+24G(RG)>
<+24V>
E ・ F1
Connects with
force sensor
interface Note1)
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1
A2
A3
A4
B1
B2
B3
B4
LAN
Connects with
the vision-sensor controller
Primary piping
pneumatic hose
1次配管エアホース
Solenoid
電磁弁
valve
set
セット
(Option)
(オプション)
HC
φ6 φ6クイック継手
quick coupling
φ6 hose
φ6ホース
AIR IN
φ6 hose
φ6ホース
RETURN
φ6 quick coupling
φ6クイック継手
φ8 quick
coupling
φ8クイック継手
Hand input signals Note2)
Fore arm
フォアアーム内
オイルミスト仕様(加圧)
VACCUM : Clean specification
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Base
ベース部
Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.
Fig.2-28 : Wiring and piping system diagram for hand and example the solenoid valve installation: SH02 (Sink type)
2-48 Tooling
2 Robot arm
(4) Internal wiring and piping specification (SH03)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
White
白
黒
Black
White
白
黒
Black
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
Robot arm wiring relay board
or
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
黒
Black
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Option (attached):
1F-HA01S-01
<TXRXH>
<TXRXL>
RIO
A1
A2
A3
A4
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
A1
A2
B1
B2
A19
A20
B19
B20
Mechanical interface
OP4
LAN
Vision-sensor
camera. (Ethernet)
E ・ F2
Force sensor
E ・ F1
Reserved
Note1)
A1
A2
A3
A4
B1
B2
B3
B4
Reserved
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
E ・ F1
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
Brown
茶
<TXRXH>
<TXRXL>
<+24G(RG)>
<+24V>
Reserved
E ・ F2
Connects with
force sensor
interface Note1)
100 BASETX Either net cable
100BASETXイーサネットケーブル
A1
A2
A3
A4
B1
B2
B3
B4
LAN
Connects with
the vision-sensor controller
Primary piping
pneumatic hose
1次配管エアホース
Solenoid
電磁弁
valve
set
セット
(Option)
(オプション)
φ6 φ6クイック継手
quick coupling
φ6 hose
φ6ホース
AIR IN
φ6 hose
φ6ホース
RETURN
φ6 quick coupling
φ6クイック継手
φ8 quick
φ8クイック継手
coupling
Fore arm
フォアアーム内
オイルミスト仕様(加圧)
VACCUM : Clean specification
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Base
ベース部
Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.
Fig.2-29 : Wiring and piping system diagram for hand and example the solenoid valve installation:SH03 (Sink type)
Tooling 2-49
2 Robot arm
(5) Internal wiring and piping specification (SH04)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
White
白
黒
Black
白
White
黒
Black
白
White
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Note2) The pin assignment of hand
input signal connector.
<HC1>
<HC2>
<HC3>
<HC4>
<24V>
<HC5>
<HC6>
<HC7>
<HC8>
<24G(RG)>
A1
A2
A3
A4
A6
B1
B2
B3
B4
B6
Connector
Manufacturer:
Tyco Electronics AMP
Robot arm side:
1-1827864-6
Customer-prepared side:
1-1903130-6
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
Robot arm wiring relay board
or
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
黒
Black
白
White
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
Option (attached):
1F-HA01S-01
<TXRXH>
<TXRXL>
RIO
A1
A2
A3
A4
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
A1
A2
B1
B2
A19
A20
B19
B20
Mechanical interface
OP4
A1
A2
A3
A4
B1
B2
B3
B4
Reserved
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
Brown
茶
<TXRXH>
<TXRXL>
<+24G(RG)>
<+24V>
E ・ F2
Connects with
force sensor
interface Note1)
100BASETXイーサネットケーブル
100 BASETX Either net cable
A1
A2
A3
A4
B1
B2
B3
B4
Primary piping
pneumatic hose
1次配管エアホース
1 2
Air tube (φ4x2)
E ・ F2
Force sensor Note1)
HC
Solenoid
電磁弁
セット
valve
set
(オプション)
(Option)
φ6φ6クイック継手
quick coupling
φ6 hose
φ6ホース
AIR IN
φ6 hose
φ6ホース
RETURN
φ6 quick coupling
φ6クイック継手
φ8 quick
coupling
φ8クイック継手
Fore arm
フォアアーム内
VACCUM : Clean specification
オイルミスト仕様(加圧)
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Base
ベース部
Hand input signals Note2)
Note1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.
Fig.2-30 : Wiring and piping system diagram for hand and example the solenoid valve installation:SH04 (Sink type)
2-50 Tooling
2 Robot arm
(6) Internal wiring and piping specification (SH05)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
白
White
黒
Black
白
White
黒
Black
白
White
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Note1) The pin assignment of hand
input signal connector.
<HC1>
<HC2>
<HC3>
<HC4>
<24V>
<HC5>
<HC6>
<HC7>
<HC8>
<24G(RG)>
A1
A2
A3
A4
A6
B1
B2
B3
B4
B6
Connector
Manufacturer:
Tyco Electronics AMP
Robot arm side:
1-1827864-6
Customer-prepared side:
1-1903130-6
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
Robot arm wiring relay board
or
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
黒
Black
白
White
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
Option (attached):
1F-HA01S-01
<TXRXH>
<TXRXL>
RIO
A1
A2
A3
A4
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
OP4
A1
A2
B1
B2
A19
A20
B19
B20
Mechanical interface
A1
A2
A3
A4
B1
B2
B3
B4
Reserved
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
茶
Brown
<TXRXH>
<TXRXL>
<+24G(RG)>
<+24V>
100BASETXイーサネットケーブル
100 BASETX Either net cable
A1
A2
A3
A4
B1
B2
B3
B4
LAN
Connects with
vision sensor
controller
Primary piping
pneumatic hose
1次配管エアホース
1 2
Air tube (φ4x2)
HC
LAN
Vision-sensor camera.
(Ethernet)
電磁弁
Solenoid
セット
valve
set
(オプション)
(Option)
φ6φ6クイック継手
quick coupling
φ6 hose
φ6ホース
AIR IN
φ6 hose
φ6ホース
RETURN
φ6 quick coupling
φ6クイック継手
φ8 quick
φ8クイック継手
coupling
オイルミスト仕様(加圧)
VACCUM
: Clean specification
クリーン仕様(吸引)
AIR
PURGE: Oil-mist specification
のみ
Fore arm
フォアアーム内
Base
ベース部
Hand input signals Note1)
Fig.2-31 : Wiring and piping system diagram for hand and example the solenoid valve installation:SH05 (Sink type)
Tooling 2-51
2 Robot arm
2.5.7 Electrical specifications of hand input/output
Table 2-11 : Electrical specifications of input circuit
Item
Specifications
Type
DC input
No. of input points
8
Insulation method
Photo-coupler insulation
<Sink type>
+24V
+24V
Rated input voltage
24VDC
Rated input current
approx. 7mA
Working voltage range
DC10.2 to 26.4V (ripple rate within 5%)
ON voltage/ON current
8VDC or more/2mA or more
OFF voltage/OFF current
4VDC or less/1mA or less
Input resistance
Approx. 3.3kΩ
Response time
Internal circuit
OFF-ON
10ms or less (DC24V)
ON-OFF
10ms or less (DC24V)
820
HCn *
3.3K
24GND
<Source type>
+24V
+24V
HCn*
3.3K
820
24GND
* HCn = HC1 to HC8
Table 2-12 : Electrical specifications of output circuit
Item
Specification
Type
Transistor output
No. of output points
8
Insulation method
Photo coupler insulation
Rated load voltage
DC24V
Rated load voltage range
DC21.6 to 26.4VDC
Max. current load
0.1A/ 1 point (100%)
Current leak with power OFF
0.1mA or less
Maximum voltage drop with power ON
DC0.9V(TYP.)
Response time
OFF-ON
2ms or less (hardware response time)
ON-OFF
2 ms or less (resistance load) (hardware response time)
Protects
Internal circuit
<Sink type>
+24V(COM)
(Initial
power supply)
(内部電源)
GRn*
Protection
of
過電流
over-current
保護機能
Protects the over-current (0.9A)
24GND
<Source type>
+24V
Protection
過電流of
over-current
保護機能
GRn*
24GND(COM)
* GRn = GR1 to GR8
2-52 Tooling
2 Robot arm
2.5.8 Air supply circuit example for the hand
Fig. 2-32 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. 2-32 and
use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure
clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes damaged.
(3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator.
(4) Supply clean air to the vacuum generation valve when you use clean type robot.
(5) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.
Pressure switch
To the AIR IN (Robot arm)
(MAX0.54MPa)
Pneumatic source
(Clean)
0.7MPa less
Filter
Regurater
Fig.2-32 : Air supply circuit example for the hand
2-53
2 Robot arm
2.6 Shipping special specifications, options, and maintenance parts
2.6.1 Shipping special specifications
■ What are sipping special specifications?
Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to
confirm the delivery date by the customer.
To make changes to the specifications after shipment, service work must be performed at the work site or the
robot must be returned for service.
■ How to order
(1) Confirm beforehand when the factory special specifications can be shipped, because they may not be
immediately available.
(2) Specify, before shipping from our company.
(3) Specified method …… Specify the part name, model, and robot model type.
2-54 Shipping special specifications, options, and maintenance parts
2 Robot arm
(1) Machine cable
■ Order type:
● Fixed type .........1S-02UCBL-1 (2m)
■ Outline
This cable is exchanged for the machine cable (5 m for fixed type) that was supplied
as standard to shorten the distance between the controller and the robot arm.
■ Configuration
Table 2-13 : Configuration equipment and types
Part name
Fixed
Set of signal and power cables
Type
1S-02UCBL-01
Qty.
Mass(kg)Note1)
1 set
3.4
Motor signal cable
BKO-FA0741H02
(1 cable)
-
Motor power cable
BKO-FA0739H02
(1 cable)
-
RemarksNote2)
2m
Note1) Mass indicates one set.
Note2) Standard 5 m (for fixed type) is not attached.
[Caution] Orders made after purchasing a robot are treated as purchases of optional equipment. In this case, the
machine cable (5 m for fixed type) that was supplied as standard is not reclaimed.
Shipping special specifications, options, and maintenance parts 2-55
2 Robot arm
2.7 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for customer needs.
customer installation is required for the options. Options come in two types: "set options" and "single options".
1. Set options .......................................A combination of single options and parts that together, from a set for serving
some purpose.
2. Single options ..................................That are configured from the fewest number of required units of a part.
Please choose customer's purpose additionally.
2-56 Options
2 Robot arm
(1) Machine cable extension
■ Order type:
● Fixed type
● Flexed type
1S- □□ CBL-01
1S- □□ LCBL-01
Note) The numbers in the boxes □□ refer the length.
■ Outline
The distance between the robot controller and the robot arm is extensible by this
option. This cable is extended to the machine cable attached as standard. (5m for fix
type)
A fixed type and flexible type are available.
The extended method is discriminated as follows.
Fixed type/Flexed type:
・ Adds to the machine cable attached in the standards.
The fix and flexible types are both configured of the motor signal cable and motor
power cable.
■ Configuration
Table 2-14 : Configuration equipment and types
Fixed
Flexed
Qty.
TypeNote1)
Part name
Mass(kg)
Fixed
Flexed
Set of signal and power cables
1S- □□ CBL-01
1 set
-
Motor signal cable
1S- □□ CBL(S)-01
(1 cable)
-
Motor power cable
1S- □□ CBL(P)-01
(1 cable)
-
Set of signal and power cables
1S- □□ LCBL-01
-
1 set
Remarks
Note2)
6.7(5m)
12(10m)
17(15m)
5m, 10m, or 15m each
7(5m)
13(10m)
17(15m)
5m, 10m, or 15m each
Motor signal cable
1S- □□ LCBL(S)-01
-
(1 cable)
Motor power cable
1S- □□ LCBL(P)-01
-
(1 cable)
Nylon clamp
NK-14N
-
2 pcs.
-
for motor signal cable
Nylon clamp
NK-18N
-
2 pcs.
-
for motor power cable
-
4 pcs.
-
Silicon rubber
Note1) The numbers in the boxes □□ refer the length.
Note2) Mass indicates one set.
■ 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 2-15.
Table 2-15 : Conditions for the flexed type cables
Item
Specifications
Minimum flexed radius
100R or more
Cableveyor, etc., occupation rate
50% or less
Maximum movement speed
2,000mm/s or less
Guidance of life count
7.5 million times
Environmental proof
Oil-proof specification sheath
(for silicon grease, cable sliding lubricant type) IP54
Cable configuration
Motor signal cable
φ6 x 5, φ8.5 x 1 and φ1.7 x 1
Motor power cable
φ8.9 x 2 and φ6.5 x 8
[Caution] The guidance of life count may greatly differ according to the usage state (items related to Table 2-15
and to the amount of silicon grease applied in the cableveyor.
Options 2-57
2 Robot arm
■ Cable configuration
The configuration of the flexible cable is shown in Table 2-16. Refer to this table when selecting the cableveyor.
Table 2-16 : Cable configuration (Flexed type)
Motor signal cable
1S- □□ LCBL(S)-01
Item
No. of cores
Motor power cable
1D- □□ LCBL(P)-01
AWG#24(0.2mm2)-4P
AWG#24(0.2mm2)-7P
AWG#18(0.75mm2)
AWG#17(1.25mm2)-4C
AWG#19(0.75mm2)-4C
Finish dimensions
Approx. φ6mm
Approx. φ8.5mm
Approx. φ1.7mm
Approx. φ8.9mm
Approx. φ6.5mm
No.of cables used
5 cables
1 cable
1 cable
2 cable
8 cable
No. in total
7 cables
Note) The square in the cable name indicates the cable length.
2-58 Options
10 cables
2 Robot arm
(2) J1 axis operating range change
■ Order type
RV-4F series: 1F-DH-03
RV-7F series: 1F-DH-04
RV-13F series: 1F-DH-05J1
■ Outline
The operating range of J1 axis is limited by the robot arm's mechanical stopper and
the controller parameters.
If the axis could interfere with the peripheral devices, etc., and the operating range
need to be limited, use this.
■ Configuration
(1) RV-4F series (1F-DH-03)
Table 2-17 : Configuration devices (RV-4F series)
No.
Part name
Qty.
Mass (kg)
Remarks
<1>
Stopper plate
2
One piece each for + side/- side
<2>
Fixing block A
2
One piece each for + side/- side
<3>
Fixing block B
1
+ side
<4>
Fixing block C
1
- side
1.1
<5>
Variable stopper block
2
One piece each for + side/- side
<6>
Screw (M10x20)
2
Use for mechanical stopper screw A and B
<7>
Screw (M6x25)
2
For fixing
<8>
Screw (M6x20)
16
For fixing
- (minus) side
<4>
<3>
<1>
<2>
+ (plus) side
<5>
Install each parts to the upper arm lower part
with attached screw.
Options 2-59
2 Robot arm
Table 2-18 : Changeable angle (RV-4F series)
Item
Standard
+ (plus) side
Variable stopper block angle
Variable stopper block position
Mechanical stopper screw A
Note1)
Note2)
Parameter (MEJAR) setting value
- (minus) side
Variable stopper block angle
Variable stopper block position
Mechanical stopper screw B
Note1)
Note2)
Parameter (MEJAR) setting value
Changeable angle (combination of + side/- side) (Unit: Degree)
+240
+30
+73
+103
+146
-
+33
+76
+106
+149
-
(a)
(b)
(a)
(b)
-
Use
Disuse
Note3)
+240
+30
+73
+103
+146
-240
-30
-73
-103
-146
-
-33
-76
-106
-149
-
(d)
(c)
(d)
(c)
-240
Use
-30
Disuse
-73
-103
Note3)
-146
Note1) Symbol: “(a)” - “(d)” are related with the symbol of Page 62 "Fig. 2-33: Installation image of J1axis operating
range change option (RV-4F/7F series)".
Note2) In the table, it means that “Disuse” does not install the screw, and “Use” does install the screw.
Note3) Mechanical stopper screw which is either one of the two is always necessary. For this reason, the combination
enclosed by the thick line of the square in the table (both of + (plus) side and - (minus) side are 103 or 146) cannot
be used.
Example) It cannot be used that set +146 as the plus side and set -103 as the minus side simultaneously. The other
combination can be set up.
1) The changeable angle of RV-4F series is shown in Table 2-18. The changeable angle shown in Table 2-18
indicates the operation range by the software. The limit by the mechanical stopper is positioned three
degrees outward from that angle, so take care when designing the layout.
2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition
shown in Table 2-18.
3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation
of Functions and Operations" for details.
2-60 Options
2 Robot arm
(2) RV-7F series (1F-DH-04)
Table 2-19 : Configuration devices
No.
Part name
Qty.
Mass (kg)
Remarks
<1>
Stopper plate
2
One piece each for + side/- side
<2>
Fixing block A
2
One piece each for + side/- side
<3>
Fixing block B
1
+ side
<4>
Fixing block C
1
- side
1.1
<5>
Variable stopper block
2
One piece each for + side/- side
<6>
Screw (M12x25)
2
Use for mechanical stopper screw A and B
<7>
Screw (M8x25)
14
For fixing
<8>
Screw (M8x20)
4
For fixing
- (minus) side
<4>
<3>
<1>
<2>
+ (plus) side
Install each parts to the upper arm lower part
with attached screw.
<5>
Table 2-20 : Changeable angle (RV-7F series)
Item
Standard
+ (plus) side
Variable stopper block angle
Variable stopper block position
Mechanical stopper screw A
Note1)
Note2)
Parameter (MEJAR) setting value
- (minus) side
Variable stopper block angle
Variable stopper block position
Mechanical stopper screw B
Note1)
Note2)
Parameter (MEJAR) setting value
Changeable angle (combination of + side/- side) (Unit: Degree)
+240
+35
+77
+99
+141
-
+38
+80
+102
+144
-
(a)
(b)
(a)
-
(b)
Use
Disuse
Note3)
+240
+35
+77
+99
+141
-240
-35
-77
-99
-141
-
-38
-80
-102
-144
-
(d)
(c)
(d)
(c)
-240
Use
-35
Disuse
-77
-99
Note3)
-141
Note1) Symbol: “(a)” - “(d)” are related with the symbol of Page 62 "Fig. 2-33: Installation image of J1axis operating range change option (RV-4F/7F series)".
Note2) In the table, it means that “Disuse” does not install the screw, and “Use” does install the screw.
Note3) Mechanical stopper screw which is either one of the two is always necessary. For this reason, the
combination enclosed by the thick line of the square in the table (both of + (plus) side and - (minus) side are
99 or 141) cannot be used.
Example) It cannot be used that set +141 as the plus side and set -99 as the minus side simultaneously. The
other combination can be set up.
1) The changeable angle of RV-7F series is shown in Table 2-20. The changeable angle shown in Table 220 indicates the operation range by the software. The limit by the mechanical stopper is positioned
three degrees outward from that angle, so take care when designing the layout.
2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition
shown in Table 2-20.
Options 2-61
2 Robot arm
3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation of Functions and Operations" for details.
(3) Installation image (RV-4F/7F series)
RV-4F/7F series installation image
(Top-view of J1 axis)
(d)
<5> The installation position of Variable stopper block
(a) - (d)
(c)
Mechanical stopper screw B
- (minus) side
+ (plus) side
(b)
Mechanical stopper screw A
(a)
Fig.2-33 : Installation image of J1axis operating range change option (RV-4F/7F series)
[Example] In the RV-7F series, when limiting the +side to +35 degree, and the -side to -141 degree, install as
following.
Variable stopper block: Installs in the position of (a), and the position of (c).
Mechanical stopper screw A: Install.
Mechanical stopper screw B: Do not install.
2-62 Options
2 Robot arm
(4) RV-13F series (1F-DH-05J1)
Table 2-21 : Configuration devices
No.
Part name
Qty.
Mass (kg)
Remarks
<1>
Stopper Block J1
1
<2>
Resin Stopper B
2
<3>
Screw (M12×20)
2
<4>
Screw (M10×40)
2
For Stopper Block J1 fixing
<5>
Screw (M4×12)
4
For Resin Stopper B fixing
<1>Stopper Block J1
One piece each for + side/- side
0.3
Mechanical Stopper screw
<2>Resin Stopper B
Install each parts to behind the J1 axis of
robot arm with attached screw.
Table 2-22 : Changeable angle (RV-13F series)
Item
Standard
+ (plus) side
Changeable angle
+190
+30
+120
-
(A)
(B)
Mechanical Stopper position
+193
+32.5
+122.5
Parameter (MEJAR) setting value
+190
+30
+120
-190
-30
-120
-
(D)
(C)
Mechanical Stopper position
-193
-32.5
-122.5
Parameter (MEJAR) setting value
-190
-30
-120
Mechanical Stopper screw position
Note1)
+ (minus) side
Mechanical Stopper screw
positionNote1)
Note1) Symbol: “(A)” - “(D)” in the Table 2-22 is related with the symbol of "Fig. 2-34: Installation
image of J1axis operating range change option (RV-13F series)".
1) The changeable angle of RV-13F series is shown in Table 2-22. The changeable angle shown in Table 222 indicates the operation range by the software. The limit by the mechanical stopper is positioned
three degrees outward from that angle, so take care when designing the layout.
2) The changeable angle can be set independently on the + (plus) side/ - (minus) side, within the condition
shown in Table 2-22.
3) The operating range is changed with robot arm settings and parameter settings. Refer to the separate
"Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" or "Instruction Manual/Detailed Explanation of Functions and Operations" for details.
Options 2-63
2 Robot arm
Installation image
(Top-view of J1 axis)
Mechanical Stopper screw A
Mechanical Stopper
screw B
Mechanical Stopper screw C
The installation position of Stopper
Block J1
(Back side)
Mechanical Stopper screw D
Fig.2-34 : Installation image of J1axis operating range change option (RV-13F series)
[Example] In the RV-13F series, when limiting + side to +32.5 degree and - side to -122.5 degree, install the
Mechanical Stopper screw in the position of (A) and (C).
2-64 Options
2 Robot arm
(3) Solenoid valve set
■ Order type: One set:
Two sets:
Three sets:
Four sets:
1F-VD01-**(Sink type)/1F-VD01E-**(Source type)
1F-VD02-**(Sink type)/1F-VD02E-**(Source type)
1F-VD03-**(Sink type)/1F-VD03E-**(Source type)
1F-VD04-**(Sink type)/1F-VD04E-**(Source type)
Note) "-**" differs by robot arm.
・ RV-4F/7F series and RV-7FLL ..........”-02”
・ RV-13F/13FL and RV-20F ...................”-03”
■ Outline
1F-VD0*-02
1F-VD0*-03
The solenoid valve set is an option that is used for controlling
toolings when various toolings, such as the hand, are installed
at the end of the arm.
Also, for easy installation of this electromagnetic set onto the
robot, it comes equipped with a manifold, couplings, silencers,
among other things.
■ Configuration
Table 2-23 : Configuration equipment
Q'ty
TypeNote1)
Part name
Solenoid valve set (1 set)
Solenoid valve set (2 sets)
Solenoid valve set (3 sets)
Solenoid valve set (4 sets)
1F-VD01-**/
1F-VD01E-**
1F-VD02-**/
1F-VD02E-**
1F-VD03-**/
1F-VD03E-**
1F-VD04-**/
1F-VD04E-**
Mass(kg)
Note2)
One
set
Two
sets
Three
sets
Four
sets
1 pc.
-
-
-
0.3
-
1 pc.
-
-
0.4
-
-
1 pc.
-
0.4
-
-
-
1 pc.
0.5
Remark
Hand output cable is already connected.
Refer to Page 69, "(5) Hand output cable".
1F-VD0*-01: Sink type
1F-VD0*E-01: Source type.
Coupling size of A/B-port (output side of solenoid valve)
・ 1F-VD0*-02/1F-VD0*E-02 : Φ4
・ 1F-VD0*-03/1F-VD0*E-03 : Φ6
Note1) "-**" differs by robot arm. (Refer to " ■ Order type"above)
Note2) Mass indicates one set.
■ Specifications
Table 2-24 : Valve specifications
Item
Specifications
Number of positions
2
Port
5 Note1)
Valve function
Double solenoid
Operating fluid
Clean air Note2)
Operating method
Effective sectional area (CV value)
1.1mm2 (0.06)
Internal pilot method
Oiling
Unnecessary
Operating pressure range
0.1 to 0.7MPa
Response time
22msec or less (at 0.5 MPa)
Max. operating frequency
5Hz
Ambient temperature
-10 to 50 ℃ (However, there must be no condensation.)
Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied air will
blow out from the couplings, lowering the air pressure of the solenoid valves being used and making them
nonfunctional
(recommended plugs: KQ2P-04 plugs made by SMC).
Note2)
air to be provided must be clean, i.e., filtered with a mist
CAUTION The
separator or air filter. Failing to do so may lead to malfunctions.
Table 2-25 : Solenoid specifications
Item
Specifications
Method
Built-in fly-wheel diodes with surge protection
Coil rated voltage
DC24V ±10%
Power consumption
0.55W
Voltage protection circuit with power surge protection
Diode
Options 2-65
2 Robot arm
74.5
60
<6>
3.5
4.5
40
21
13.2
11.5
4. 5
φ
4
<3>
<2>
GR1
126
116
GR2
3
1
4
2
7
5
8
6
A
B
<7><8>
<5>
<4>
<1>
10
41.5
<Sink type>
<Source type>
Connector name
<GR1>
+24V (COM) A1
Reserve A2
GR1
GR2
Connector name
Black
GR3
GR4
B1
B2
Reserve B3
Reserve B4
+24V (COM) A1
Reserve A2
GR5
GR6
<GR1>
24V (RG) A1
Reserve A2
White
A3
A4
<GR2>
Red
Black
SOL1A
Red
Black
SOL1B
Red
Black
SOL2A
Red
SOL2B
GR1
GR2
White
Red
Black
Red
Black
Red
Black
Red
Black
A3
A4
GR3
GR4
B1
B2
Reserve B3
Reserve B4
<GR2>
White
Black
Red
Black
Red
Black
Red
Black
Red
A3
A4
B1
B2
Reserve B3
Reserve B4
Part no.
SOL3A
SOL3B
SOL4A
SOL4B
Part name
GR5
GR6
SOL1B
SOL2A
SOL2B
Red
Black
Red
Black
Red
Black
Red
A3
A4
GR7
GR8
B1
B2
Reserve B3
Reserve B4
1 sets
SOL1A
White
24V (RG) A1
Reserve A2
GR7
GR8
SOL3A
SOL3B
SOL4A
SOL4B
Black
2 sets
3 sets
4 sets
Specifications
<1>
Solenoid valve
1
2
3
4
<2>
Manifold block
1
1
1
1
<3>
Quick coupling
8
8
8
8
<4>
Housing
1
1
1
1
<5>
Quick coupling
2
2
2
2
<6>
Plug
4
4
4
4
<7>
Connector
1
1
2
2
1-1318115-4
<8>
Contact
3
5
8
10
1318112-1
<9>
Installation screw
4
4
4
4
M4×12
Fig.2-35 : Outline dimensional drawing (1F-VD0*-02/1F-VD0*E-02)
2-66 Options
<9>
6.8
φ4
φ6
2 Robot arm
106.5
95
50.8
28.8
37.6
5
5
4.8
φ
4
<3>
GR1
137
147
GR2
<5>
<6><7>
<2>
<1>
<4>
15
27
<8>
63
<Sink type>
<Source type>
Connector name
<GR1>
+24V (COM) A1
Reserve A2
GR1
GR2
Connector name
Black
A3
A4
GR3
GR4
B1
B2
Reserve B3
Reserve B4
<GR2>
+24V (COM) A1
Reserve A2
GR5
GR6
<GR1>
24V (RG) A1
Reserve A2
White
Red
Black
SOL1A
Red
Black
SOL1B
Red
Black
SOL2A
Red
SOL2B
GR1
GR2
White
Red
Black
Red
Black
Red
Black
Red
Black
A3
A4
GR3
GR4
B1
B2
Reserve B3
Reserve B4
<GR2>
White
Black
Red
Black
Red
Black
Red
Black
Red
GR7
GR8
B1
B2
Reserve B3
Reserve B4
Part no.
SOL3A
SOL3B
SOL4A
SOL4B
Part name
GR5
GR6
SOL2A
SOL2B
Red
Black
Red
Black
Red
Black
Red
A3
A4
GR7
GR8
B1
B2
Reserve B3
Reserve B4
1 sets
SOL1B
White
24V (RG) A1
Reserve A2
A3
A4
SOL1A
SOL3A
SOL3B
SOL4A
SOL4B
Black
2 sets
3 sets
4 sets
<1>
Solenoid valve
1
2
3
4
<2>
Manifold block
1
1
1
1
<3>
Quick coupling
8
8
8
8
<4>
Plate
1
1
1
1
Specifications
φ6
<5>
Quick coupling
2
2
2
2
φ6
<6>
Connector
1
1
2
2
1-1318115-4
<7>
Contact
3
5
8
10
1318112-1
<8>
Installation screw
4
4
4
4
M4×12
Fig.2-36 : Outline dimensional drawing (1F-VD0*-03/1F-VD0*E-03)
Options 2-67
2 Robot arm
(4) Hand input cable
■ Order type: 1F-HC35S-02
■ Outline
The hand input cable is used for customer-designed pneumatic hands.
It is necessary to use this to receive the hand's open/close confirmation signals and
grasping confirmation signals, at the controller.
One end of the cable connects to the connector for hand input signals, which is in
the wrist section of the hand. The other end of the cable connected to the sensor
inside the hand customer designed.
■ Configuration
Table 2-26 : Configuration equipment
Part name
Type
Hand input cable
1F-HC35S-02
Qty.
Mass (kg) Note1)
1 cable
0.2
Remarks
Note1) Mass indicates one set.
■ Specifications
Table 2-27 : Specifications
Item
Specifications
Size x cable core
AWG#24 (0.2 mm2)×10 cores
Total length
1,000 mm
Remarks
One-sided connector, one-sided cable bridging
Pin assign of the hand input cable is shown in Table 2-28.
Table 2-28 : Pin assign of hand input cable
Color
Connector Note1)
Pin number: names
Color
Purple
A1: HC1
Yellow
Brown
A2: HC2
Green
Blue
A3: HC3
* Reserved
Black
A4: HC4
* Reserved
Red
White
OP1
Connector Note1)
Pin number: names
A1: +24V
OP2
A2: +24G (RG)
B1: +24V
B2: +24G (RG)
B1: HC5
B2: HC6
Gray
B3: HC7
Pink
B4: HC8
Note1) The connector shows the connector name connected to the robot-arm side.
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
2-68 Options
2 Robot arm
(5) Hand output cable
■ Order type: 1F-GR35S-02
■ Outline
The hand output cable (solenoid valve connection cable) is an option that is used
when a solenoid valve other than one of the solenoid valve set options, is used.
One end of the cable has a connector that connects to the input terminal inside the
robot. The other end of the cable is connected.
■ Configuration
Table 2-29 : Configuration equipment
Part name
Qty.
Mass (kg) Note1)
1 cable
0.1
Type
Hand output cable
1F-GR35S-02
Remarks
Note1) Mass indicates one set.
■ Specifications
Table 2-30 : Specifications
Item
Specifications
2)
Size x Cable core
AWG#24(0.2 mm
Total length
500 mm
Remarks
x 10 cores
One side connector and one side cable connection
Pin assign of the hand output cable is shown in Table 2-31.
Table 2-31 : Pin assign of hand output cable
Color
Connector
Yellow
A1: +24V
-
A2: Reserved
Purple
Brown
Blue
Black
Pin number: names
GR1
Color
Connector
Green
A1: +24V
-
A3: GR1 (Hand output 1)
Red
A4: GR2 (Hand output 2)
White
B1: GR3 (Hand output 3)
Gray
B2: GR4 (Hand output 4)
Pink
Pin number: names
A2: Reserved
A3: GR5 (Hand output 5)
GR2
A4: GR6 (Hand output 6)
B1: GR7 (Hand output 7)
B2: GR8 (Hand output 8)
-
B3: Reserved
-
B3: Reserved
-
B4: Reserved
-
B4: Reserved
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
Options 2-69
2 Robot arm
(6) Hand curl tube
■ Order type: RV-4F/7F/7FLL...........One sets :
Two sets :
Three sets:
Four sets :
RV-13F/20F...................Four sets :
1E-ST0402C
1E-ST0404C
1E-ST0406C
1E-ST0408C
1N-ST0608C
■ Outline
The hand curl tube is a curl tube for the pneumatic hand.
■ Configuration
Table 2-32 : Configuration equipment
Part name
Type
Qty.
Mass(kg)Note1)
Remarks
Hans curl tube (One set: 2 pcs.)
1E-ST0402C
1 pc.
0.1
φ4 tube, 2pcs.
Hans curl tube (Two set: 4 pcs.)
1E-ST0404C
1 pc.
0.1
φ4 tube, 4pcs.
Hans curl tube (Three set: 6 pcs.)
1E-ST0406C
1 pc.
0.1
φ4 tube, 6pcs.
Hans curl tube (Four set: 8 pcs.)
1E-ST0408C
1 pc.
0.1
φ4 tube, 8pcs.
Hans curl tube (Four set: 8 pcs.)
1N-ST0608C
1 pc.
0.1
φ6 tube, 8pcs.
For RV-4F/7F/7FLL
For RV-13F/20F
Note1) Mass indicates one set.
■ Specifications
Table 2-33 : Specifications
Item
Specifications
Material
Size
Urethane
1E-ST040*C : Outside diameterφ4× Inside diameterφ2.5
1N-ST0608C : Outside diameterφ6× Inside diameterφ4
RV-4F/7F/7FLL : 1E-ST040*C(φ4)
180
(Robot
side)
(ロボット側)
250
200
(Tooling
side)
(ツーリング側)
RV-13F/20F : 1N-ST0608C(φ6x8)
250
(Robot
side)
(ロボット側)
600
300
(Tooling
side)
(ツーリング側)
Fig.2-37 : Outline dimensional drawing
[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.
2-70 Options
2 Robot arm
(7) Forearm external wiring set/ Base external wiring set
■ Order type
Forearm external wiring set: 1F-HB01S-01 (Hand input signals, force sensor and vision sensor)
Base external wiring set:
1F-HB02S-01 (Force sensor and vision-sensor)
1F-HA01S-01 (Force sensor and vision-sensor)
1F-HA02S-01 (Force sensor and vision-sensor)
Note) In the Internal wiring and piping specification, the corresponding base external wiring
set is attached.
■ Outline
The Forearm external wiring set and the Base external wiring set are used to pull
out the hand input signal cables and communication cables etc. from the
underneath of the forearm and the side of the base.
1) Hand input cable
The hand input cable of the option (equivalent of 1F-HC35C-02) is installed.
Connect to the connectors OP1 and OP3 of the hand input cable, which is built
into the forearm. Connect the user connection side of pulled-out cable to the
tools etc, and input the signals.
2) Communication cable
Pulls out the cable which attached the connector for connecting with vision
sensor etc.
The pulled out cables from the underneath of the forearm are connected with a
vision sensor camera, or a force sensor. The pulled out cables from the side of
the base are connected with a vision sensor controller, or a force sensor
interface. (To connect to a force sensor, use the adaptor cable that is supplied
in the force sensor option.)
Forearm
Pulled out from
robot arm
Base
■ Configuration
Table 2-34 : Configuration equipment
Part name
Type
Forearm external wiring set
1F-HB01S-01
1F-HB02S-01
Base external wiring set
1F-HA01S-01
1F-HA02S-01
Qty.
Remarks
Either one
pc.
Either one
pc.
■ Specification
The kind of cable which can be pulled out for each option is shown in Table 2-35. Because to pull out the cable
of the same purpose also as the forearm side and the base side, you should use the option in pair shown in "the
pairing (recommendation)" of the table. And, each wiring system figure is shown after the following page.
Table 2-35 : Internal wiring and piping specification types
Pairing
(recommendation)
Wiring (cable for the connection to each equipment)
Option type
Hand input signal
1F-HB01S-01 (Forearm)
1
2
Note1)
Vision sensor camera
Force sensor unit
eight points
1
Either one unit
1F-HA01S-01 (Base)
Not available
1
Either one unit
1F-HB02S-01 (Forearm)
Not available
1
1
1F-HA02S-01 (Base)
Not available
1
1
Note1) Although the connector is attached to the customer wiring side of hand input cable, the connector can be cut, and
connect to the tool of the customer preparation. The color and signal name of the wire are shown in Table 2-36.
Table 2-36 : Color of the wire and signal name (hand input cable)
Color
Signal
name
Connector
(HC)
Color
Signal
name
Connector
(HC)
Color
Signal
name
Connector
(HC)
Color
Signal
name
Connector
(HC)
Violet
HC1
A1
Brown
HC2
A2
Blue
HC3
A3
Black
HC4
A4
Red
HC5
B1
White
HC6
B2
Gray
HC7
B3
Pink
HC8
B4
Yellow
+24V
A6
Green
+24G(RG)
B6
-
Options 2-71
2 Robot arm
1) Wiring system diagram (1F-H*01S-01: Hand input signals, force sensor and vision sensor)
Hand signal output connector (GR1)
ハンド信号出力用コネクタ(GR1コネクタ)
<+24V(COM)>
<Reserved>
<予約>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
White
白
Black
黒
White
白
Black
黒
White
白
Black
黒
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Option (Forearm):
1F-HB01S-01
Option (Base):
1F-HA01S-01
<TXRXH>
<TXRXL>
A1
A2
A3
A4
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
A1
A2
B1
B2
A19
A20
B19
B20
Cable clamp
LAN
Vision-sensor camera.
(Ethernet)
E ・ F1
Force sensor Note 1)
HC
Hand input signal
OP4
A1
A2
A3
A4
B1
B2
B3
B4
<TXRXH>
<TXRXL>
<+24(RG)>
<+24V>
RIO
Reserved
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
Brown
茶
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Hand signal output connector (GR2)
ハンド信号出力用コネクタ(GR2コネクタ)
Robot arm wiring relay board
A1
A2
A3
GR2 A4
B1
B2
B3
B4
or
White
白
Black
黒
White
白
Black
黒
White
白
黒
Black
コントローラ
Connect to the optional solenoid
valve set directly
<+24V(COM)>
<Reserved>
<予約>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
E ・ F1
Connects with
the force sensor
interface Note 1)
100
BASETX Either net cable
100BASETXイーサネットケーブル
A1
A2
A3
A4
B1
B2
B3
B4
LAN
Connects with
the vision-sensor
controller
Primary piping
pneumatic hose
1次配管エアホース
Solenoid
電磁弁
セット
valve
set
(オプション)
(Option)
φ6 φ6クイック継手
quick coupling
φ6 hose
φ6ホース
AIR IN
φ6 hose
φ6ホース
RETURN
φ6クイック継手
φ6
quick coupling
φ8 quick
coupling
φ8クイック継手
オイルミスト仕様(加圧)
VACCUM
: Clean specification
クリーン仕様(吸引)
AIR
PURGE: Oil-mist specification
のみ
Fore arm
フォアアーム内
Base
ベース部
Note 1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.
Fig.2-38 : Wiring system diagram (1F-H*01S-01)
2-72 Options
2 Robot arm
2)Wiring system diagram ( 1F-H*02S-01: Force sensor and vision-sensor)
ハンド信号出力用コネクタ(GR1コネクタ)
Hand signal output connector (GR1)
A1
A2
A3
GR2 A4
B1
B2
B3
B4
White
白
Black
黒
White
白
Black
黒
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
<+24V>
<+24G(RG)>
<HC 1>
:
:
<HC 8>
Option (Fore arm):
1F-HB02S-01
Option (Base):
1F-HA02S-01
<TXRXH>
<TXRXL>
A1
A2
A3
A4
Cable clamp
LAN
Vision-sensor camera.
(Ethernet)
OP3
A1
A2
B1
B2
OP1
A1
A2
A3
A4
B1
B2
B3
B4
OP2
A1
A2
A3
A4
B1
B2
B3
B4
A15
A16
A17
A18
B15
B16
B17
B18
A1
A2
B1
B2
A19
A20
B19
B20
E ・ F2
Force sensor Note 1)
E ・ F1
Reserved
OP4
A1
A2
A3
A4
B1
B2
B3
B4
<TXRXH>
<TXRXL>
<+24(RG)>
<+24V>
A11
A12
A13
A14
B11
B12
B13
B14
<HC1>
<HC2>
<HC3>
<HC4>
<HC5>
<HC6>
<HC7>
<HC8>
100 BASETX Either net cable
100BASETXイーサネットケーブル
RIO
Reserved
A9
A10
B9
B10
<+24V>
<+24G(RG)>
<+24V>
<+24G(RG)>
White/Orange
白橙
Orange
橙
White/Green
白緑
Green
緑
Blue
青
White/Blue
白青
White/Brown
白茶
Brown
茶
Controller
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
ハンド信号出力用コネクタ(GR2コネクタ)
Hand signal output connector (GR2)
Robot arm wiring relay board
or
コントローラ
Connect to the optional solenoid
valve set directly
White
白
Black
黒
White
白
Black
黒
White
白
黒
Black
<+24V(COM)>
<Reserved>
<予約>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
ロボット本体配線中継ボード
Hand output signal
A1
A2
A3
GR1 A4
B1
B2
B3
B4
E ・ F1
Reserved
E ・ F2
Connects with
the force sensor
interface Note 1)
A1
A2
A3
A4
B1
B2
B3
B4
LAN
Connects with
the vision-sensor
controller
Primary piping
pneumatic hose
1次配管エアホース
Solenoid
電磁弁
valve
set
セット
(Option)
(オプション)
φ6 φ6クイック継手
quick coupling
φ6
hose
φ6ホース
AIR IN
φ6 hose
φ6ホース
RETURN
φ6クイック継手
φ6
quick coupling
φ8 quick
coupling
φ8クイック継手
Fore arm
フォアアーム内
VACCUM : Clean specification
オイルミスト仕様(加圧)
クリーン仕様(吸引)
AIR PURGE: Oil-mist specification
のみ
Base
ベース部
Note 1) When using a force sensor, use the supplied adaptor cable to connect to the force sensor option.
Fig.2-39 : Wiring system diagram (1F-H*02S-01)
Options 2-73
2 Robot arm
2.8 About Overhaul
Robots which have been in operation for an extended period of time can suffer from wear and other forms of
deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of specified service life or other parts which have been damaged, so that the robots may be put back in shape for continued use. Overhaul interval for robots presumably varies with their operating conditions and thus with the degree of
the equipment's wear and loss of performance. As a rule of thumb, however, it is recommended that overhaul be
carried out before the total amount of servo-on time reaches the predetermined levels (24,000 hours for the robot
body and 36,000 hours for the controller). (See Fig. 2-40.) For specific information about parts to be replaced and
timing of overhaul, contact your local service representative.
If overhaul is not performed
Shipment
Failure rate λ
Predetermined time period
Periodic inspection
Overhaul
If overhaul is performed
Servo-on time
Fig.2-40 : Periodic inspection/overhaul periods
2-74 About Overhaul
2 Robot arm
2.9 Maintenance parts
The consumable parts used in the robot arm are shown in Table 2-37. 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 2-37 : Consumable part list
No.
Type Note1)
Part name
1
Grease
2
Lithium battery
Usage place
Reduction gears of each axis
Qty.
Supplier
As needed
Mitsubishi Electric
ER6
Inside the CONBOX cover
3 pcs.
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.
Maintenance parts 2-75
3Controller
3 Controller
3.1 Standard specifications
Table 3-1 : Specifications of controller
Item
Specification
Remarks
Type
CR750- □ VD-1
CR750-07VLD-1
" □ "in type name shows the load
(04, 07, 13 or 20) of robot arm.
CR750-07VLD-1 controller is only for
RV-7FLL.
Number of control axis
Simultaneously 6
Memory
capacity
Unit
Programmed positions
point
39,000
No. of steps
step
78,000
Number of program
512
Robot language
MELFA-BASIC V
Pose teaching method, MDI method Note1)
Teaching method
External
input and
output
Interface
Input and output
0/0
Assigned with general-purpose
input/output
Dedicated input/output
Max. 256/256 by option
The signal number of "STOP" input
signals is fixing.
Hand open/close input/output
point
8/8
Built-in
Emergency stop input
point
1
Dual line
Door switch input
point
1
Dual line
Enabling device input
point
1
Dual line
Emergency stop output
point
1
Dual line
Mode output
point
1
Dual line
Robot error output
point
1
Dual line
Addition axis synchronization
point
1
Dual line
RS-422
port
1
Only for T/B
Ethernet
port
1
10BASE-T/100BASE-Tx
USB
port
1
Ver.2.0 FullSpeed
Only device function
Additional axis interface
Channel
1
SSCNET III (Connects with MR-J3BS, MR-J4-B series)
Tracking interface
Channel
2
slot
2
Option slot
Power
source
point
Input voltage range
Power capacity
Power supply frequency
Outline dimensions
Note4)
Mass
V
kVA
Operating temperature range
Ambient humidity
Grounding
Paint color
RV-4F series:
Single phase AC180 to 253
RV-7F/13F seriesNote2) :
Three phase AC180 to 253, or
Single phase AC207 to 253
RV-4F series
RV-7F series
RV-13F series
: 1.0
: 2.0
: 3.0
Hz
50/60
mm
430(W) x 425(D) x 174(H)
kg
Approx. 18
Construction
For option interface
Self-contained floor type, Opened type.
Installation vertically or horizontally
℃
0 to 40
%RH
45 to 85
Ω
100 or less
Does not include rush current Note3)
Excluding protrusions
IP20
Note5)
Without dew drops
100Ωor less (class D grounding)Note6)
Dark gray
Note1) Pose teaching method: The method to register the current position of the robot arm.
MDI method:
The method to register by inputting the numerical value Immediate.
Note2) Both the three phase power supply and the single phase power supply can use this product according to voltage conditions.
3-76 Standard specifications
3Controller
Note3) The power capacity is the rating value for normal operation. The power capacity does not include the rush current when
the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The short circuit breaker should use the following.
* Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency
ingredient, it will become the cause in which below the maximum leak current value carries out the trip.
Note4) Refer to Page 80, "3.4 Outside dimensions/Installation dimensions" for details.
Note5) This controller is standard specification. (Refer to Page 77, "3.2 Protection specifications and operating supply".)
Note6) The robot must be grounded by the customer.
3.2 Protection specifications and operating supply
A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller.
The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated
that any special protection has been constructed for the prevention against oil and water.
【Information】
・ The IEC IP20
It indicates the protective structure that prevents an iron ball 12 +0.05
0 mm diameter, which is being pressed with
the power of 3.1 kg±10%, from going through the opening in the outer sheath of the supplied equipment.
Refer to the section Page 149, "6.2 Working environment" for details on the working environment.
Protection specifications and operating supply 3-77
3 Controller
3.3 Names of each part
Controller (Front side)
<15>
<16>
<17>
<3>
<18>
<6>
Fan, Air suction
<20>
Controller (Rear side)
<4>
<5>
<7>
<8> <9> <10>
Attached cover
<19>
<2>
<1>
Exhaust downward
(Bottom)
<13> <12>
<11>
<14>
<1>: ACIN terminal
RV-4F: Single phase
L1
RV-7F/13F: Single phase/Three phase
L2: no-CE specifications
N: CE specifications
L1 L2 L3
<21>
<22>
<20>: The operation panel
<24>
Fig.3-1 : Names of controller parts (CR750)
3-78 Names of each part
<25>
<26>
<27>
<28>
<29>
<23>
3 Controller
<1> ACIN terminal ................................................The terminal box for AC power source (single phase or single phase/
three phase, AC200V) input. (Inner side of a cover)
Note)When using the RV-4F series, connect the primary power supply to
L1 and L2 terminal.
When using the RV-7F/13F series, connect the primary power
supply to L1, L2 and L3 terminal when using the three phase
primary power supply, and connect the primary power supply to L1
and L3 terminal when using the single phase primary power supply.
<2> PE terminal .....................................................The screw for grounding of the cable. (M4 screw x 2 place)
<3> Power switch .................................................This turns the control power ON/OFF
<4> Machine cable connector (motor signal) (CN1)
Connect with the CN1 connector of the robot arm.
<5> Machine cable connector (motor power) (CN2)
Connect with the CN2 connector of the robot arm.
<6> T/B connection connector (TB) ...........This is a dedicated connector for connecting the T/B. When not using T/
B, connect the attached dummy connector.
<7><8><9><10> CNUSR connector ..............The connector for input/ output connection dedicated for robot. (a plug
connector attached)
<7>: CNUSR11, <8>: CNUSR12, <9>: CNUSR13, <10>: CNUSR2
<11> LAN connector (LAN)......................... For LAN connection
<12> ExtOPT connector (ExtOPT) .......... Connect the cable for addition axis control.
<13> RIO connector (RIO) ........................... Connect the extension parallel input/output unit.
<14> Option slot (SLOT1, SLOT2)........... Install the interface optional. (Install the cover, when not using.)
<15> Interface cover ...................................... USB interface and battery are mounted.
<16> Mode key switch ................................... This key switch changes the robot's operation mode.
AUTOMATIC ..........Operations from the controller or external equipment are valid. Operations for which the
operation mode must be at the external device or T/B are not possible. (Exclude the start
of automatic operation.)
MANUAL ..................When the T/B is valid, only operations from the T/B are valid. Operations for which the
operation mode must be at the external device or controller are not possible.
<17> Emergency stop switch...................... This switch stops the robot in an emergency state. The servo turns OFF.
<18> Filter cover.............................................. There is an air filter inside the cover.
<19> Grounding terminal............................... The grounding terminal for connecting cables of option card. (M3 screw x 2
places)
<20> Operation panel..................................... The operation panel for servo ON/OFF, START/STOP the program etc.
<21> Display panel (STATUS.NUMBER) ........... The alarm No., program No., override value (%), etc., are displayed.
<22> CHNGDISP button ............................... This button changes the details displayed on the display panel in the order
of "Override" → "Program No." → "Line No.".
<23> UP/DOWN button............................... This scrolls up or down the details displayed on the "STATUS. NUMBER"
display panel.
<24> SVO.ON button ..................................... This turns ON the servo power. (The servo turns ON.)
<25> SVO.OFF button.................................. This turns OFF the servo power. (The servo turns OFF.)
<26> START button........................................ This executes the program and operates the robot. The program is run
continuously.
<27> STOP button .......................................... This stops the robot immediately. The servo does not turn OFF.
<28> RESET button ........................................ This resets the error. This also resets the program's halted state and
resets the program.
<29> END button ............................................. This stops the program being executed at the last line or END statement.
Caution
Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by
manufacturer. The thing unsuitable for the FA environment (related with conformity,
temperature or noise) exists in the equipments connected to USB. When using network
equipment, measures against the noise, such as measures against EMI and
the addition of the ferrite core, may be necessary. Please fully confirm the operation by
customer. Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.
Names of each part 3-79
3 Controller
3.4 Outside dimensions/Installation dimensions
3.4.1 Outside dimensions
Fig.3-2 : Outside dimensions of controller (CR750)
3-80 Outside dimensions/Installation dimensions
3 Controller
3.4.2 Installation dimensions
<Placed horizontally>
145mm
145mm
Intake vent
吸気口
250mm
or以more
上
250mm
150mm
or more
150mm以上
<Placed vertically>
250mm
or more
250mm以上
50mm or more
50mm以上
20mm20mm以上
or more
Fig.3-3 : Installation of controller (CR750)
CAUTION
Fixing installation section sure for prevention from the fall, when using the controller
placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-4.
You should install the metal plate for fixation to the controller with M4 x 8 or the shorter
screw. The screw projection length inside the controller (side board thickness is 1.2 mm)
surely makes 6.8 mm or less.
CAUTION
When storing the controller in a cabinet, etc., take special care to the heat radiating
properties and ventilation properties so that the ambient temperature remains within the
specification values. And, don't install the controller in the position where direct rays or
the heat of lighting hits. The skin temperature of the controller may rise, and the error
may occur.
Outside dimensions/Installation dimensions 3-81
3 Controller
hole
hole
Fig.3-4 : Metal plate for fixation to placing vertically (Reference for CR750)
3-82 Outside dimensions/Installation dimensions
hole
(Controller fixation hole)
3 Controller
3.5 External input/output
3.5.1 Types
(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and
status display.
(2) General-purpose input/output.................These are inputs and outputs that the customer can program for
peripheral device control.
(3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can
program.
(4)Emergency stop/Door switch input.........The wiring for the safe security of the emergency stop etc. is shown in
on Page 87, "3.7 Emergency stop input and output etc." and on Page
142, "6.1.7 Examples of safety measures".
<For Reference>
Linking our GOT1000 Series (GT15) display equipment to the robot controller over the Ethernet permits you to
control robot controller's input/output from a GOT (graphic operation terminal).
External input/output 3-83
3 Controller
3.6 Dedicated input/output
Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual
"Detailed explanations of functions and operations" in the product for the other functions. Each parameter indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and
output signal No.
Table 3-2 : Dedicated input/output list
Parameter
name
Input
Name
Output
Note1)
Function
Level
Name
Function
TEACHMD
None
Teaching mode output signal
Outputs that the teaching mode is
entered.
ATTOPMD
None
Automatic mode output signal
Outputs that the automatic mode is
entered.
ATEXTMD
None
Remote mode output
signal
Outputs that the remote mode is
entered.
RCREADY
None
Controller power ON
complete signal
Outputs that external input signals can
be received.
Automatic operation
enabled output signal
Outputs the automatic operation
enabled state.
Operating output signal
Outputs that the slot is operating.
Wait output signal
Outputs that the slot is temporarily
stopped.
Wait output signal
Outputs that the slot is temporarily
stopped.
Notes) Specification is the same as the
STOP parameter.
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.
Automatic operation enabled input
signal
Allows automatic operation.
START
Start input signal
Starts all slots.
STOP
Stop input signal
Stops all slots.
The input signal No. is fixed to 0.
Note) Use the emergency stop
input for stop inputs related
to safety.
AUTOENA
STOP2
SLOTINIT
Stop input signal
Program reset input
signal
L
The program during operation is
stopped.
Unlike the STOP parameter,
change of the signal number is
possible.
Notes) Specification is the same as
the STOP parameter.
Resets the wait state.
E
L
L
ERRRESET Error reset input
signal
Resets the error state.
CYCLE
Cycle stop input
signal
Carries out cycle stop.
SRVOFF
Servo ON enabled
input signal
Turns the servo OFF for all mechanisms.
L
Servo ON enabled
output signal
Outputs servo-on disable status.
(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.
L
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
S1START
:
S32START
None
Start input
3-84 Dedicated input/output
Starts each slot.
E
None
Emergency stop output signal
Outputs that an emergency stop has
occurred.
In operation output
Outputs the operating state for each
slot.
3 Controller
Parameter
name
S1STOP
:
S32STOP
Input
Name
Output
Note1)
Function
Level
Name
Outputs that each slot is temporarily
stopped.
Stop input
Stops each slot.
L
Program selection
input signal
Designates the setting value for
the program No. with numeric value
input signals.
E
None
Override selection
input signal
Designates the setting value for
the override with the numeric value
input signals.
E
None
Numeric value input
(start No., end No.)
Used to designate the program
name, override value., mechanism
value.
L
Numeric value output
(start No., end No.)
Program No. output request
Requests output of the program
name.
E
Program No. output
signal
Outputs that the program name 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 out- Requests the override output.
put request
E
Override value output signal
Outputs that the override value is being
output to the numeric value output signal.
E
Error No. output signal
Outputs that the error No. is being output to the numeric value output signal.
E
Jog valid output signal
Outputs that the jog operation with
external signals is valid.
L
Jog mode output 2bit
Outputs the current jog mode.
PRGSEL
OVRDSEL
IODATA
Note2)
PRGOUT
In wait output
Function
Used to output the program name,
override value., mechanism No.
ERROUT
Error No. output
request
Requests the error No. output.
JOGENA
Jog valid input signal
Validates jog operation with the
external signals
JOGM
Jog mode input 2bit
Designates the jog mode.
JOG+
Jog feed + side for
8-axes
Requests the + side jog operation.
L
None
JOG-
Jog feed - side for
8-axes
Requests the - side jog operation.
L
None
HNDCNTL1
:
HNDCNTL3
None
HNDSTS1
:
HNDSTS3
HNDERR1
:
HNDERR3
None
Mechanism 1 hand
error input signal
:
Mechanism 3 hand
error input signal
Requests the hand error occurrence.
L
Mechanism 1 hand
output signal status
:
Mechanism 3 hand
output signal status
Mechanism 1: Outputs the status of
general-purpose outputs
900 to 907.
Mechanism 2: Outputs the status of
general-purpose outputs
910 to 917.
Mechanism 3: Outputs the status of
general-purpose outputs
920 to 927.
Mechanism 1 hand
input signal status
:
Mechanism 3 hand
input signal status
Mechanism 1: Outputs the status of
hand inputs 900 to 907.
Mechanism 2: Outputs the status of
hand inputs 910 to 917.
Mechanism 3: Outputs the status of
hand inputs 920 to 927.
Mechanism 1 hand
error output signal
:
Mechanism 3 hand
error output signal
Outputs that a hand error is occurring.
Dedicated input/output 3-85
3 Controller
Parameter
name
AIRERR1
:
AIRERR3
Input
Name
Pneumatic pressure
error 1 input signal
:
Pneumatic pressure
error 3 input signal
Function
Request the pneumatic pressure
error occurrence.
Level
Name
L
Pneumatic pressure
error 1 output signal.
:
Pneumatic pressure
error 3 output signal.
M1PTEXC
:
M3PTEXC
USERAREA
Note3)
None
None
Output
Note1)
L
Function
Outputs that a pneumatic pressure
error is occurring.
Maintenance parts
replacement time
warning signal
Outputs that the maintenance parts
have reached the replacement time.
User-designated area
8-points
Outputs that the robot is in the userdesignated area.
Note1) The level indicates the signal level.
L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the
signal is OFF.
E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state,
and the function maintains the original state even when the signal then turns OFF.
Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No.
Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.
3-86 Dedicated input/output
3 Controller
3.7 Emergency stop input and output etc.
Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from
the "special input/output" terminal connector.
Table 3-3 : Special input/output terminal
Item
Input
Name
Function
Emergency stop
Applies the emergency stop. Dual emergency line
Input
Special stop input
Applies the stop. (Refer to Page 92, "3.7.2 Special stop input (SKIP)")
Input
Door switch
Servo-off. Dual line, normal close (Page 93, "3.7.3 Door switch function")
Input
Enabling device
Servo-off. Dual line, normal close (Page 93, "3.7.4 Enabling device function")
Output
Robot error output
Contactor is opening during error occurrence.
Output
Emergency stop output
The point of contact opens under occurrence of emergency stop of external input signal, emergency
stop of OP, emergency stop of T/B.
Output
Mode output
MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.
Output
Magnet contactor control
connector output for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized
with the robot arm. (Page 98, "3.9 Magnet contactor control connector output (AXMC) for addition
axes")
*At the time of the power supply OFF, the output point of contact is always open.
[Note] The contact capacity of each input/output terminal is DC24V/10mA - 100mA. Don't connect the
equipment except for this range. The use exceeding contact capacity causes failure.
In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect
to the controller. (related with emergency stop and parallel input/output) If it connects with the controller
under the condition that the + side is grounded, it will lead to failure of controller.
Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-6.
3.7.1 Connection of the external emergency stop
The external emergency stop input and door switch input and enabling device input are opened at shipment as
shown in Fig. 3-6.
Connect the external emergency stop switch and door switch with the following procedure.
And, the example of the connection and notes of the emergency stop are described in Page 142, "6.1.7 Examples
of safety measures" Refer to it together
[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double
contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below
in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of
the pins is connected.
1) Please prepare the emergency stop switch, door switch and enabling device.
a) External emergency switch
・ CR750 controller .......... CNUSR11 connector "between 3 and 4" and CNUSR12 Connector "between 3 and 4".
b) Door switch
・ CR750 controller .......... CNUSR11 connector "between 7 and 8" and CNUSR12 connector "between 7 and 8".
c) Enabling device
・ CR750 controller .......... CNUSR11 connector "between 9 and 10" and CNUSR12 connector "between 9 and 10".
[Caution] Be sure to use a shield cable for the emergency stop wiring cable. And when operating in an environment that is easily affected by noise, be sure to fix the attached ferrite core (model number:
E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core more than
30 cm from the connecting terminal section.
CAUTION
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not being
released. In order to prevent errors occurring, please be sure to check that all functions
(such as the teaching box emergency stop, customer emergency stop, and door switch)
are working properly after the wiring setup is completed.
Emergency stop input and output etc. 3-87
3 Controller
CAUTION
You should always connect doubly connection of the emergency stop, the door switch,
and the enabling switch. In connection of only one side, if the relay of customer use
should break down, it may not function correctly.
And, the output contacts from the robot controller (robot error output, emergency stop
output, mode output, addition axis contactor control output) are dual contacts (synchronizes). You should connect surely by dual line with the customer's equipment as
well as connection of the emergency stop and the door switch.
CAUTION
Please make sure to wire the multiple emergency stop switches so that they each
function independently. Check and make sure that the emergency stop doesn't only
function under an AND condition (when multiple emergency stop switches are ON at
the same time).
CNUSR11
connector
CNUSR11コネクタ
CNUSR12
connector
CNUSR12コネクタ
Within 30 cm
30cm以内
Ferrite
core
フェライトコア
Pass
twice
2回通し
Fig.3-5 : Emergency stop cable connection (CR750)
3-88 Emergency stop input and output etc.
3 Controller
Internal
circuit structure
内部回路構成
内部回路構成
side)
((Controller
コ
ン ト ロー
ラ側 )
(コントローラ側)
OP - TBTB
OP emer
emergency
stop 非常停止
gency stop
非常停止
(お客様配線側)
(Customer)
(お客様配線側)
(Customer)
CNUSR11
+24V
CNUSR11
11
1
モード出力
Mode output
12
13
2
3
Emergency
非常停止出力
stop output
14
RA
Relay
4
5
CNUSR12
11
6
モード出力
Mode output
12
13
Emergency
非常停止出力
Relay
RA
stop output
14
+24V
24GND
+24V
24GND
RA
Relay
7
8
9
10
1
2
Robot error
output
ロボットエラー出力
17
RA Relay
Robot error
ロボットエラー出力
3
4
5
output
6
+24V
24GND
Relay
RA
+24V
24GND
External emergency
stop input
*1)
短絡
Short
外部非常停止入力
ドアスイッチ入力
Door switch input
Enabling device
イネーブリング
input
デバイス入力
CNUSR12
CNUSR2
41
*1)
+24V
24GND
16
短絡
Short
RA
Relay
7
8
9
10
短絡
Short
*1)
External emergency
外部非常停止入力
stop input
短絡
Short
*1)
Door switch input
ドアスイッチ入力
Enabling device
イネーブリング
input
デバイス入力
24GND
Please do not carry out an insulation pressure test.
CAUTION
警告 絶縁耐圧試験は行なわないでください。
Moreover, it becomes the cause of failure if it
また誤って接続した場合は故障の原因となります。
Please refer to the example of safety measures
of "Standard Specifications Manual".
connects incorrectly.
*1) This terminal is opened at factory shipping (unconnected). If power supply inside the controller is used, short-circuit the terminal.
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that
the + side is grounded, it will lead to failure of controller.
Fig.3-6 : External emergency stop connection (CR750)
CAUTION
Place the emergency stop switch in an easily operable position, and be sure to wire it
to the emergency stop correctly by referencing Page 142, "6.1.7 Examples of safety
measures".
This is a necessary measure in order to ensure safe operation so that the robot can be
stopped immediately by pressing the emergency stop switch in the event that the
robot malfunctions.
Emergency stop input and output etc. 3-89
3 Controller
<CR750 controller>
CNUSR11
CNUSR12
CNUSR11/12 connector
Reference: CNUSR13
(Connect the encoder,
when using the
tracking function)
Driver
*Recommendation driver
size: 2.5mm.
Connector for user wiring
Connector fixing screw
(Two places)
Cable fixing screw
Pin number of connector
A
16
1
View A
Cable insert point
7mm
Connecting cable
(AWG #26-16 (0.14mm-1.5mm2))
Connection procedure
Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix
it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the
controller.
Please use an AWG #26 to 16 (0.14 to 1.5mm2) connector cable.
1) Prepare the user wiring connector that accompanies the product.
2) Loosen the cable fixing screw at the point where the cable is to be inserted. Please use a screwdriver head
with a width of 2.5mm to loosen the screw.
3) Peel the insulation of the connecting cable to 7mm, and insert it into the cable slot of the corresponding connector.
4) Be sure to fix the inserted cable securely by fastening a cable fixing screw.
(tightening torque of 0.22 to 0.25Nm)
5) After the necessary cables save been fixed, connect the connector to the connector (CNUSR11/12) that corresponds with the controller. Connect so that the cable fixing screw is comes on top, and make sure to fix
securely by fastening connector fixing screws in two places. A screwdriver head with a width of 2.5mm should
be used to fix screws (tightening torque of 0.22 to 0.25Nm).
This concludes the connection procedure.
Fig.3-7 : Method of wiring for external emergency stop connection (CR750 (CNUSR11/12))
CAUTION
The connector on the controller side that connects to the user wiring connector is
CNUSR11 or CNUSR12. Be careful not to connect to CNUSR13 as the robot will not
operate properly.
3-90 Emergency stop input and output etc.
3 Controller
<CR750 controller>
CNUSR2 connector
Cover fixing screw (Two places)
CNUSR2
Connector cover
Plug
Connector for
user wiring
Remove the connector cover
View A
25
Pin number of plug
1
Soldering
50
26
A
3mm
Connecting cable
(AWG #30-24 (0.05mm2-0.2mm2))
Connection procedure
Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the
CNUSR2 connector at the back of the controller. For the connection cables, please use AWG #30 to 24 (0.05 to
0.2mm2).
1) Loosen the two fixing screws on the user wiring connector that accompanies the product, and remove the connector cover.
2) Peel the insulation of the connecting cable to 3mm, and solder it the appropriate connector pin number.
3) After the necessary cables have been soldered, re-fix the connector cover using the same fixing screws and
make sure it is fastened securely.
4) Connect the connector to the corresponding connector (CNUSR2) on the controller. With pin number 1 facing
to the upper right, insert firmly until you hear the connector’s latch click in to place.
This concludes the connection procedure.
Fig.3-8 : Method of wiring for external emergency stop connection (CR750 (CNUSR2))
CAUTION
When soldering please take care to only connect to the specified pin number.
Connecting to a different pin number or short-circuiting with another pin will result in
the robot breaking down or malfunctioning.
Emergency stop input and output etc. 3-91
3 Controller
3.7.2 Special stop input (SKIP)
The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-9.
Table 3-4 : Special stop input electric specification
Item
Specifications
Type
DC input
No. of input point
1
Insulation method
Photo-coupler insulation
Rated input voltage
DC24V
Rated input current
Approx. 11mA
Working voltage range
DC 21.6 ~ 26.4V
(Ripple rate within 5%)
ON voltage/ON current
DC 8V or more / 2mA or more
OFF voltage/OFF current
DC 4V or less / 1mA or less
Input resistance
Approx. 2.2 k Ω
Response
time
OFF → ON
1ms or less
ON → OFF
1ms or less
Common method
1 point per common
External wire connection method
Connector
Internal circuit
91A
+24V(COM)
330
2.2k
34
1B
入力
Input
CNUSR2
connector
CNUSR2
Within30cm以内
30cm
* Connects with CNUSR2 connector
with soldering.
Refer to Page 91 "Fig. 3-8: Method of
wiring for external emergency stop
connection (CR750 (CNUSR2))".
Ferrite
core
フェライトコア
Pass
twice
2回通し
Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.
Fig.3-9 : Connection of the special-stop-input (CR750)
3-92 Emergency stop input and output etc.
3 Controller
3.7.3 Door switch function
This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in Page 89 "Fig. 3-6: External emergency
stop connection (CR750)" and Page 142, "6.1.7 Examples of safety measures". Those figure explains the wire is
contact closes when the door is closed. Details of this function according to the robot status are shown below.
*During automatic operation .............. When the door is opened, the servo turns OFF and the robot stops. An error
occurs.
The process of the restoration: Close the door, reset the alarm, turn on the
servo, and restart
*During teaching........................................ Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.
① Auto executing
Safeguard
STOP!!
MODE
TEACH
AUTO
MANUAL
(Op.)
AUTO
AUTOMATIC
(Ext.)
Robot arm
(Example)
Open
Turns OFF the servo
② Teaching
Safeguard
AUTO
MANUAL
(Op.)
TEACH
MODE
AUTO
AUTOMATIC
(Ext.)
Open
Robot arm
(Example)
Teaching
pendant
The servo can be turned ON/Off
by turning the enable switch ON/OFF.
Fig.3-10 : Door switch function
3.7.4 Enabling device function
When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by
switch operation of the enabling device*1) (servo-off), and the safety increases. To use the robot safely, please be
sure to connect the enabling device.
(1) When door is opening
Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the
servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then
the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device.
And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the
enabling device is released.
(2) When door is closing
You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the
safeguard sure.
*1) Recommendation products: HE1G-L20MB (IDEC)
Emergency stop input and output etc. 3-93
3 Controller
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
The following is a description of various operations performed on the robot and switch settings that are required.
Table 3-5 : Various operations and necessary switch settings
Related switch settings Note1)
No
1
2
Operation
Jog operation
Jog operation
Note2)
Brake release
3
Note3)
4
Automatic
operation
Mode of
controller
T/B
enable/
disable
T/B
enable switch
Enabling
device input
terminal
Door switch
input terminal
Manual
Enable
ON
Close(ON)
-
Manual
Enable
ON
Open(OFF)
Manual
Enable
ON
Close(ON)
Automatic
Disable
-
-
Description
If the enabling device input is set to
Close (On), the state of door switch
input does not matter.
If the enabling device input is set to
Close
Open (Off), door switch input must be
(Door Close)
in a state of Close
-
Irrespective of the state of door
switch input, enabling device input
must be in a state of Close (On).
Close
Door switch input must always be in a
(Door Close) state of Close (Door Close).
Note1) "-" in the table indicates that the state of switch concerned does not matter.
Refer to the following for operation of each switch.
・ Mode of controller: ................................................................................................ Page 78, "3.3 Names of each part"
・ T/B enable/disable:..................................................................................... Page 100, "(1) Teaching pendant (T/B)"
・ T/B enable switch:....................................................................................... Page 100, "(1) Teaching pendant (T/B)"
・ Enabling device input terminal: .................................................Page 142, "6.1.7 Examples of safety measures"
・ Door switch input terminal: ........................................................Page 142, "6.1.7 Examples of safety measures"
Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety barrier.
Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the
enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake
release can be effected only when both of the enabling switch device and the T/B enable switch are placed
in intermediate position (lightly gripped position). At this point, the state of door switch input does not matter.
T/B being manipulated
Door in
Open state
Enabling device being manipulated
Fig.3-11 : Brake release operation
3-94 Emergency stop input and output etc.
CAUTION
Upon the release of brake, the
robot arm may fall under its own
weight depending on the axis
which has been released. For
added safety, provide support or
take other precaution to prevent
the falling of the arm.
3 Controller
3.8 Additional Axis Function
This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis
or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time
by connecting a general-purpose servo amplifier (MR-J3-B, MR-J4-B series) that supports Mitsubishi's SSCNET
III.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
3.8.1 Wiring of the Additional Axis Interface
Table 3-6 shows the connectors for additional axes inside the controller. Fig. 3-12 shows a connection example
(configuration example).
Table 3-6 : Dedicated connectors inside the controller
Name
Connector name
Connector for additional axes
ExtOpt
Details
The connector for connecting the general-purpose servo amplifier.
CNUSR11
connector
CNUSR11コネクタ
CNUSR12コネクタ
CNUSR12
connector
ExtOPT
Servo
amplifier
サーボアンプ
SSCNET
III cable
SSCNETⅢケーブル
To CN1A
CN1Aコネクタへ
connector
ExtOPTコネクタへ
To ExtOPT
connector
Servo
amplifier
サーボアンプ
SSCNETⅢケーブル
SSCNET
III cable
To CN1A
CN1Aコネクタへ
connector
To CN1B
CN1Bコネクタへ
connector
To CN1B
connector
CN1Bコネクタへ
Cap
キャップ
Magnetic
contact
電磁接触器
※CN1A、CN1Bの接続を間違えると、通信できません。
* It cannot communicate,
if connection of CN1A and CN1B is mistaken.
Fig.3-12 : Example of addition axis connection (CR750)
Additional Axis Function 3-95
3 Controller
(1) Example of the installation of the noise filter
1) EMC filter (recommended)
Please install the recommendation filter shown below according to the example of connection.
1)
2)
Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120 VAC power supply.
Note2) The example is when a surge protector is connected.
Fig.3-13 : Example of EMC noise filter installation
3-96 Additional Axis Function
3 Controller
2) Line noise filter
This filter is effective in suppressing noises radiated from the power supply side and output side of the
servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially
within 0.5MHz to 5MHz band.
Fig.3-14 : Example of noise filter installation
Additional Axis Function 3-97
3 Controller
3.9 Magnet contactor control connector output (AXMC) for addition axes
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the
servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the
controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned
off when this output is open.
An example circuit and an image of how to connect the controller connector are shown below. When you are using
an additional axis, please perform appropriate circuit connections by referring to these drawings.
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.
Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please
do not connect this output signal. Servo-on of the user mechanism may be unable.
1) Get the power supply for the controller from the secondary terminal
1)付加軸アンプボックス内蔵漏電遮断器(NV)の2次側より、コントローラ電源を取り出す。
of short circuit breaker (NV) built in the addition axis amplifier box.
Amplifier
アンプ
2) Get the2)コントローラ内蔵漏電遮断器(NV)の2次側より、
power supply for the MC synchronization from the secondary terminal
of short circuit breaker (NV) built in the controlMC同期用電源を取り出す。
ler.
NV
NV
CNUSR
connector
CNUSRコネクタ
To the
内部回路へ
internal
circuit
Note1)
注1)
MC1
MC2
88
DC24V
Note2)
注2)
AXMC11
AXMC12
Note2)
注2)
AXMC21
AXMC22
AXMC
is output
内部サーボ電源用
from the contact
コンタクタ接点より
for
internal servo
AXMC出力
power
supplies.
MC
<Addition axis amplifier box>
<走行軸(付加軸)アンプボックス>
Note1)
Connector and Pin number
注1)コネクタとピン番号を以下に示します。
<Controller>
<コントローラ>
Signal
信号名
Connector
コネクタ
Pin
number
ピン番号
AXMC11
AXMC12
AXMC21
AXMC22
CNUSR2
20
45
19
44
CNUSR2
Note2)
This output is opened, if the robot turns off the servo by occurrence of alarm etc.
注2)ロボットがアラームの発生などでサーボOFFしたとき、本出力(接点)が開放します。
<Electric specification>
<接点容量>
DC24V/10mA to 100mA
DC24V/10mA~100mA
[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that
the + side is grounded, it will lead to failure of controller.
Fig.3-15 : Example of circuit for addition axes of Magnet contactor control output
CNUSR2
connector
CNUSR2コネクタ
Within
30cm
30cm以内
*Connects with CNUSR2 connector
with soldering. Refer to Page 91 "Fig.
3-8: Method of wiring for external
emergency stop connection (CR750
(CNUSR2))".
Fig.3-16 : AXMC terminal connector (CR750)
3-98 Magnet contactor control connector output (AXMC) for addition axes
Ferrite
core
フェライトコア
Pass
twice
2回通し
3 Controller
3.10 Options
■ What are options?
There are a variety of options for the robot designed to make the setting up process easier for user needs.
User installation is required for the options.
Options come in two types: "set options" and "single options".
1. Set options......................................A combination of single options and parts that together, form a set for serving
some purpose.
2. Single options.................................That are configured from the fewest number of required units of a part.
Please choose user's purpose additionally.
3-99
3 Controller
(1) Teaching pendant (T/B)
■ Order type: R32TB
R32TB-15
:Cable length 7m
:Cable length 15m
■ Outline
This is used to create, edit and control the program, teach the operation position and
for jog feed, etc.
For safety proposes, a 3-position enable switch is mounted.*1)
■ Configuration
Table 3-7 : Configuration device
Part name
Teaching pendant
Type
R32TB
R32TB-15
Qty.
Either one pc.
Mass (kg) Note1)
Remarks
1.7
Cable length is 7m. Hand strap is attached.
2.8
Cable length is 15m. Hand strap is attached.
Note1) Mass indicates one set.
■ Specifications
Table 3-8 : Specifications
Items
Specifications
Outline dimensions
195(W) x 292(H) x 106(D) (refer to outline drawing)
Body color
Dark gray
Mass
Approx. 0.9kg (only arm, excluding cable)
Connection method
Connection with controller and connector.
Interface
RS-422
Display method
LCD method: 24 characters x 8 lines, LCD illumination: with backlight
Operation section
36 keys
Remarks
At 8x8 font
*1) <3-position enable switch>
In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the
robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.
With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch"
and "Enable switch".
The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
a) "Not pressed".......................... The robot does not operate. *)
b) "Pressed lightly" .................... The robot can be operated and teaching is possible.
c) "Pressed with force"............ The robot does not operate. *)
*) Operations, such as program editing and status display, other than robot operation are possible.
Safety is secured as the servo power is turned OFF simultaneously with the input of the emergency stop.
3-100 Teaching pendant (T/B)
3 Controller
195.2
133
105.5
LCD
Enable/Disable switch
Emergency stop
291.9
Operetion key
Body
Enable switch
Cable (with connector)
<Back>
<side>
63.5
<Front>
<Bottom>
Fig.3-17 : Outside dimensions of teaching pendant
■ Installation method
The teaching pendant is connected to the T/B connector on the front of the controller.
Teaching pendant (T/B) 3-101
3 Controller
■ Key layout and main functions
②
④
①
⑤
⑥
⑦
⑨
⑪
⑫
⑬
⑭
⑮
⑯
⑤
⑥
⑧
⑩
③
⑰
⑱
⑲
⑳
① [Emergency stop] switch ................ The robot servo turns OFF and the operation stops immediately.
② [Enable/Disable] switch .................. This switch changes the T/B key operation between enable and disable.
③ [Enable] switch.................................... When the [Enable/Disable] switch " ② " is enabled, and this key is
released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.
④ LCD display panel .............................. The robot status and various menus are displayed.
⑤ Status display lamp ........................... Display the state of the robot or T/B.
⑥ [F1], [F2], [F3], [F4].......................... Execute the function corresponding to each function currently displayed on LCD.
⑦ [FUNCTION] key ................................ Change the function display of LCD.
⑧ [STOP] key........................................... This stops the program and decelerates the robot to a stop.
⑨ [OVRD ↑ ][OVRD ↓ ] key ........... Change moving speed. Speed goes up by [OVRD ↑ ] key. Speed goes
down by [OVRD ↓ ] key
⑩ [JOG] operation key......................... Move the robot according to jog mode. And, input the numerical value.
⑪ [SERVO] key........................................ Press this key with holding AA key lightly, then servo power will turn
on.
⑫ [MONITOR] key .................................. It becomes monitor mode and display the monitor menu.
⑬ [JOG] key.............................................. It becomes jog mode and display the jog operation.
⑭ [HAND] key........................................... It becomes hand mode and display the hand operation.
⑮ [CHARCTER] key............................... This changes the edit screen, and changes between numbers and
alphabetic characters.
⑯ [RESET] key......................................... This resets the error. The program reset will execute, if this key and
the EXE key are pressed.
⑰ [ ↑ ][ ↓ ][ ← ][ → ] key................ Moves the cursor each direction .
⑱ [CLEAR] key ........................................ Erase the one character on the cursor position.
⑲ [EXE] key............................................... Input operation is fixed. And, while pressing this key, the robot moves
when direct mode.
⑳ Number/Character key.................... Erase the one character on the cursor position . And, inputs the number or character
Fig.3-18 : Teaching pendant key layout and main functions
3-102 Teaching pendant (T/B)
3 Controller
(2) Parallel I/O interface
■ Order type : ● 2D-TZ368 (Sink type)/2D-TZ378 (Source type)
■ Outline
This is used to expand the external inputs and outputs
・ The connecting cable with external equipment is not attached. Since we are preparing
the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.
Notes)Although the combined use with the parallel input-and-output unit (2A-RZ361/2ARZ371) of another option is also possible, please use the setup of the station
number by the different number separately. The station number is automatically
determined by the position of the option slot which installed this interface. (station
number 0 to 2)
■ Configuration
Table 3-9 : Configuration device
Part name
Qty.
Mass (kg) Note1)
Either
one pc.
0.4
Type
Parallel I/O interface
2D-TZ368
2D-TZ378
Remarks
Input/output 32 points/32 points
2D-TZ368 is sink type. 2D-TZ378 is source type.
Note1) Mass indicates one set.
■ Specifications
Table 3-10 : Electrical specifications of input circuits
Specification
Item
Type
DC input
Number of input points
32
Insulation method
Photo coupler insulation
<Sink type>
+24V/+12V
(COM)
Rated input voltage
DC12V
DC24V
Rated input current
Approx. 3mA
Approx.9mA
Working voltage range
DC10.2 ~ 26.4V
(Ripple factor should be less than 5%)
ON voltage/ON current
DC8V or more/2mA or more
OFF voltage/ OFF current
DC4V or less/1mA or less
Input resistance
Approx. 2.7kΩ
Response time
OFF-ON
10ms or less(DC24V)
ON-OFF
10ms or less(DC24V)
Common method
32 points per common
External cable connection
method
Connector
Internal circuit
820
Input
2.7K
<Source type>
2.7K
Input
820
0V(COM)
Parallel I/O interface 3-103
3 Controller
Table 3-11 : Electrical specifications for the output circuits
Specification
Item
Type
Transistor output
No. of output points
32
Insulation method
Photo-coupler insulation
Rated load voltage
DC12V/DC24V
Rated load voltage range
DC10.2 ~ 30V (peak voltage DC30V)
Max. load current
0.1A/point (100%)
Leakage current at OFF
Within 0.1mA
Max. voltage drop at ON
DC0.9V(TYP.)
Respons
e time
<Sink type>
+24V/+12V
Output
0V
Note1)
OFF-ON
10ms or less(Resistance load) (hardware response time)
ON-OFF
10ms or less(Resistance load) (hardware response time)
Fuse rating
Fuse 1.6A(one per common)
Replacement possible (max. 3)
Common method
16 points per common (common terminal: 2points)
External wire connection
method
Connector
External
power
supply
Internal circuit
Fuse
<Source type>
Fuse
+24V/+12V
Output
0V
Voltage
DC12/24V(DC10.2 ~ 30V)
Current
60mA(TYP.DC24V per common)(base drive current)
Note1) The maximum voltage drop value at signal ON.
Refer to it for the equipment connected to the output circuit.
Caution
The protection fuse of the output circuit prevents the failure at the time of the load short
circuit and incorrect connection. The load connected of the customer should be careful
not to exceed maximum rating current. The internal transistor may be damaged if
maximum rating current is exceeded.
■ Installation method
The expansion parallel input/output interface is installed in the controller. Refer to separate "Instruction Manual/
Controller setup, basic operation, and maintenance" for details on the installing method.
If it installs in the option SLOT of the controller, the station number will be assigned automatically.
SLOT1: station number 0(0 to 31)
SLOT2: station number 1(32 to 63)
Caution
If it uses together with parallel input-and-output unit 2A-RZ361/2A-RZ371, please do
not overlap with the station number of the parallel input-and-output interface.
<CR750 controller>
SLOT1
SLOT2
Fig.3-19 : Parallel I/O interface installation position (CR750)
3-104 Parallel I/O interface
3 Controller
■ Pin layout of connector
1B
20B
1A
1D
20A
20D
1C
20C
Connector<2>
Output 16 to 31
Input 16 to 31
(when station number 0)
Connector<1>
Output 0 to 15
Input 0 to 15
(when station number 0)
Fig.3-20 : Pin layout of connector
■ Connector pin No. and signal assignment
The station number is fixed by the slot to install and the allocation range of the general-purpose input-andoutput signal is fixed.
Table 3-12 : The slot number and the station number
Slot number
Station
number
SLOT1
SLOT2
Range of the general-purpose input-and-output signal
Connector <1>
Connector <2>
0
Input : 0 to 15
Output : 0 to 15
Input : 16 to 31
Output : 16 to 31
1
Input : 32 to 47
Output : 32 to 47
Input : 48 to 63
Output : 48 to 63
The connector pin number of the parallel input-and-output interface installed in SLOT1 and signal number
allocation are shown in Table 3-13 and Table 3-14. If it installs in other slots, please interpret and utilize.
Parallel I/O interface 3-105
3 Controller
Table 3-13 : Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)
Function name
Pin
No.
Line color
1C
Orange/Red a
2C
3C
4C
5C
6C
7C
8C
9C
10C
11C
12C
13C
14C
15C
16C
General-purpose
Function name
Dedicated/power supply,
common
Pin
No.
Line color
General-purpose
Dedicated/power supply,
common
0V : For pins 5D-20D
1D
Orange/Black a
12V/24V : For pins
5D-20D
Gray/Red a
COM : For pins
5C-20CNote1)
2D
Gray/Black a
Reserved
White/Red a
Reserved
Reserved
Reserved
3D
4D
5D
6D
7D
8D
9D
10D
11D
12D
13D
14D
15D
White/Black a
Yellow/Red a
Pink/Red a
General-purpose input 15
Orange/Red b General-purpose input 14
Gray/Red b
General-purpose input 13
White/Red b General-purpose input 12
Yellow/Red b General-purpose input 11
Pink/Red b
General-purpose input 10
Orange/Red c General-purpose input 9
Gray/Red c
General-purpose input 8
White/Red c General-purpose input 7
Yellow/Red c General-purpose input 6
Pink/Red c
General-purpose input 5
Orange/Red d General-purpose input 4
Operation rights input
signal Note2)
Servo ON input signal
Yellow/Black a
Pink/Black a
Reserved
General-purpose output 15
Orange/Black b General-purpose output 14
Gray/Black b
General-purpose output 13
White/Black b
General-purpose output 12
Yellow/Black b
General-purpose output 11
Pink/Black b
General-purpose output 10
Orange/Black c General-purpose output 9
Gray/Black c
General-purpose output 8
White/Black c
General-purpose output 7
Yellow/Black c
General-purpose output 6
Pink/Black c
General-purpose output 5
16D Orange/Black d General-purpose output 4
Note2)
17C
Gray/Red d
18C
White/Red d General-purpose input 2
General-purpose input 3
Start input
Note2)
Error reset input signal
17D Gray/Black d
General-purpose output 3
18D White/Black d
General-purpose output 2
19D Yellow/Black d
General-purpose output 1
20D Pink/Black d
General-purpose output 0
Note2)
19C
Yellow/Red d General-purpose input 1
Servo OFF input signal
Note2)
20C
Pink/Red d
General-purpose input 0
Stop input
Note3)
Operation rights output
signal Note2)
Error occurring output
signal Note2)
In servo ON output
signal Note2)
Operating output
Note2)
Note1) Sink type:12V/24V(COM),Source type:0V(COM)
Note2) The dedicated signal is assigned at shipping. It can change with the parameter.
Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.
Table 3-14 : Connector<2> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)
Function name
Pin
No.
Line color
1A
Orange/Red a
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
General-purpose
Dedicated/power supply,
common
Pin
No.
Function name
Line color
General-purpose
Dedicated/power supply,
common
0V : For pins 5B-20B
1B Orange/Black a
12V/24V : For pins 5B20B
Gray/Red a
COM : For pins 5A20ANote1)
2B Gray/Black a
Reserved
White/Red a
Reserved
Reserved
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
Reserved
Yellow/Red a
Pink/Red a
General-purpose input 31
Orange/Red b General-purpose input 30
Gray/Red b
General-purpose input 29
White/Red b General-purpose input 28
Yellow/Red b General-purpose input 27
Pink/Red b
General-purpose input 26
Orange/Red c General-purpose input 25
Gray/Red c
General-purpose input 24
White/Red c General-purpose input 23
Yellow/Red c General-purpose input 22
Pink/Red c
General-purpose input 21
Orange/Red d General-purpose input 20
Gray/Red d
General-purpose input 29
White/Red d General-purpose input 18
Yellow/Red d General-purpose input 17
Pink/Red d
General-purpose input 16
Note1) Sink type:12V/24V(COM),Source type:0V(COM)
3-106 Parallel I/O interface
White/Black a
Yellow/Black a
Pink/Black a
Reserved
General-purpose output 31
Orange/Black b General-purpose output 30
Gray/Black b
General-purpose output 29
White/Black b
General-purpose output 28
Yellow/Black b
General-purpose output 27
Pink/Black b
General-purpose output 26
Orange/Black c General-purpose output 25
Gray/Black c
General-purpose output 24
White/Black c
General-purpose output 23
Yellow/Black c
General-purpose output 22
Pink/Black c
General-purpose output 21
Orange/Black d General-purpose output 20
Gray/Black d
General-purpose output 19
White/Black d
General-purpose output 18
Yellow/Blackc d General-purpose output 17
Pink/Black d
General-purpose output 16
3 Controller
<Reference> The example of connection with our PLC
<Sink>
QX41
(Mitsubishi programmable
controller)
Parallel I/O interface
(Output)
60mA
(24/12V)
COM
Output
……
X
Output
Fuse
24V
(0V)
External
power supply
*The input/output circuit external
QY41P
(Mitsubishi programmable power supply (24 VDC) must be
prepared by the customer.
controller)
(Input)
(COM)
+24V
Input
Y
……
3.3K
Input
24V
COM
24G(24GND)
External
power supply
Note) In the customer's system, do not
ground the + side of 24V power
supply prepared by customer for
connect to the controller.
(related with emergency stop and
parallel input/output) If it
connects with the controller
under the condition that the +
side is grounded, it will lead to
failure of controller.
Table 3-15 : Connection with a Mitsubishi PLC (Example of sink type)
<Source>
Parallel I/O interface
(Output)
(Output)
QX41
(Mitsubishi programmable
controller)
60mA
Fuse (24/12V)
……
Output
Output
X
24V
COM
(0V)
External
power supply
QY81P (Mitsubishi
programmable
+24V controller)
(Input)
3.3K Input
……
Y
Input
(COM)
24G(24GND)
24V
External
power supply
*The input/output circuit external
power supply (24 VDC) must be
prepared by the customer.
Note) In the customer's system, do
not ground the + side of 24V
power supply prepared by
customer for connect to the
controller. (related with
emergency stop and parallel
input/output) If it connects
with the controller under the
condition that the + side is
grounded, it will lead to
failure of controller.
Table 3-16 : Connection with a Mitsubishi PLC (Example of source type)
Parallel I/O interface 3-107
3 Controller
(3) External I/O cable
■ Order type : ● 2D-CBL □□ Note) The numbers in the boxes □□ refer to the length. (05: 5m, 15: 15m)
■ Outline
This is the dedicated cable used to connect an external peripheral device to the connector on the parallel I/O interface. For parallel I/O unit is another option 2A-CBL.**.
One end matches the connector on the parallel input/output unit, and the other end is
free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with
built-in standard.
■ Configuration
Table 3-17 : Configuration device
Part name
External I/O cable
Type
2D-CBL □□
Qty.
Mass (kg) Note1)
1 pc.
0.7(5m)
1.84(15m)
Remarks
5m or 15m
Note1) Mass indicates one set.
■ Specifications
Table 3-18 : Specifications
Items
Specifications
Number of cables x cable size
AWG #28 x 20P (40 pairs)
Total length
5m, 15m
■ Connector pin numbers and cable colors
Table 3-19 : Connector pin numbers and cable colors
Pin no.
Cable colors
Pin no.
Cable colors
Pin no.
Cable colors
Pin no.
Cable colors
1A/C
Orange/Red a
11A/C
Orange/Red c
1B/D
Orange/Black a
11B/D
Orange/Black c
2A/C
Gray/Red a
12A/C
Gray/Red c
2B/D
Gray/Black a
12B/D
Gray/Black c
3A/C
White/Red a
13A/C
White/Red c
3B/D
White/Black a
13B/D
White/Black c
4A/C
Yellow/Red a
14A/C
Yellow/Red c
4B/D
Yellow/Black a
14B/D
Yellow/Black c
5A/C
Pink/Red a
15A/C
Pink/Red c
5B/D
Pink/Black a
15B/D
Pink/Black c
6A/C
Orange/Red b
16A/C
Orange/Red d
6B/D
Orange/Black b
16B/D
Orange/Black d
7A/C
Gray/Red b
17A/C
Gray/Red d
7B/D
Gray/Black b
17B/D
Gray/Black d
8A/C
White/Red b
18A/C
White/Red d
8B/D
White/Black b
18B/D
White/Black d
9A/C
Yellow/Red b
19A/C
Yellow/Red d
9B/D
Yellow/Black b
19B/D
Yellow/Black d
10A/C
Pink/Red b
20A/C
Pink/Red d
10B/D
Pink/Black b
20B/D
Pink/Black d
Notes) Pin number of connector<1> are 1C, 2C, ....20C, 1D, 2D, ....20D, connector<2> are 1A, 2A, ....20A, 1B,
2B, ....20B.
3-108 External I/O cable
3 Controller
■ Connections and outside dimensions
The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color specifications in "Table 3-30: Connector pin numbers and cable colors" when making the connections.
(Eg.) Pin number: color indication
1
: Orange / Red / A
Type of dot mark (see figure below)
Color of dot mark
Color of sheath
Line color
type
a type
b type
c type
d type
Pattern of the print mark
One dot
Two dots
Three dots
Four dots
or
20A/C
20B/D
1A/C
1B/D
Plug (Fujitsu Ltd) Connector : FCN-361J040-AU
Cover
: FCN-360C040-B
Fig.3-21 : Connections and outside dimensions
External I/O cable 3-109
3 Controller
(4) Parallel I/O unit
■ Order type: 2A-RZ361(Sink type)
2A-RZ371(Source type)
■ Outline
This is used to expand the external inputs and outputs. One one equal with this unit
is built into the control unit among controllers the standard.
・ The connection cable is not included. .Prepare the optional external input/output
cable (2A-CBL05 or 2A-CBL15).
・ Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2ARZ371 for source type signal logic.
Notes) Although the combined use with the parallel I/O interface (2D-TZ368) of another option is also possible,
please use the setup of the station number by the different number separately. The station number is automatically fixed by the position of the option slot which installed the parallel I/O interface in 0-2.
■ Configuration
Table 3-20 : Configuration device
Part name
Type
Parallel I/O unit
2A-RZ361
2A-RZ371
Qty.
Mass (kg) Note1)
Remarks
0.7
Input/output 32 points/32 points
2A-RZ361 is the sink type.
2A-RZ371 is the source type.
Connector with pins.
The cable must be prepared and wired by the customer.
Either one
pc.
0.7
Robot I/O link connection connector
NETcable-1
2 sets
-
Power connection connector
DCcable-2
1 set
-
Connector with pins.
The cable must be prepared and wired by the customer.
R-TM
1 pc.
-
100Ω(1/4W)
Terminator
Note1) Mass indicates one set.
■ Specifications
1) The parallel I/O interface (2D-TZ368) of another option, and the a maximum of eight pieces in all. (One station
occupies one unit.)
2) The power supply (24V) must be prepared by the customer and connected with the power connection cable
(DCcable-2)
A separate 24V power supply is required for the input/output circuit wiring.
Table 3-21 : Electrical specifications of input circuits
Item
Specification
Type
DC input
Number of input points
32
Insulation method
Photo coupler insulation
<Sink type>
+24V/+12V
(COM)
Rated input voltage
24VDC
24VDC
Rated input current
Approx 3mA
Approx 7mA
Working voltage range
10.2 to 26.4VDC(Ripple factor should be less than 5%.)
ON voltage/ON current
8VDC or more/ 2mA or more
OFF voltage/ OFF current
4VDC or less/ 1mA or less
Input resistance
Approx. 3.3kΩ
Response time
OFF-ON
10ms or less (24VDC)
ON-OFF
10ms or less (24VDC)
Common method
8 points per common
External cable connection method
Connector
3-110 Parallel I/O unit
Internal circuit
820
Input
入力
3.3K
<Source type>
3.3K
Input
入力
820
0V(COM)
3 Controller
Table 3-22 : Electrical specifications for the output circuits
Item
Specification
Type
Transistor output
No. of output points
32
Internal circuit
<Sink type>
Insulation method
Photo-coupler insulation
+24V/+12V
Rated load voltage
12VDC/24VDC
Rated load voltage range
10.2 to 30VDC(peak voltage 30VDC)
Output
出力
Max. load current
0.1A/point (100%)
Leakage current at OFF
0.1mA or less
Max. voltage drop at ON
0.9VDC(TYP.)
OFF-ON
2ms or less
(hardware response time)
ON-OFF
2ms or less
(Resistance load) (hardware response time)
Response time
Fuse rating
Fuse 3.2A (one per common) Replacement not possible
Common method
8 points per common (common terminal: 4 points)
External wire connection
method
Connector
External power
supply
0V
Note1)
Voltage
12VDC/24VDC(10.2 to 30VDC)
Current
60mA (TYP. 24VDC per common) (base drive current)
ヒューズ
Fuse
<Source type>
Fuse +24V/+12V
ヒューズ
Output
出力
0V
Note1) The maximum voltage drop value at signal ON.
Refer to it for the equipment connected to the output circuit.
CAUTION
The output circuit protective fuses prevent failure in case of load short-circuit and
improper connections. Please do not connect loads that cause the current to exceed
the maximum rated current. If the maximum rated current is exceeded, the internal
transistors may be damaged.
Parallel I/O unit 3-111
3 Controller
NETcable-1 (Network cable)
Pin No.
RIO1/2
RIO1/2
Pin No.
1
TXRXH
TXRXH
1
2
TXRXL
TXRXL
2
3
SG(GND)
SG(GND)
3
Note 2)
FG
DCcable-2 (Power cable)
Pin No.
DCIN
1
24V
+
2
24G(RG)
-
3
FG(PE)
Note 1)
24V Power
Connected the frame ground or protect ground
R-TM (Terminator)
Pin No.
RIO1/2
1
TXRXH
2
TXRXL
3
SG(GND)
100Ω
List of parts and manufacturer
Connector type
Contact type
Resistant
NETcable-1
Type
51103-0300 (1)
50351-8100 (3)
-
DCcable-2
R-TM
2-178288-3 (1)
1-178288-3 (1)
175218-3 (3)
175218-3 (2)
-
100Ω(1/4W) (1)
Manufacturer
MOLEX (White connector)
Tyco Electronics (Black connector)
Equivalent to KOA.
Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.)
In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the
controller under the condition that the + side is grounded, it will lead to failure of controller.
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.3-22 : Spacifications for the connection cable
3-112 Parallel I/O unit
3 Controller
■ Installation method
The expansion parallel input/output unit is installed outside of the controller. Connect with the network
connection cable (NETcable-1) from the RIO connector in the rear/into of the controller.(Terminator is connected
at the time of shipment)
RIO connector
RIOコネクタ
100
(1 7 5 )
(4 0 )
配線余
裕
Wiring
space
128
22-M5
- M 5screw
ネジ
156
150
<2A-RZ361>
放熱、配線余裕
Radiation/wiring
space
6
168
6
6
Heat
放熱余裕
radiation
space
Upside
天
54
60
6
Control
dimensions
制 御 盤panel
取 付 installation
寸法
地
Downside
Installation dimensions of 2A-RZ361/371 (The controller outside installation.)
2A-RZ361の 取 付 寸 法
Fig.3-23 : Installing the parallel I/O unit (CR750)
Parallel I/O unit 3-113
3 Controller
*2) ケーブルアースクランプ
Grounding terminal
position
シース
Sheath
20~30mm
Metal
braid section
金属製ブレード部
Peel the
シースはケーブルのコネクタ端から200~300mmの箇所を目安に
sheath in the position about 200-300mm from the connector
end ofカバーの着脱ができる程度の位置で剥いてください。
the cable, so you can install and remove the cover.
※シールド線に傷をつけないようにご注意願います。
* Don't damage the shield line.
シース
Sheath
RIOコネクタ
RIO
Parallel
I/O unit 1 . 1. .. . 6. . 6
パラレル入出力ユニット
*1)
100mm以内
Within
100mm
フェライトコア
Ferrite
core
(CEのみ)
(Only for the CE
marking/
KC mark specification)
Pass twice
パラレル入出力ユニット7
Parallel
I/O unit 7
Station
No.
局番設定
setting7
7
局番設定
Station
No.
1...6
setting
1...6
FG
*2)
<CN300>
<CN100>
<CN300>
<CN100>
Note)
注)
NETcable-1
NETcable-1
ケーブル
cable
RIO1RIO1コネクタ
connector
DCIN
FG
DCINコネクタ
connector
DCcable-2
DCcable-2
ケーブル
cable
RIO2
connector RIO1
RIO2コネクタ
connector
RIO1コネクタ
注)
NETcable-1
Note)
ケーブル
NETcable-1
cable
前
面
Front
side
RIO1
connector
RIO1コネクタ
FG
DCIN
DCINコネクタ
connector
DCcable-2
DCcable-2
ケーブル
cable
RIO2コネクタ
RIO2
connector
R-TM
R-TM
ターミネータ
terminator
RIO2コネクタ
RIO2
connector
DCINコネクタ
DCIN
connector
*1) Install the ferrite core in within
100mm from each connector.
I/O入出力ユニット底面
unit the bottom
コネクタ配置図
connector
layout
Connect the NET cable-1 to the RIO connector on the back of the controller. Each unit is connected to from a
daisy chain.
Always install a terminator (R-TM) to the last unit.
Note) Use a shield cable for NET cable-1 as a measure against noise.
Always connect the shield to FG. Install the attached ferrite core in both ends.
The unit could malfunction because of noise if the shield cable is not used.
Fig.3-24 : Connection method of expansion parallel I/O unit (CR750)
3-114 Parallel I/O unit
3 Controller
■ Pin arrangement of the connector
Channel No. setting
TXD
LED display
50
<CN100>
Input 0 to 15
Output 0 to 15
25
<CN300>
Input 16 to 31
Output 16 to 31
26
1
*2A-RZ361/2 A-RZ371 are 32/32 input-and-output units. (One-station occupancy)
Fig.3-25 : Pin arrangement of the parallel I/O unit
■ Assignment of pin number and signal
The assignment range of the general-purpose input-and-output signal is fixed by the setup of the station number.
Table 3-23 : Assignment of pin number and signal
Unit Number
Station
number
1st set
CN100
CN300
0
Input : 0 to 15
Output : 0 to 15
Input : 16 to 31
Output : 16 to 31
2nd set
1
Input : 32 to 47
Output : 32 to 47
Input : 48 to 63
Output : 48 to 63
3rd set
2
Input : 64 to 79
Output : 64 to 79
Input : 80 to 95
Output : 80 to 95
4th set
3
Input : 96 to 111
Output : 96 to 111
Input : 112 to 127
Output : 112 to 127
5th set
4
Input : 128 to 143
Output : 128 to 143
Input : 144 to 159
Output : 144 to 159
6th set
5
Input : 160 to 175
Output : 160 to 175
Input : 176 to 191
Output : 176 to 191
7th set
6
Input : 192 to 207
Output : 192 to 207
Input : 208 to 223
Output : 208 to 223
8th set
7
Input : 224 to 239
Output : 224 to 239
Input : 240 to 255
Output : 240 to 255
The connector pin number of the parallel I/O unit of the station number 0 and signal number assignment are
shown in Table 3-24 and Table 3-25. If it is set as other station number, please interpret and utilize.
Parallel I/O unit 3-115
3 Controller
■ Parallel I/O interface (First expansion unit)
Table 3-24 : Connector CN100pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
1
2
3
4
5
Line color
General-purpose
Orange/Red A
Gray/Red A
White/Red A
Yellow/Red A General-purpose output 0
Pink/Red A
General-purpose output 1
Function name
Dedicated/power supply,
common
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7
Operating output Note1)
In servo ON output signal
Pin
No.
26
27
28
29
30
Line color
General-purpose
Orange/Blue A
Gray/Blue A
White/Blue A
Yellow/Blue A General-purpose output 4
Pink/Blue A
Dedicated/power supply,
common
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32
General-purpose output 5
Note1)
6
Orange/Red B General-purpose output 2
Error occurring output signal
31
Orange/Blue B General-purpose output 6
Note1)
7
Gray/Red B
General-purpose output 3
8
9
10
11
12
13
14
15
White/Red B
Yellow/Red B
Pink/Red B
Orange/Red C
Gray/Red C
White/Red C
Yellow/Red C
Pink/Red C
16
Orange/Red D General-purpose input 1
Operation rights output signal Note1)
0V:For pins 4-7, 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 input 0
Note2)
Note3)
Stop input
Servo OFF input signal
32
Gray/Blue B
General-purpose output 7
33
34
35
36
37
38
39
40
White/Blue B
Yellow/Blue B
Pink/Blue B
Orange/Blue C
Gray/Blue C
White/Blue C
Yellow/Blue C
Pink/Blue C
41
Orange/Blue D General-purpose input 9
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
General-purpose output 12
General-purpose output 13
General-purpose output 14
General-purpose output 15
COM1:For pins 40-47 Note2)
General-purpose input 8
Note1)
17
Gray/Red D
General-purpose input 2
Error reset input signal
42
Gray/Blue D
General-purpose input 10
Note1)
18
White/Red D
19
Yellow/Red D General-purpose input 4
20
21
22
23
24
25
Pink/Red D
General-purpose input 3
General-purpose input 5
Orange/Red E General-purpose input 6
Gray/Red E General-purpose input 7
White/Red E
Yellow/Red E
Pink/Red E
Start input Note1)
43
White/Blue D General-purpose input 11
Servo ON input signal Note1)
Operation rights input signal Note1)
44
Yellow/Blue D General-purpose input 12
Reserved
Reserved
Reserved
45
46
47
48
49
50
Pink/Blue D
General-purpose input 13
Orange/Blue E General-purpose input 14
Gray/Blue E General-purpose input 15
White/Blue E
Yellow/Blue E
Pink/Blue E
Note1) The dedicated signal is assigned at shipping. It can change with the parameter.
Note2) Sink type:12V/24V(COM),Source type:0V(COM)
Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.
3-116 Parallel I/O unit
Reserved
Reserved
Reserved
3 Controller
Table 3-25 : Connector CN300pin No. and signal assignment list (2A-CBL □□ )
Function name
Pin
No.
Line color
1
2
3
4
5
6
7
8
9
10
11
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
12
13
14
Gray/Red C General-purpose output 26
White/Red C General-purpose output 27
Yellow/Red C
COM0:For pins 15-22Note1)
Pink/Red C General-purpose input 16
Orange/Red D General-purpose input 17
Gray/Red D General-purpose input 18
White/Red D General-purpose input 19
Yellow/Red D General-purpose input 20
Pink/Red D General-purpose input 21
Orange/Red E General-purpose input 22
Gray/Red E General-purpose input 23
White/Red E
Reserved
Yellow/Red E
Reserved
Pink/Red E
Reserved
15
16
17
18
19
20
21
22
23
24
25
General-purpose
Dedicated/power supply,
common
FG
0V:For pins 4-7, 10-13
12V/24V:For pins 4-7
General-purpose
General-purpose
General-purpose
General-purpose
output 16
output 17
output 18
output 19
0V:For pins 4-7, 10-13
12V/24V:For pins 10-13
General-purpose output 24
General-purpose output 25
Function name
Pin
No.
Line color
26
27
28
29
30
31
32
33
34
35
36
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
37
38
39
Gray/Blue C General-purpose output 30
White/Blue C General-purpose output 31
Yellow/Blue C
COM1:For pins 40-47 Note1)
40
41
42
43
44
45
46
47
48
49
50
Pink/Blue C
Orange/Blue D
Gray/Blue D
White/Blue D
Yellow/Blue D
Pink/Blue D
Orange/Blue E
Gray/Blue E
White/Blue E
Yellow/Blue E
Pink/Blue E
Dedicated/power supply,
common
General-purpose
FG
0V:For pins 29-32, 35-38
12V/24V:For pins 29-32
General-purpose
General-purpose
General-purpose
General-purpose
output
output
output
output
20
21
22
23
0V:For pins 29-32, 35-38
12V/24V:For pins 35-38
General-purpose output 28
General-purpose output 29
General-purpose input 24
General-purpose input 25
General-purpose input 26
General-purpose input 27
General-purpose input 28
General-purpose input 29
General-purpose input 30
General-purpose input 31
Reserved
Reserved
Reserved
Note1) Sink type:12V/24V(COM),Source type:0V(COM)
Parallel I/O unit 3-117
3 Controller
<Reference> The example of connection with our PLC
<Sink>
QX41
(Mitsubishi programmable
controller)
Parallel I/O interface
(Output)
60mA
(24/12V)
COM
Output
……
X
Output
Fuse
24V
(0V)
External
power supply
*The input/output circuit external
QY41P
(Mitsubishi programmable power supply (24 VDC) must be
prepared by the customer.
controller)
(Input)
(COM)
+24V
Input
Y
……
3.3K
Input
24V
COM
24G(24GND)
External
power supply
Note) In the customer's system, do not
ground the + side of 24V power
supply prepared by customer
for connect to the controller.
(related with emergency stop
and parallel input/output) If it
connects with the controller
under the condition that the +
side is grounded, it will lead to
failure of controller.
Table 3-26 : Connection with a Mitsubishi PLC (Example of sink type)
<Source>
Parallel I/O interface
(Output)
(Output)
QX41
(Mitsubishi programmable
controller)
60mA
Fuse (24/12V)
……
Output
Output
X
24V
COM
(0V)
External
power supply
QY81P (Mitsubishi
+24V programmable
(Input)
controller)
3.3K Input
……
Y
Input
(COM)
24G(24GND)
24V
External
power supply
Table 3-27 : Connection with a Mitsubishi PLC (Example of source type)
3-118 Parallel I/O unit
*The input/output circuit external
power supply (24 VDC) must be
prepared by the customer.
Note) In the customer's system, do not
ground the + side of 24V power
supply prepared by customer
for connect to the controller.
(related with emergency stop
and parallel input/output) If it
connects with the controller
under the condition that the +
side is grounded, it will lead to
failure of controller.
3 Controller
(5) External I/O cable
■ Order type: 2A-CBL □□ Note) The numbers in the boxes □□ refer to the length. (05: 5m、 15: 15m)
■ Outline
This is the dedicated cable used to connect an external peripheral device to the connector on the parallel input/output unit.
One end matches the connector on the parallel input/output unit, and the other end
is free. Connect the peripheral device's input/output signal using the free end.
One cable correspond to the input 16 points and output 16 points.
Two cables are needed to connection of (input 32 points and output 32 points) with
built-in standard.
■ Configuration
Table 3-28 : Configuration device
Part name
Type
External I/O cable
2A-CBL □□
Qty.
Mass(kg)Note1)
1pc.
0.7(5m)
1.84(15m)
Remarks
5m or 15m
Note1) Mass indicates one set.
■ Specifications
Table 3-29 : 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 3-30 : Connector pin numbers and cable colors
Pin
no.
Cable colors
Pin
no.
Cable colors
1
2
Pin
no.
Cable colors
Pin
no.
Cable colors
Pin
no.
Cable colors
Orange/Red A
11
Gray/Red A
12
Orange/Red C
21
Orange/Red E
31
Orange/Blue B
41
Orange/Blue D
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
External I/O cable 3-119
3 Controller
■ Connections and outside dimensions
The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color specifications in "Table 3-30: Connector pin numbers and cable colors" when making the connections.
(Eg.) Pin number: color indication
1
: Orange / Red / A
Type of dot mark (see figure below)
Color of dot mark
Color of sheath
Type of dot mark
Type of dot mark
Dot pattern
1
A type
Dot pattern
3
F type
18.5
18.5
1.5
B type
3
G type
18.5
18.5
1.5
C type
3
H type
18.5
18.5
1.5
7.5
I type
D type
18.5
18.5
1.5
7.5
J type
E type
Continuous
Continuous
5000
1
50
25
66
76.74
64.53
51.816
2.159
26
13.54
16.2
9.27
35.7
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.3-26 : Connections and outside dimensions
3-120 External I/O cable
3 Controller
(6) CC-Link interface
■ Order type: ● 2D-TZ576
■ Outline
The CC-Link interface is the optioninterface to not only add bit data to the robot
controller. but also to add CC-Link field network function that allows cyclic
transmission of word data.
■ Configuration
Table 3-31 : Configuration device
Part name
Type
Qty.
Mass(kg)Note1)
CC-Link interface
TZ576
1
0.6
Manual
BFP-A8701
1
-
Ferrite core
E04SR301334
2
-
Cable clamp
AL4
2
-
AL5
2
-
Remarks
Be sure to install this for noise countermeasure.
Note1) Mass indicates one set.
Table 3-32 : Procured by the customer
Part name
Type
Qty.
Remarks
QJ61BT11(Q series)
QJ61BT11N(Q series)
AJ61QBT11(QnA series)
Master station
A1SJ61QBT11(QnAS series)
1
FX series products are not supported.
AJ61BT11(A series)
A1SJ61BT11(AnS series)
A80BD-J61BT11(personal computer board)
Communication cable
-
1
Shielded 3-core twisted cable
This cable may be manufactured by the customer.
Terminal resistor
-
1
110Ω or 130Ω is recommended.
Display
表示器
Inverter
インバータ
シーケンサ
Sequencer
I/O unit
I/Oユニット
Robot arm
ロボット本体
Partner manufacturer’s
パートナーメーカーの機器
device
Controller
ロボットコントローラ
(The(図はCR751)
figure is CR751)
Personal
computer
パソコン
CC-Link
CC-Link interface
インタフェースカード
(本オプション)
(This
option)
Fig.3-27 : Example of CC-Link Product Configuration
CC-Link interface 3-121
3 Controller
■ Specifications
Table 3-33 : Specifications
Item
Specifications
Communication function
Remarks
Bit data and word data can be transmitted.
Word data are used by the registers.
Intelligent device station Note1)
Station type
Support station
Local station
The version corresponding to CC-Link
No master station function
Ver.2
Mountable option slot
The extended cyclic setup is possible.
Slot 1, 2
Number of mountable CC-Link interface cards
1
Multiple CC-Link interface cards cannot be
inserted.
Number of stations
1 to 64 stations
When four stations are occupied, continuous
station numbers are used. The station
numbers are set by a DIP switch.
Transmission speed
10M/5M/2.5M/625K/156K bps
Station number
1 to 64
Number of occupied stations
1/2/3/4
Extended cyclic setup
1/2/4/8
Maximum link point
Remote I/O
(RX, RY).
Extended cyclic setup
-
Link point
per set
When one
station is
occupied
When two
stations is
occupied
When three
stations is
occupied
When four
stations is
occupied
When two or more stations are occupied,
continuous station numbers are used.
Each 896 points
Remote register
(RWr, RWw)
This is set by the rotary SW.
The two last cannot be used.
Each 128 register
16 bits/register
1 fold
setup
2 fold
setup
3 fold
setup
4 fold
setup
Remote I/O
(RX, RY).
32 point
32 point
64 point
128 point
Remote register
( RWw)
4 word
8 word
16 word
32 word
Remote register
(RWr)
4 word
8 word
16 word
32 word
Remote I/O
(RX, RY).
64 point
96 point
192 point
384 point
Remote register
( RWw)
8 word
16 word
32 word
64 word
Remote register
(RWr)
8 word
16 word
32 word
64 word
Remote I/O
(RX, RY).
96 point
160 point
320 point
640 point
Remote register
( RWw)
12 word
24 word
48 word
96 word
Remote register
(RWr)
12 word
24 word
48 word
96 word
Remote I/O
(RX, RY).
128 point 224 point
448 point
896 point
Remote register
( RWw)
16 word
32 word
64 word
128 word
Remote register
(RWr)
16 word
32 word
64 word
128 word
Number of the maximum occupancy station
4 stations
The I/O first number of the robot controller.
No. 6000 -.
The number corresponding to the station
number by the setup of the parameter
"CCFIX."
Note1) The CC-Link interface supports neither the transient transmission function nor the FX series.
3-122 CC-Link interface
3 Controller
■ Functions
(1) Communication function
・ The number of usable points is 896 points maximum for bit control and 128 points maximum for word control.
(2) Easy setup
・ The CC-Link interface card can be set by a rotary switch or DIP switch.
・No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can
only be mounted into slot 2).
・ Easy wiring since only four terminals need to be connected.
・ Dedicated commands have been added to MELFA-BASIC V (robot programming language); thus, no complex
interface programming is required.
(3) High-speed response
・The link scan time when connecting 64 stations is approximately 7.2 ms, achieving superior high-speed response
performance.
・ A transmission speed can be selected from 10M, 5M, 2.5M, 625K and 156K bps according to the transmission
distance.
CC-Link interface 3-123
3 Controller
(7) Controller protection box
■ Order type: ● CR750-MB
■ Outline
By putting the controller in this box, the controller can be protected from oil mist
environment.
Use this option, when the controller is installed where environment is oil mist such as
machine shop etc. Therefore, the operation of installing and removing the T/B, and
changing the mode switch can be done, with the controller put in.
■ Configuration
Table 3-34 : Configuration equipment and types
Part name
Type
Controller protection box
CR750-MB
Qty.
Mass (Kg)Note1)
備考
1
power supply wiring cable
3
For connection between the power supply relay
terminal and controller inside this box
Grounding cable
1
For connection between the grounding terminal and
controller inside this box
Seal for the serial number copy
1
Protection seal clear
22
1
Cable tie
T50L
4
Screw for fixing of the controller
mounting plate
M4x8
4
Note1) Mass indicates one set.
■ Specifications
Table 3-35 : Specifications
Item
Unit
Specifications
Outside dimension
mm
500(W)×725(D)×250(H)
Mass
Kg
22
Ω
100 or less (class D grounding)
Construction
Grounding
Paint color
Self-contained floor type
Remarks
Excluding protrusions
IP54
Dark gray
(1) The robot must be grounded by the customer.
(2) The cable for primary power supply connection and the grounding cable are customer preparations.
3-124 Controller protection box
3 Controller
■ Outside dimension and controller setting position
Cable cover
Drain hole
Controller setting position
Rubber foot fixation screw for
placing vertically
(Four places)
Fig.3-28 : Outside dimension and controller setting position
Controller protection box 3-125
3 Controller
■ Names of each part
Window
Mode key switch
Seal for the serial number copy
Protection seal clear
T/B connector
Front view
Mode change SW
extension cable
Controller
Fixing lever
Power supply relay terminal
(M4 screw)
Grounding terminal (M4 screw)
Cable cover
Cable tie
T/B junction
cable
External emergency stop
wiring (customer preparation)
Front side
of the
controller
Machine cable CN2
Power supply cable,
Grounding cable
(customer preparation)
Machine cable CN1
Controller mounting plate
Power supply wiring
Upper view
Fig.3-29 : Names of each part
3-126 Controller protection box
Grounding cable
3 Controller
■ Wiring system diagram
<Single phase: RV-4F series>
Controller protection box
Terminal
Power supply wiring
Controller
Power supply cable
Grounding cable
(L1)
(L1)
(L2)
(L2)
ACIN
CN1
CN2
FG
CNUSR
11/12
AC fan
FG
FG
FG
Grounding cable
Grounding terminal
<Single phase/Three phase: RV-7F/13F series>
Controller protection box
Terminal Note1)
Power supply wiring
Controller
Power supply cable
Grounding cable
(L1)
(L1)
(L2)
(L2)
(L3)
ACIN
CN1
CN2
(L3)
FG
CNUSR
11/12
AC fan
FG
Grounding cable
FG
FG
Grounding terminal
Note1) When using the controller for the three phases with the single-phase power supply, connect the primary power
supply to L1 and L2 electric terminal of the protection box so that the power supply may be supplied to the
heat-exchanger AC fan of the protection box.
Connects with L1 and L3 electric terminal to the ACIN terminal block of the controller. Refer to the separate
manual "Controller setup, basic operation, and maintenance" for detail of connecting the power cable and the
grounding cable.
Fig.3-30 : Wiring system diagram
Controller protection box 3-127
3 Controller
■ Installation dimensions
<<Placed horizontally>
150mm
or more
30mm or more
150mm
or more
<Placed vertically>
150mm or more
30mm
or more
Fig.3-31 : Installation dimensions
3-128 Controller protection box
150mm or more
150mm
or more
150mm
or more
3 Controller
(8) RT ToolBox2/RT ToolBox2 mini
■ Order type : ● RT ToolBox2
*For windows CD-ROM
● RT ToolBox2 mini
*For windows CD-ROM
: 3D-11C-WINE
: 3D-12C-WINE
■ Outline
This is handy software that fully uses the personal computer functions. It can be used in
various stages from the robot specifications study (tact study, etc.) to the design support
(creation and editing of programs), start up support (execution, control and debugging of
program), and maintenance.
The "personal computer support software" which supports these function fully, and the
"personal computer support software mini" which does not have the simulation function
are available.
■ Configuration
Table 3-36 : Product configuration
Type
Medium
Mass (kg) Note1)
RT ToolBox2
3D-11C-WINE
CD-ROM
0.2
RT ToolBox2 mini
3D-12C-WINE
CD-ROM
0.2
Part name
Remarks
Note1) Mass indicates one set.
■ Features
(1) Simple operation with guidance method and menu method
The Windows standard is used for windows operation, so the controller initialization and startup operations
can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry
out the series of operations from program creation to execution.
(2) Increased work efficiency with ample support functions
The work efficiency is greatly improved with the multi-window method that carries out multiple steps and displays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially
sufficient, and are extremely useful when editing or debugging the program.
With the simulation function support, the program can be debugged and the tact checked before starting the
machine at the site. This allows the on-site startup work efficiently to be greatly improved.
(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition
while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubrication and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs
can be reduced.
(4) The position recovery support function increases the recovery efficiency in the event of origin position displacement. This function compensates the origin settings and position data by just reproducing several previous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or
when reloading the robot. This function can reduce the time required for recovery.
RT ToolBox2/RT ToolBox2 mini 3-129
3 Controller
■ Functions
Table 3-37 : Functions
Function
Functional existenceNote1)
Compatible model
Program editing
functions
○
Personal computer running Microsoft Windows2000/XP/Vista/7. Note2)
○
○
・ MELFA BASIC V language compatible
・ Multiple editing screen simultaneously display
・ Command input, comment writing
・ Position data editing
・ File operation (writing to controller, floppy disk, personal computer)
・ Search and replace function (using characters, line Nos., labels)
・ Copy, cut, paste, insert (per character, line), undo (per command
statement, position conversion)
・ Line No. automatic generation, renumbering
・ Batch syntax check
・ Command template
・ Position conversion batch editing
・ Position variable template
・ Print, print preview
○
○
・ Program file control (list, copy, movement, delete, content comparison, name change, protect)
○
○
・ Direct editing of program in controller
・ Confirmation of robot program operation (step execution, direct execution)
○
×
・ Off-line simulation of robot program operation using CG (computer
graphics)
・ Tact time calculation
○
○
・ Robot operation monitor (robot operation state, stop signal, error
monitor, program monitor (execution program, variables), general-purpose input/output signals (forced output possible), dedicated input/
output signals, operation confirmation (operation range, current position, hand, etc.)
・ Operation monitor (working time statistics, production information,
robot version)
・ Servo monitor (load)
○
○
・ Parameter setting
・ Batch, divided backup
○
Editing functions
Control functions
Debugging functions
Simulation function
Monitor functions
Maintenance
function
Details
RT ToolBox2 mini
(3D-12C-WINE)
RT ToolBox2
(3D-11C-WINE)
Note1) The functions included with the RT ToolBox2 and the RT ToolBox2 mini are shown below.
○ : Function provided ×: Function not provided
Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.
3-130 RT ToolBox2/RT ToolBox2 mini
3 Controller
(9) Instruction Manual(bookbinding)
■ Order type: ● 5F-FF01-PE01...............RV-4F-D/7F-D/13F-D series
■ Outline
This is a printed version of the CD-ROM (instruction manual) supplied with this
product.
■ Configuration
Table 3-38 : Product configuration
Name
Instruction Manual
Type
RV-4F-D/7F-D/13F-D:
5F-FF01-PE01
Mass (Kg)
Note1)
Specifications
2.6
The instructions manual set of RV-4F-D series, RV7F-D series and RV-13F-D series.
Safety Manual
BFP-A8006
-
Items relating to safety in handling the robot
Standard Specifications
BFP-A8931
-
Specification of the robot arm and controller
Robot Arm Setup & Maintenance
BFP-A8935
-
Installation method of the robot arm, jog operation, and
maintenance and inspection procedures
Controller Setup, Basic Operation and Maintenance
BFP-A8867
-
Installation method of the controller, basic operation,
and maintenance and inspection procedures
Detailed Explanation of Functions and Operations
BFP-A8869
-
Functions of the controller and T/B, operation
method, and explanation of MELFA-BASIC V
Troubleshooting
BFP-A8871
-
Causes of errors occurred and their countermeasures
Additional axis function
BFP-A8863
-
Function of the additional axis, operation method.
Tracking Function Manual
BFP-A8664
-
Function of the Tracking, operation method.
-
Explains of data configuration of shared memory,
monitoring, and operating procedures, between the
GOT and controller.
GOT Direct Connection Extended Function
BFP-A8849
Note1) Mass indicates one set.
Instruction Manual(bookbinding) 3-131
3 Controller
3.11 Maintenance parts
The consumable parts used in the controller are shown in Table 3-39. Purchase these parts from your dealer
when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part
name, robot arm and controller serial No. and purchase the parts from your dealer.
Table 3-39 : Controller consumable parts list
No.
1
2
Type Note1)
Name
Lithium battery
Filter
Q6BAT
Qty.
1
1
Usage place
Inside of the interface
cover
Supplier
Mitsubishi Electric
Inside the filter cover
Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.
3-132 Maintenance parts
4Software
4 Software
4.1 List of commands
The available new functions in MELFA-BASIC V are given in Table 4-1.
Table 4-1 : List of MELFA-BASIC V commands
Type
Class
Function
Joint interpolation
Linear interpolation
Circular interpolation
Moves to the designated position with joint interpolation.
Moves to the designated position with linear interpolation.
Moves along a designated arc (start point → passing point → start point
(end point)) with 3-dimensional circular interpolation (360 degrees).
Moves along a designated arc (start point → passing point → end point)
with 3-dimensional circular interpolation.
Moves along the arc on the opposite side of a designated arc (start point
→ reference point → end point) with 3-dimensional circular interpolation.
Moves along a set arc (start point → end point) with 3-dimensional circular interpolation.
Designates the speed for various interpolation operations with a percentage (0.1% unit).
Designate the speed for joint interpolation operation with a percentage
(0.1% unit).
Designates the speed for linear and circular interpolation with a numerical value (mm/s unit).
Designates the acceleration/deceleration time as a percentage in
respect to the predetermined maximum acceleration/deceleration. (1%
unit)
Automatically adjusts the acceleration/deceleration according to the
parameter setting value.
Sets the hand and work conditions for automatic adjustment of the
acceleration/deceleration.
Adds a process unconditionally to the operation.
Adds a process conditionally to the operation.
Designates smooth operation.
Performance of movement is upgraded corresponding to the application.
Designates the positioning completion conditions with a No. of pulses.
Designates the positioning completion conditions with a distance in a
straight line
Designates the positioning completion conditions with a joint interpolation.
Turns the servo power ON/OFF for all axes.
Limits the operation of each axis so that the designated torque is not
exceeded.
Designates the base conversion data.
Designates the tool conversion data.
The robot arm rigidity is lowered and softened. (XYZ coordinate system)
The robot arm rigidity is lowered and softened. (JOINT coordinate system)
The robot arm rigidity is lowered and softened. (TOOL coordinate system)
The robot arm rigidity is returned to the normal state.
The robot arm rigidity is designated.
Defines the pallet.
Operates the pallet grid point position.
Move to a specified position using linear interpolation passing through a
singular point.
Position and operation control
Speed designation
Operation
Position control
Float control
Pallet
Singular point passage
Input format (example)
Mov P1
Mvs P1
Mvc P1,P2,P1
Mvr P1,P2,P3
Mvr2 P1,P9,P3
Mvr3 P1,P9,P3
Ovrd 100
JOvrd 100
Spd 123.5
Accel 50,80
Oadl ON
Loadset 1,1
Wth
WthIf
Cnt 1,100,200
MvTune 4
Fine 200
Fine 1, P
Fine 0.5, J, 2
Servo OFF
Torq 4,10
Base P1
Tool P1
Cmp Pos ,&B00000011
Cmp Jnt ,&B00000011
Cmp Tool ,&B00000011
Cmp Off
CmpG 1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0
Def Plt 1,P1,P2,P3,P4,5,3,1
Plt 1,M1
Mvs P1 Type 0,2
List of commands 4-133
4Software
Type
Class
Branching
Function
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Input format (example)
Repeats until the designated end conditions are satisfied.
GoTo 120
If M1=1 Then GoTo *L100
Else GoTo 20
End If
For M1=1 TO 10
Repeats while the designated conditions are satisfied.
Next M1
While M1<10
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated expression
value..
WEnd
On M1 GoTo *La1, *Lb2, *Lc3
Select
Case 1
Program control
Break
Case 2
End
Hand open
Hand close
Moves the program process to the next line.
Set to enable/disable the collision detection.
Set the detection level of the collision detection.
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP command.
Executes the subroutine corresponding to the designated expression
value.
Defines the interrupt conditions and process.
Enables/disables the interrupt.
Defines the start line of the program to be executed when an interrupt is
generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output time. (0.01s
unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or servo
OFF can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Assignment
Input
Output
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Collision detection
Subroutine
Interrupt
Wait
Parallel execution
Input/output
Hand
Stop
Break
End Select
Skip
ColChk ON/OFF
ColLvl 100,80,,,,,,
GoSub *L200
Return
CallP "P10",M1,P1
FPrm M10,P10
On M1 GoSub *La1, *Lb2, *Lc3
Def Act 1, M1=1 GoTo *L100
Act 1=1
On Com(1) GoSub *L100
Com(1) On
Com(1) Off
Com(1) Stop
Dly 0.5
Wait M_In(1)=1
Hlt
Error 9000
End
HOpen 1
HClose 1
Def IO PORT1=BIT,0
M1=M_In(1)
M_Out(1) =0
Mechanism designation
Selection
Start/stop
4-134 List of commands
Acquires the mechanism with the designated mechanism No.
Releases the mechanism with the designated mechanism No.
Selects the designated program for the designated slot.
Carries out parallel execution of the designated program.
Stops parallel execution of the designated program.
Returns the designated program's execution line to the head and enters
the program selection enabled state.
GetM 1
RelM 1
XLoad 2,"P102"
XRun 3,"100",0
XStp 3
XRst 3
4Software
Type
Class
Others
Definition
Clear
File
Comment
Label
Function
Defines the integer type or real number type variable.
Defines the character string variable.
efines the layout variable. (Up to 3-dimensional possible)
Defines the joint variable.
Defines the position variable.
Defines the function.
Clears the general-purpose output signal, variables in program, variables
between programs, etc.
Opens a file.
Closes a file.
Inputs data from a file.
Outputs data to a file.
Describes a comment.
Indicates the branching destination.
Input format (example)
Def Inte KAISUU
Def Char MESSAGE
Dim PDATA(2,3)
Def Jnt TAIHI
Def Pos TORU
Def FN TASU(A,B)=A+B
Clr 1
Open "COM1:" AS #1
Close #1
Input# 1,M1
Print# 1,M1
Rem "ABC"
*SUB1
List of commands 4-135
4Software
4.2 List of parameters
Show the main parameter in the Table 4-2.
Table 4-2 : List of parameters
Parameter
Details
Standard tool coordinates.
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 3.
SFC1AT
:
SFC8AT
Set the validity of the eight types of set free plane limits.
(Valid 1/Valid 2/invalid = 1/-1/0)
User-defined area
An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to 32 types of area can be designated.
AREA1CS
:
AREA32CS
Specify the coordinate system of the user definition area *.
0: Base coordinate system (conventional compatibility)
1: Robot coordinate system
AREA1P1
:
AREA32P1
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
:
AREA32P2
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
:
AREA32ME
Designate which mechanism to use the 32 types of set area.
The mechanism No. to use is set with 1 to 3.
AREA1AT
:
AREA32AT
Designate the area check type.
(Invalid/zone/interference = 0/1/2)
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
Automatic return setting
RETPATH
Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
Buzzer ON/OFF
BZR
Designate whether to the turn buzzer ON or OFF.
Jog setting
JOGJSP
Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGPSP
Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGSPMX
Limit the operation speed during the teaching mode. Max. 250[mm/s]
Jog speed limit value
4-136 List of parameters
4Software
Parameter
Details
Hand type
HANDTYPE
Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
Stop input B contact designation
INB
Change the dedicated input (stop) to either of normal open or normal close.
User-designated origin
USERORG
Designate the user-designated origin position.
Program selection memory
SLOTON
Select the program selected previously when initializing the slot. The non-selected state will
be entered when not set.
Communication setting
CBAU232
Set the baud rate.
CLEN232
Set the character length.
CPRTY232
Set the parity.
CSTOP232
Set the stop bit.
CTERM232
Set the end code.
Slot table
SLT1
:
SLT32
Make settings (program name, operation type, order of priority, etc.) for each slot during slot
initialization.
No. of multi-tasks
TASKMAX
Designate the No. of programs to be executed simultaneously. (Max. 32)
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.
LNG
Change the language to display on the LCD display of teaching pendant.
List of parameters 4-137
5Instruction Manual
5 Instruction Manual
5.1 The details of each instruction manuals
The contents and purposes of the documents enclosed with this product are shown below. Use these documents
according to the application.
Instruction manuals enclosed in dashed lines in the list below are for optional products.
For special specifications, a separate instruction manual describing the special section may be enclosed.
Safety Manual
Explains the common precautions and safety measures to be taken for robot handling, system design and manufacture to ensure safety of the operators involved with the robot.
Standard
Specifications
Explains the product's standard specifications, factory-set special specifications, option
configuration and maintenance parts, etc. Precautions for safety and technology, when
incorporating the robot, are also explained.
Robot Arm
Setup &
Maintenance
Controller
Setup, Basic
Operation and
Maintenance
Detailed
Explanation of
Functions and
Operations
Troubleshooting
Additional axis
function
Explains the procedures required to operate the robot arm (unpacking, transportation,
installation, confirmation of operation), and the maintenance and inspection procedures.
Explains the procedures required to operate the controller (unpacking, transportation,
installation, confirmation of operation), basic operation from creating the program to automatic operation, and the maintenance and inspection procedures.
Explains details on the functions and operations such as each function and operation, commands used in the program, connection with the external input/output device, and parameters, etc.
Explains the causes and remedies to be taken when an error occurs. Explanations are given
for each error No.
Explains the specifications, functions and operations of the additional axis control.
Tracking Function Manual
Explains the control function and specifications of conveyor tracking
Extended Function Instruction Manual
Explains the detailed description of data configuration of shared memory, monitoring, and
operating procedures, about the PLC(CR750-Q/CR751-Q controller) and the GOT(CR750D/CR751-D controller).
5-138 The details of each instruction manuals
6Safety
6 Safety
6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.
6.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2
for safe use.
Table 6-1 : Self-diagnosis stop functions
No.
Function
1
Overload protection function
Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and
the specified value.
an alarm displays.
Details
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 6-2 : 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
Safety 6-139
6Safety
6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3 : External input/output signals that can be used for safety protection measures
Signal
External emergency stop
Connection
point
Connector
Parameter
-
(CNUSR11/12)
Functions
This servo power is shut off, and the
robot stops immediately.
Input
Note1)
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
Door switch
-
The door switch of the safe protection
fence
Enabling device
input
-
Enabling device.
The safety switch during teaching work
Stop
Parallel I/O unit
or interface
Servo OFF
AUTOENA
Emergency stop Connector
output
(CNUSR11/12)
In servo ON
Parallel I/O unit
or interface
Waiting
In alarm
STOP
SRVOFF
Automatic operation enable
Output
Usage method
-
SRVON
STOP
Connector
(CNUSR2)
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 inac- Door switch on safety protection fence
tive.
Outputs the input signal of external
emergency stop or emergency stop
switch of T/B turned on.
Display and warn the pilot lamp, the input
signal of external emergency stop or the
emergency stop switch of T/B turned on.
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.
ERRRESET Outputs when an alarm occurs in the
robot.
-
The alarm state is shown and alerted with
the display lamps.
Note1) The external emergency stop input is prepared as a normal close for safety proposes. Thus, if the emergency stop
input circuit is opened when the robot is started up, the robot will not operate. Refer to Page 142, "6.1.7 Examples of safety measures"for details.
And, refer to Page 94, "(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings"for the function of the door switch input and the enabling device input.
6.1.3 Precautions for using robot
The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of
the rules is given below.
(1) Robot installation
・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the
robot.
・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)
・ Install the controller where the entire robot operation can be viewed.
・ Install display lamps, etc., to indicate the robot's operation state.
・ Securely fix the robot arm onto the fixing table with the designated bolts.
(2) Prevention of contact with operator
・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.
(3) Work procedures
・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
・ Create hand signals to be followed when several operators are working together.
・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is
in the robot's motion space so that other operators will not operate the operation panel (controller, control
panel).
(4) Training
・ Train the operators about the operations, maintenance and safety required for the robot work.
・ 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.
6-140 Safety
6Safety
(5) Daily inspection and periodic inspection
・ Always inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and
perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more
years.
6.1.4 Safety measures for automatic operation
(1) Install safety fences so that operators will not enter the operation area during operation and indicate that
automatic operation is in progress with lamps, etc.
(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the
operator follows the signals.
6.1.5 Safety measures for teaching
Observe the following measures when teaching, etc., in the robot's operation range.
(1) Specify and follow items such as procedures related to teaching work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that teaching work is being done.
(4) Always inspect that stop functions such as the emergency stop device before starting the work.
(5) Immediately stop the work when trouble occurs, and correct the trouble.
(6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(7) The teaching operator must have completed special training regarding safety. (Training regarding industrial
robots and work methods, etc.)
(8) Create signals to be used when several operators are working together.
6.1.6 Safety measures for maintenance and inspections, etc.
Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the
start switch when performing inspections, repairs, adjustments, cleaning or oiling.
If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.
(1) Specify and follow items such as procedures related to maintenance work, etc.
(2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that operation can be restarted.
(3) Take measures with the robot start switch, etc., to indicate that work is being done.
(4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs.
(5) The operator must have completed special training regarding safety. (Training regarding industrial robots and
work methods, etc.)
(6) Create signals to be used when several operators are working together.
Safety 6-141
6Safety
6.1.7 Examples of safety measures
Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emergency stop state.
[Caution] Since we have omitted the information in part because of explanation, there is the section different
from the product. Also refer to Page 147, "(2) External emergency stop connection [supplementary
explanation]".
[Note] ・ In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay
prepared by the customer is connected to the controller, please be sure to implement the measure
against the noise by the customer in the coil section. And, please also take the lifetime of noise suppression parts into consideration.
・ Electric specification of the emergency-stop-related output terminal: 100mA/24V or less
・ In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the
controller under the condition that the + side is grounded, it will lead to failure of controller.
(1) CR750 controller
<Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply in the controller.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
Controller
(2- (2接点タイプ)
contact type)
Power supply in the
robot
controller
内部電源
24V24V
OP Emergency
OP非常停止
stop
button
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
CNUSR11/CNUSR12
1
Not
短絡connected
2
3
RA
*4)
4
5
Short circuit
短絡
(Short-circuited)
6
7
TB Emergency
TB非常停止
stop
button
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
9
RA
10
Enabling
イネーブリング
device
デバイス
*5)
*7)
Safety
relay
安全リレー
13
14
11
12
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
Internal emergency stop
内部非常停止回路
circuit
*2)
CNUSR2
16/17
41/42
*3)
*4)
*5)
*6)
*7)
output
エラー出力
}Error
The T/B emergency stop button connected with the controller.
Emergency stop input relay.
*1) Each of the connectors,
CNUSR11 and CNUSR12, are
assigned with the same pin
number, creating two systems for
each terminal. It is absolutely
necessary to connect the two
systems.
*2) You can see in the diagram that
connector CNUSR2 has two
terminals and two systems (16/
17 indicates two terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the two systems.
Refer to Standard specification manual for the enabling device.
The emergency stop button of the robot controller. (Only specification with the operation panel.)
The emergency stop input detection relay is used the controller’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay is also
switched OFF.
Fig.6-1 : Example of safety measures (CR750 wiring example 1)
6-142 Safety
6Safety
<Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller.
The power supply for emergency stop input uses the power supply of peripheral equipment.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state.
Emergency
stop switch
非常停止スイッチ
(2- contact
type)
(2接点タイプ)
Controller
Power supply in the
robot内部電源
controller24V
24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
Peripheral
equipment
周辺装置
CNUSR11/CNUSR12
1
未接続
Not
connected
2
3
RA
*4)
4
5
6
7
TB Emergency
stop
button
TB非常停止
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
Power
supply in
周辺装置側電源
the
24VPeripheral
equipment 24V
9
RA
10
イネーブリング
Enabling
device
デバイス
*5)
*7)
Safety
relay
安全リレー
13
14
11
12
Internal emergency stop
内部非常停止回路
circuit
stop output
非常停止出力
}Emergency
output
モード出力
} Mode
*2)
CNUSR2
16/17
41/42
output
エラー出力
} Error
*1) Each of the connectors,
CNUSR11 and CNUSR12, are
assigned with the same pin
number, creating 2 systems in
each terminal. It is absolutely
necessary to connect the 2
systems.
*2) You can see in the diagram that
connector CNUSR2 has 2
terminals and 2 systems (16/17
indicates 2 terminals at pin
number 16 and pin number 17).
It is absolutely necessary to
connect the 2 systems.
*3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-2 : Example of safety measures (CR750 wiring example 2)
Safety 6-143
6Safety
<Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor
the emergency stop state by the peripheral equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2- (2接点タイプ)
contact type)
Controller
Power supply in the
24V
robot内部電源
controller
24V
OP Emergency
stop
button
OP非常停止
ボタン
*6)
*1)
Peripheral
周辺装置
equipment
CNUSR11/CNUSR12
1 Not connected
未接続
2
周辺装置側
Power
sup電源24V
ply
24V
3
RA
*4)
4
5
6
7
TB Emergency
stop
button
TB非常停止
ボタン
*3)
RA
8
Door
switch input
ドアスイッチ入力
Safety
安全柵のドア
fence door
周
Circuit
辺
9
RA
10
イネーブリング
Enabling
device
デバイス
*5)
*7)
13
Safety
relay
安全リレー
14
11
12
装
置
側
内
部
回
路
Emergency
stop output
非常停止出力
Monitor
監視
モード出力
output
} Mode
Monitor
監視
Internal emergency stop
内部非常停止回路
circuit
*2)
CNUSR2
16/17
41/42
エラー出力
output
}Error
*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with the same pin number, creating 2
systems in each terminal. It is absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals and 2 systems (16/17 indicates 2
terminals at pin number 16 and pin number 17). It is absolutely necessary to connect the 2 systems.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller.
(Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the
emergency stop input detection relay is switched OFF, emergency stop is detected and the safety relay
is also switched OFF.
Fig.6-3 : Example of safety measures (CR750 wiring example 3)
6-144 Safety
6Safety
<Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it
interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input
uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral
equipment side.
<Operation of the emergency stop>
If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency
stop state. And, if the emergency stop switch of OP or T/B is pushed in the state of the power of controller OFF, peripheral equipment state can be the emergency stop also.
Emergency
stop switch
非常停止スイッチ
(2contact type)
(4接点タイプ)
周辺装置
Peripheral equipment
Controller #1
OP
Emergency
stop
OP非常停止
ボタン
button
Power supply in the robot CNUSR11/CNUSR12*1)
内部電源 24V
controller 24V
1
未接続
Not connected
周辺装置
の非常停止
出力
2
3
*6)
RA
*4)
Power
supply
周辺装置側
24V
電源24V
周辺装置内部
非常停止回路
Circuit
4
5
6
7
TB非常停止
*3)
ボタン
TB
Emergency stop
button
RA
8
Door
switch input
ドアスイッチ入力
9
RA
10
ドアスイッチ出力
イネーブリング
Enabling
デバイス
device
Safety fence
door
安全柵のドア
*5)
*7)
13
Safety
relay
安全リレー
14
非常停止出力
Emergency
stop output
11
モード出力
output
} Mode
12
Internal emergency
内部非常停止回路
stop
circuit
Monitor
監視
監視
Monitor
*2)
CNUSR2
16/17
エラー出力
output
} Error
41/42
Controller #2
OP
EmerOP非常停止
gency
stop
ボタン
button
Power supply in the robot CNUSR11/CNUSR12*1)
内部電源 24V
controller 24V
1
Not connected
未接続
周辺装置
の非常停止
出力
2
3
RA
*6)
*4)
4
5
6
7
TB非常停止
*3)
ボタン
TB
Emergency stop
button
RA
RA
*7)
Safety
relay
安全リレー
8
イネーブリング
Enabling
デバイス
device
*5)
13
14
11
Internal
emergency
内部非常停止回路
stop circuit
ドアスイッチ入力
Door
switch input
9
10
12
Emergency stop output
非常停止出力
モード出力
output
} Mode
*2)
CNUSR2
16/17
41/42
エラー出力
output
}Error
Monitor
監視
*1) Each of the connectors, CNUSR11 and CNUSR12, are assigned with
the same pin number, creating 2 systems in each terminal. It is
absolutely necessary to connect the 2 systems.
*2) You can see in the diagram that connector CNUSR2 has 2 terminals
and 2 systems (16/17 indicates 2 terminals at pin number 16 and
pin number 17). It is absolutely necessary to connect the 2
systems.
*3) The T/B emergency stop button connected with the controller.
*4) Emergency stop input relay.
*5) Refer to Standard specification manual for the enabling device.
*6) The emergency stop button of the robot controller. (Only specification with the operation panel.)
*7) The emergency stop input detection relay uses the controller’s internal safety relay control. If the emergency stop input detection
relay is switched OFF, emergency stop is detected and the safety relay is also switched OFF.
Fig.6-4 : Example of safety measures (CR750 wiring example 4)
Safety 6-145
6Safety
<Wiring example 5>: Connect the controller to the safety relay
Use the controller’s emergency stop button command as an input to the safety relay.
Controller
Customer equipment
お客様装置
CNUSR11
1
OP
E-stop
No connection
TB
E-stop
2
3
Internal
relay
内部リレー
24V DC
External
emergency stop switch
外部非常停止スイッチ
4
No connection T11
5
Safety input 1
安全入力1
T12
6
Safety
relay
安全リレー
安全リレー
Safety
relay
ex)
例)オムロン社 G9SX-AD
G9SX-AD series *OMRON
0V DC
Emergency stop
非常停止出力
output
13
24V DC
No connection T21
14
安全入力2
Safety input 2
T22
CNUSR12
1
No connection
2
3
Internal
relay
内部リレー
24V DC
A1
A2
24V DC
0V DC
External emergency stop
外部非常停止スイッチ
switch
*2)
4
5
6
Emergency
stop
非常停止出力
output
13
0V DC
24V DC
14
Customer
Power Supply
(DC 24V)
お客様電源(DC
24V)
[Caution]
1) This product has category 3 functionality and therefore the robot’s whole unit cannot be set to category 4.
2) The controller’s internal circuit has polarity. Please adhere to the polarity as detailed in the wiring examples,
particularly for emergency stop button output when using user equipment. Connect the positive side of the
user equipment (24V DC) to the terminal 2 of CNUSR11/12, then connect the emergency stop button (or
contact points) in the user equipment to across the terminals 3 and 4 of CNUSR11/12, and ultimately connect the negative side (0V DC).
3) When installing a safety relay to use it as an input point of the controller's emergency stop button command,
use a safety relay that is activated by an input from one of the two systems (i.e. Omron’s G9S Series).
4) The emergency stop input detection relay (internal relay) uses the controller’s internal safety relay control.
If the emergency stop input detection relay is switched OFF, emergency stop is detected and the safety
relay is also switched OFF.
5) When connecting emergency stop button output to an external safety relay, please take note of the polarity
and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the
two places in the diagram. If the polarity is setup incorrectly, this function will not operate correctly. Please
connect the terminal 13 of CNUSR11/12 to 24V.
Fig.6-5 : Example of safety measures (CR750 wiring example 5)
6-146 Safety
6Safety
(2) External emergency stop connection [supplementary explanation]
(1) Use a 2-contact type switch for all switches.
(2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the
door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF
(is opened) when the door is open.
(3) Use a manual-return type of normal close which have two lines for the emergency stop button.
(4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and
major faults (faults that cause the entire system to stop immediately, and that require care in restoration),
and wire accordingly.
[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for safety
measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity
and cable length, so refer to the following and install.
・ Switch contact ..........................Prepare a 2-contact type.*1)
・ Switch contact capacity........Use a normal open contact that operates with a switch contact
capacity of approx. 1mA to 100mA/24V. *1)
If you connect the relay etc., rated current of the coil should use the
relay which is 100mA/24V or less. (Refer to Fig. 6-6)
・ Cable length................................The length of the wire between the switch and terminal block must be
max. 15m or less. Please use the shield line, in case of the cable may
receive the noise etc. by other equipment, such as servo amplifier.
And, since the ferrite core is attached as noise measures parts, please
utilize.
The size of the wire that fits to use is shown below.
・ CR750 controller................................... CNUSR11/12/13 connector:
AWG #26 to #16 (0.14mm2 to 1.5mm2)
・ CR750 controller................................... CNUSR2 connector:
AWG #30 to #24 (0.05mm2 to 0.2mm2)
Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect
the equipment except for this range.
The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller)
Internal fuse
Robot controller
ロボットコントローラ
ロボットコント
Power
supply in the
robot
controller
ローラ内電源
F2
24V
F1
CNUSR11/12
1
2
Peripheral
equipment
周辺装置
Power
周辺装置
supply24V
側電源24V
Not connected
未接続
3
TB
Emergency
TB非常停止
stop button
ボタン
RA
4
5
RA
Relay
6
7
RA
Door switch input
ドアスイッチ入力
Monitor
監視
Safety
fence door
安全柵のドア
8
9
RA
10
Enabling
device
イネーブリング
デバイス
13
Safety relay
安全リレー
14
11
12
Internal emergency
内部非常停止回路
stop
circuit
output
エラー出力
} Error
Rated-current is 100mA
or less
周
辺
装
置
側
内
部
回
路
Monitor
監視
output
モード出力
} Mode
CNUSR2
16/17
41/42
Note)
Circuit
OP
Emergency
OP非常停止
stop button
ボタン
非常停止スイッチ
Emergency stop switch
(2- contact type)
(2接点タイプ)
}
Note) If you connect the relay etc., rated current of the coil
should use the relay which is 100mA/24V or less.
If the electric current of the further flows, internal fuse 1
may cut. And, although the example of the connection
Contactor
control outwhich uses the external power source is shown in the
付加軸用コンタクタ
put
for
additional
axes
コントロール出力
figure, if the coil is connected using the internal power
supply of the robot controller, internal fuse 2 may cut.
Fig.6-6 : Limitations when connecting the relay etc. (CR750)
*1) The minimum load electric current of the switch is more than 5mA/24V.
Safety 6-147
6Safety
[Supplementary explanation regarding emergency stop circuit]
The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly
shuts off the emergency stop detection relay when the emergency stop button is pressed.
OP
TB
OP
TB
emergency
emergency
非常停止 非常停止
stop
stop
24V
+
-
OP
TB
OP
TB
emergency
非常停止 emergency
非常停止
stop
stop
検出
検出
detection detection
Emergency stop
非常停止検出
detection relay
リレー
0V
External
外部
emergency
非常停止
stop
検出
detection
Input
入力
Safety
relay
安全リレー
CAUTION
Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may
not stop when the emergency stop button is pressed and there will be a risk of damage
or personal injury occurring.
After wiring, be sure to press each of the installed emergency stop switches and check
whether the emergency stop circuit works properly.
CAUTION
Be sure to duplicate connection of the emergency stop, door switch and enabling
switch. If not duplicated, these functions may fail due to a broken relay used by
customer, etc.
6-148 Safety
6Safety
6.2 Working environment
Avoid installation in the following places as the equipment's life and operation will be affected by the ambient
environment conditions. When using in the following conditions, the customer must pay special attention to the
preventive measures.
(1) Power supply
・ Where the voltage fluctuation will exceed the input voltage range.
・ Where a momentary power failure exceeding 20ms may occur.
・ Where the power capacity cannot be sufficiently secured.
CAUTION
Please use the controller with an input power supply voltage fluctuation rate of 10% or
less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC
during the day and 220 VAC during the night, turn the servo off once and then on again.
If this is not performed, an excessive regeneration error may occur.
(2) Noise
・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high
output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this
product is used near radios or televisions. Keep the robot away from these items.
(3) Temperature and humidity
・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree.
・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense.
・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.
(4) Vibration
・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/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.)
・ Where there is heavy powder dust and oil mist present.
6.3 Precautions for handling
(1) This robot has brakes on all axes. The precision of the robot may drop, looseness may occur and the reduction
gears may be damaged if the robot is moved with force with the brakes applied.
(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accuracy may drop due to an excessive backlash, or the backed up data may be destroyed.
(3) Note that depending on the posture, even when within the movement range, the wrist section could interfere
with the base section. Take care to prevent interference during jog. *1)
(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.
When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy
may drop or servo alarms may occur. If these problems occur, perform a 5 to 10 minute running-in operation at
a low speed (about a half of normal operating speed).
(5) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise
resistance and to prevent electric shocks.
(6) The items described in these specifications are conditions for carrying out the periodic maintenance and
inspections described in the instruction manual.
(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.
*1) Jog operation refers to operating the robot manually using the teaching pendant.
Working environment 6-149
6Safety
(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.
(11) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It
would not result in burns, however, it may cause secondary accidents if touched carelessly.
(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during
a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the program data may be destroyed.
(13) If the J1, J2 and J3 axes collide with the mechanical stopper during the automatic operation of the robot, it is
necessary to replace the resin part of the mechanical stopper unit. For the replacement of the resin parts,
please contact Mitsubishi or Mitsubishi's dealer.
If the resin part is not replaced, the mechanism unit and the speed reducer may be damaged significantly when
the axes collide with the mechanical stopper next or subsequent time.
(14) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is
shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation
path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper
depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent
any dangerous situation from occurring due to the interference between the arm and peripheral devices.
Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce
interference.
(15) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown.
(16) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting
is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis
which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes
about once every day the 30 degree or more, or the 20mm or more.
(17) The United Nations’ Recommendations on the Transport of Dangerous Goods must be observed for transborder transportation of lithium batteries by air, sea, and land. The lithium batteries (ER6, Q6BAT) used in Mitsubishi industrial robots contain less than 1 g of lithium and are not classified as dangerous goods. However, if
the quantity of lithium batteries exceeds 24 batteries for storage, etc., they will be classified as Class 9: Miscellaneous dangerous substances and articles. Shipping less than 24 batteries is recommended to avoid having
to carry out transport safety measures as the customer’s consignor. Note that some transportation companies may request an indication that the batteries are not dangerous goods be included on the invoice. For shipping requirement details, please contact your transportation company.
(18) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the
dew condensation may occur on the coupling or the hose surface.
6-150 Precautions for handling
7Appendix
7 Appendix
Appendix 1 : Specifications discussion material (RV-4F/7F series)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Type Note1)
□ RV-4F-D
□ RV-4FL-D
□ RV-7F-D
□ RV-7FL-D
Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item
Robot arm
Standard specifications
Shipping special specifications
Oil mist specification (IP67)
General environment
specification (IP40)
□ Not provided □ Provided
Clean specification
(ISO class3)
General environment
specification (IP40)
□ Not provided □ Provided
Internal wiring and piping
specificationNote1)
Equipped to the forearm
□ Not provided □ -SH01 □ -SH02 □ -SH03
□ -SH04 □ -SH05
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Machine cable
Note1) The corresponding base external wiring set is attached.
■ Options (Installable after shipment)
Item
J1 axis operating range change
Controller
Robot
arm
Machine cable extension
Solenoid valve set
Type
Provision, and specifications when provided.
1F-DH-03
For RV-4F series: □ Not provided □ Provided
1F-DH-04
For RV-7F series: □ Not provided □ Provided
1S- □□ CBL-01
Fixed type: □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type: □ Not provide □ 5m □ 10m □ 15m
1F-VD0 □ -02
1F-VD0 □ E-02
□ Not provide
1F-VD0 □ -02 (Sink type):
□ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-02 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable
1F-HC35S-02
□ Not provided □ Provided
Hand output cable
1F-GR35S-02
□ Not provided □ Provided
Hand curl tube
1E-ST040 □ C
□ Not provided □ 1set □ 2set □ 3set □ 4set
Forearm external wiring set
1F-HB0 □ S-01
□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set
1F-HA0 □ S-01
□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant R56TB- □□
□ Not provided □ 7m
□ 15m
Parallel I/O interface
2D-TZ368/
2D-TZ378
□ Not provided
External I/O cable
(For parallel I/O interface)
2D-CBL □□
(2D-TZ368/TZ378)
□ Not provided □ 5m-(
Parallel I/O unit
2A-RZ361/
2A-RZ371
□ Not provided
External I/O cable
(For Parallel I/O unit)
2A-CBL □□
(2A-RZ361/RZ371)
□ Not provided □ 5m-(
CC-Link interface
2D-TZ576
□ Not provided □ Provided
2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378(Source type)/ □ -1pc. □ -2pc.
)pc. □ 15m-(
)pc.
□ 2A-RZ361(Sink type)/(
) unit
□ 2A-RZ371(Source type)/(
) unit
)pc. □ 15m-(
)pc.
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-FF01-PE01
□ Not provided □ Provided (
) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
) pcs. □ Backup batteries Q6BAT (
) pcs.
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
)
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass (
) g Hand mass (
)g
Confirm oil proof □ request (Oil name:
)/ □ not request Note1)
□ Other (
)
Remarks
Note1) Refer to Page 22, "2.2.6 Protection specifications" about oil resistance.
Specifications discussion material (RV-4F/7F series) Appendix-151
7Appendix
Appendix 2 : Specifications discussion material (RV-7FLL)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Type Note1)
■ RV-7FLL-D (General environment specification (IP40))
Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item
Robot arm
Standard specifications
Internal wiring and piping
specificationNote1)
Machine cable
Shipping special specifications
Equipped to the forearm
□ Not provided □ -SH01 □ -SH02 □ -SH03
□ -SH04 □ -SH05
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Note1) The corresponding base external wiring set is attached.
■ Options (Installable after shipment)
Item
J1 axis operating range change
Controller
Robot arm
Machine cable extension
Type
Provision, and specifications when provided.
1F-DH-05J1
□ Not provided □ Provided
1S- □□ CBL-01
Fixed type: □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type: □ Not provide □ 5m □ 10m □ 15m
Solenoid valve set
1F-VD0 □ -02
1F-VD0 □ E-02
□ Not provide
1F-VD0 □ -02 (Sink type):
□ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-02 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable
1F-HC35S-02
□ Not provided □ Provided
Hand output cable
1F-GR35S-02
□ Not provided □ Provided
Hand curl tube
1N-ST0608C
□ Not provided □ Provided
Forearm external wiring set
1F-HB0 □ S-01
□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set
1F-HA0 □ S-01
□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant R56TB- □□
□ Not provided □ 7m
□ 15m
Parallel I/O interface
2D-TZ368/
2D-TZ378
□ Not provided
External I/O cable
(For parallel I/O interface)
2D-CBL □□
(2D-TZ368/TZ378)
□ Not provided □ 5m-(
Parallel I/O unit
2A-RZ361/
2A-RZ371
□ Not provided
External I/O cable
(For Parallel I/O unit)
2A-CBL □□
(2A-RZ361/RZ371)
□ Not provided □ 5m-(
CC-Link interface
2D-TZ576
□ Not provided □ Provided
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-FF01-PE01
□ Not provided □ Provided (
2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378(Source type)/ □ -1pc. □ -2pc.
)pc. □ 15m-(
)pc.
□ 2A-RZ361(Sink type)/(
) unit
□ 2A-RZ371(Source type)/(
) unit
)pc. □ 15m-(
)pc.
) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
) pcs. □ Backup batteries Q6BAT (
) pcs.
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
General environment
Workpiece mass (
) g Hand mass (
) g Atmosphere □
□ Other (
)
Remarks
Appendix-152 Specifications discussion material (RV-7FLL)
)
7Appendix
Appendix 3 : Specifications discussion material (RV-13F/13FL)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Type Note1)
□ RV-13F-D
□ RV-13FL-D
Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item
Robot arm
Standard specifications
Shipping special specifications
Oil mist specification (IP67)
General environment
specification (IP40)
□ Not provided □ Provided
Clean specification
(ISO class3)
General environment
specification (IP40)
□ Not provided □ Provided
Internal wiring and piping
specificationNote1)
Equipped to the forearm
□ Not provided □ -SH01 □ -SH02 □ -SH03
□ -SH04 □ -SH05
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Machine cable
Note1) The corresponding base external wiring set is attached.
■ Options (Installable after shipment)
Controller
Robot arm
Item
Type
Provision, and specifications when provided.
J1 axis operating range change
1F-DH-05J1
□ Not provided □ Provided
Machine cable extension
1S- □□ CBL-01
Fixed type: □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type: □ Not provide □ 5m □ 10m □ 15m
1F-VD0 □ -03
1F-VD0 □ E-03
□ Not provide
1F-VD0 □ -03 (Sink type):
□ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-03 (Source type): □ 1set □ 2set □ 3set □ 4set
Solenoid valve set
Hand input cable
1F-HC35S-02
□ Not provided □ Provided
Hand output cable
1F-GR35S-02
□ Not provided □ Provided
Hand curl tube
1N-ST0608C
□ Not provided □ Provided
Forearm external wiring set
1F-HB0 □ S-01
□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set
1F-HA0 □ S-01
□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant R56TB- □□
□ Not provided □ 7m
□ 15m
Parallel I/O interface
2D-TZ368/
2D-TZ378
□ Not provided
External I/O cable
(For parallel I/O interface)
2D-CBL □□
(2D-TZ368/TZ378)
□ Not provided □ 5m-(
Parallel I/O unit
2A-RZ361/
2A-RZ371
□ Not provided
External I/O cable
(For Parallel I/O unit)
2A-CBL □□
(2A-RZ361/RZ371)
□ Not provided □ 5m-(
CC-Link interface
2D-TZ576
□ Not provided □ Provided
2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378(Source type)/ □ -1pc. □ -2pc.
)pc. □ 15m-(
)pc.
□ 2A-RZ361(Sink type)/(
) unit
□ 2A-RZ371(Source type)/(
) unit
)pc. □ 15m-(
)pc.
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-FF01-PE01
□ Not provided □ Provided (
) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
) pcs. □ Backup batteries Q6BAT (
) pcs.
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
)
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass (
) g Hand mass (
)g
Confirm oil proof □ request (Oil name:
)/ □ not request Note1)
□ Other (
)
Remarks
Note1) Refer to Page 22, "2.2.6 Protection specifications" about oil resistance.
Specifications discussion material (RV-13F/13FL) Appendix-153
7Appendix
Appendix 4 : Specifications discussion material (RV-20F)
■ Customer information
Company name
Name
Address
Telephone
■ Purchased mode
Type Note1)
■ RV-20F-D
Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name.
■ Purchased mode
Item
Robot arm
Standard specifications
Shipping special specifications
Oil mist specification (IP67)
General environment
specification (IP40)
□ Not provided □ Provided
Clean specification
(ISO class3)
General environment
specification (IP40)
□ Not provided □ Provided
Internal wiring and piping
specificationNote1)
Equipped to the forearm
□ Not provided □ -SH01 □ -SH02 □ -SH03
□ -SH04 □ -SH05
□ 5m fixed type
□ 2m fixed type: 1S-02UCBL-01
Machine cable
Note1) The corresponding base external wiring set is attached.
■ Options (Installable after shipment)
Controller
Robot arm
Item
Type
Provision, and specifications when provided.
J1 axis operating range change
1F-DH-05J1
□ Not provided □ Provided
Machine cable extension
1S- □□ CBL-01
Fixed type: □ Not provide □ 5m □ 10m □ 15m
1S- □□ LCBL-01
Flexed type: □ Not provide □ 5m □ 10m □ 15m
Solenoid valve set
1F-VD0 □ -03
1F-VD0 □ E-03
□ Not provide
1F-VD0 □ -03 (Sink type):
□ 1set □ 2set □ 3set □ 4set
1F-VD0 □ E-03 (Source type): □ 1set □ 2set □ 3set □ 4set
Hand input cable
1F-HC35S-02
□ Not provided □ Provided
Hand output cable
1F-GR35S-02
□ Not provided □ Provided
Hand curl tube
1N-ST0608C
□ Not provided □ Provided
Forearm external wiring set
1F-HB0 □ S-01
□ Not provided □ 1F-HB01S-01 □ 1F-HB02S-01
Base external wiring set
1F-HA0 □ S-01
□ Not provided □ 1F-HA01S-01 □ 1F-HA02S-01
Simple teaching pendant
R32TB- □□
□ Not provided □ 7m
□ 15m
Highly efficient teaching pendant R56TB- □□
□ Not provided □ 7m
□ 15m
Parallel I/O interface
2D-TZ368/
2D-TZ378
□ Not provided
External I/O cable
(For parallel I/O interface)
2D-CBL □□
(2D-TZ368/TZ378)
□ Not provided □ 5m-(
Parallel I/O unit
2A-RZ361/
2A-RZ371
□ Not provided
External I/O cable
(For Parallel I/O unit)
2A-CBL □□
(2A-RZ361/RZ371)
□ Not provided □ 5m-(
CC-Link interface
2D-TZ576
□ Not provided □ Provided
Controller protection box
CR750-MB
□ Not provided □ Provided
RT ToolBox2
3D-11C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
RT ToolBox2 mini
3D-12C-WINJ
□ Not provided □ Windows2000/XP/Vista/7 English CD-ROM
Network vision sensor
4D-2CG5***-PKG
□ Not provided □ Provided
Instructions manual
5F-FF01-PE01
□ Not provided □ Provided (
2D-TZ368(Sink type)/ □ -1pc. □ -2pc.
2D-TZ378(Source type)/ □ -1pc. □ -2pc.
)pc. □ 15m-(
)pc.
□ 2A-RZ361(Sink type)/(
) unit
□ 2A-RZ371(Source type)/(
) unit
)pc. □ 15m-(
)pc.
) sets
■ Maintenance parts (Consumable parts)
Maintenance parts □ Backup batteries ER6 (
) pcs. □ Backup batteries Q6BAT (
) pcs.
□ Grease (
) cans
■ Robot selection check list
Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other (
)
Atmosphere □ General environment □ Clean
□ Oil mist:
Workpiece mass (
) g Hand mass (
)g
Confirm oil proof □ request (Oil name:
)/ □ not request Note1)
□ Other (
)
Remarks
Note1) Refer to Page 22, "2.2.6 Protection specifications" about oil resistance.
Appendix-154 Specifications discussion material (RV-20F)
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU, NAGOYA 461-8670, JAPAN
Authorised representative:
MITSUBISHI ELECTRIC EUROPE B.V. GERMANY
Gothaer Str. 8, 40880 Ratingen / P.O. Box 1548, 40835 Ratingen, Germany
Apr., 2013 MEE Printed in Japan on recycled paper.
Specifications are subject to change without notice.
MITSUBISHI ELECTRIC
HEADQUARTERS
EUROPEAN REPRESENTATIVES
EUROPEAN REPRESENTATIVES
MITSUBISHI ELECTRIC EUROPE B.V.
EUROPE
German Branch
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Fax: +49 (0)2102 / 486-1120
MITSUBISHIELECTRICEUROPEB.V.-org.sl. CZECHREP.
Czech Branch
Avenir Business Park, Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
Fax: +420 (0)251-551-471
MITSUBISHI ELECTRIC EUROPE B.V.
FRANCE
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
Fax: +33 (0)1 / 55 68 57 57
MITSUBISHI ELECTRIC EUROPE B.V.
IRELAND
Irish Branch
Westgate Business Park, Ballymount
IRL-Dublin 24
Phone: +353 (0)1 4198800
Fax: +353 (0)1 4198890
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Italian Branch
Viale Colleoni 7
I-20864 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312
MITSUBISHI ELECTRIC EUROPE B.V.
POLAND
Poland Branch
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Fax: +48 (0)12 / 630 47 01
MITSUBISHI ELECTRIC EUROPE B.V.
RUSSIA
52, bld. 3 Kosmodamianskaya nab 8 floor
RU-115054 Мoscow
Phone: +7 495 721-2070
Fax: +7 495 721-2071
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Spanish Branch
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Fax: +34 935891579
MITSUBISHI ELECTRIC EUROPE B.V.
UK
UK Branch
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Fax: +44 (0)1707 / 27 86 95
MITSUBISHI ELECTRIC CORPORATION
JAPAN
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 622 160 60
Fax: +81 3 622 160 75
MITSUBISHI ELECTRIC AUTOMATION, Inc.
USA
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phone: +1 847 478 21 00
Fax: +1 847 478 22 53
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Fax: +43 (0)2252 / 488 60
Koning & Hartman b.v.
BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Fax: +32 (0)2 / 257 02 49
INEA RBT d.o.o.
BOSNIA AND HERZEGOVINA
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
Fax: +387 (0)33 / 524 539
AKHNATON
BULGARIA
4, Andrei Ljapchev Blvd., PO Box 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6000
Fax: +359 (0)2 / 97 44 06 1
AutoCont C.S. s.r.o.
CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Fax: +420 595 691 199
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Fax: +45 (0)46 / 75 56 26
Beijer Electronics OY
FINLAND
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207 / 463 540
Fax: +358 (0)207 / 463 541
UTECO
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
Fax: +30 211 / 1206 999
AXICONT AUTOMATIKA Kft.
HUNGARY
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1 / 412-0882
Fax: +36 1 / 412-0883
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta- Paola PLA 1702
Phone: +356 (0)21 / 697 816
Fax: +356 (0)21 / 697 817
HIFLEX AUTOM.TECHNIEK B.V.
NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Fax: +31 (0)180 – 44 23 55
Koning & Hartman b.v.
NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Fax: +31 (0)20 / 587 76 05
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Fax: +47 (0)32 / 84 85 77
Fonseca S.A.
PORTUGAL
R. João Francisco do Casal 87/89
PT - 3801-997 Aveiro, Esgueira
Phone: +351 (0)234 / 303 900
Fax: +351 (0)234 / 303 910
SIRIUS TRADING & SERVICES SRL
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
Fax: +40 (0)21 / 430 40 02
INEA RBT d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 615 401
Fax: +381 (0)26 / 615 401
SIMAP s.r.o.
SLOVAKIA
Jána Derku 1671
SK-911 01 Trencín
Phone: +421 (0)32 743 04 72
Fax: +421 (0)32 743 75 20
PROCONT, spol. s r.o. Prešov
SLOVAKIA
Kúpelná 1/A
SK-080 01 Prešov
Phone: +421 (0)51 7580 611
Fax: +421 (0)51 7580 650
INEA RBT d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8116
Fax: +386 (0)1 / 513 8170
Beijer Electronics Automation AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Fax: +46 (0)40 / 93 23 01
Robotronic AG
SWITZERLAND
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (0)52 / 267 02 00
Fax: +41 (0)52 / 267 02 01
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukarı Dudullu-Ümraniye-İSTANBUL
Phone: +90 (0)216 526 39 90
Fax: +90 (0)216 526 3995
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Fax: +380 (0)44 / 494-33-66
MIDDLE EAST REPRESENTATIVE
I.C. SYSTEMS LTD.
23 Al-Saad-Al-Alee St.
EG-Sarayat, Maadi, Cairo
Phone: +20 (0) 2 / 235 98 548
Fax: +20 (0) 2 / 235 96 625
ILAN & GAVISH Ltd.
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Fax: +972 (0)3 / 924 0761
EGYPT
ISRAEL
AFRICAN REPRESENTATIVE
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: + 27 (0)11 / 977 0770
Fax: + 27 (0)11 / 977 0761
SOUTH AFRICA
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com
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