RV-4F-D/7F-D/13F-D/20F-D/35F-D/50F-D/70F-D

3 Controller

3.6.3 Door switch function

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

Page 134 "Fig. 3-18: External emergency stop connection (CR750)" ,

Page 138 "Fig. 3-22: External emergency stop connection (CR751)" , or Page 141 "Fig.

3-25: External emergency stop connection (CR760)" , and

Page 211, "6.1.7 Examples of safety measures"

. Those figure explains the wire is contact closes when the door is closed. Details of this function according to the robot status are shown below.

*During automatic operation .............. When the door is opened, the servo turns OFF and the robot stops. An error occurs. The process of the restoration: Close the door, reset the alarm, turn on the servo, and restart

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

① Auto executing

Safeguard

STOP!!

(Op.) (Ext.)

Open

Robot arm

(Example)

Turns OFF the servo

② Teaching

Safeguard

AUTO

MANUAL

AUTO

AUTOMATIC

Open

Robot arm

(Example)

Teaching

pendant

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

Fig.3-29 ： Door switch function

3.6.4 Enabling device function

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

*1)

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

(1) When door is opening

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

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

(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. 3-144

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 3-6 ： Various operations and necessary switch settings

Related switch settings

Note1)

No

2

3

4

Operation

1 Jog operation

Jog operation

Note2)

Brake release

Note3)

Automatic operation

Mode of controller

Manual

Manual

Manual

Automatic

T/B enable/ disable

Enable

Enable

Enable

Disable

T/B enable switch

ON

ON

ON

－

Enabling device input terminal

Door switch input terminal

Close(ON)

Open(OFF)

Close(ON)

－

Description

－

Close

(Door Close)

－

Close

(Door Close)

If the enabling device input is set to

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

If the enabling device input is set to

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

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

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

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

Refer to the following for operation of each switch.

･ Mode of CR750 controller:

...............................................................................Page 109, "3.2 Names of each part"

Mode of CR751 controller:

.........................................................Page 146, "3.7 Mode changeover switch input"

Mode of CR760 controller:

...............................................................................Page 109, "3.2 Names of each part"

･ T/B enable/disable:

..................................................................................... Page 157, "(1) Teaching pendant (T/B)"

･ T/B enable switch:

....................................................................................... Page 157, "(1) Teaching pendant (T/B)"

･ Enabling device input terminal:

.................................................Page 211, "6.1.7 Examples of safety measures"

･ Door switch input terminal:

........................................................Page 211, "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 bar

rier.

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

ter.

T/B being manipulated

CAUTION

Door in

Open state

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

Enabling device being manipulated

Fig.3-30 ： Brake release operation

3-145

Emergency stop input and output etc.

3 Controller

3.7 Mode changeover switch input

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

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

<Right of operation (mode)>

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

Operations" for detail.

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

MANUAL

MODE

AUTOMATIC

* The controller is an example.

Mode changeover switch

(Customer-prepared)

Fig.3-31 ： Mode changeover switch image figure (CR751)

CNUSR1

(1) Specification of the key switch interface

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

Table 3-7 ： Function of the key switch interface

Pin number and Function (Connector: CNUSR1)

Change mode

Note1)

Pin number

49

24

50

25

Function

1st line KEY input

Power supply +24V of pin num

ber 49

2nd line KEY input

Power supply +24V of pin num

ber 50

MANUAL

Open

Open

AUTOMATIC

Close

Close

Note1) The mode changes by both opening or both closing between 49-24 pin and between 50-25 pin.

When input states differ between two lines, error H0044 (OP Mode key line is faulty) will occur.

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condi

tion that the + side is grounded, it will lead to failure of controller.

Table 3-8 ： Specification of the mode changeover switch input

Rated voltage

Current rating

Input resistance

Response time (OFF->ON)

Common method

Connection method

Conformity electric wire size

Maker/Type

Item Specification

DC24V

Approx. 10mA

Approx. 2.2kΩ

Approx. 15ms

1 point per common

Connector

AWG#24 to #18

-

Remarks

Supply from the controller.

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

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

0.2 to 0.75mm

2

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

Mode changeover switch input 3-146

3 Controller

(2) Connection of the mode changeover switch input


Cover fixing screw (Two places)

Connector cover

Plug

CNUSR1

25

View A

Pin number of plug

1

Remove the connector cover

Connector for user wiring

50

Soldering

26

A

3mm

Connecting cable

(AWG #30 ～ #24(0.05mm

2

to 0.2mm

2

))

Connection procedure

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

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

0.2mm

2

).

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

nector cover.

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

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

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

This concludes the connection procedure.

Fig.3-32 ： Connection of the mode changeover switch input (CR751)

3-147

Mode changeover switch input

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 3-9

shows the connectors for additional axes inside the controller.

Fig. 3-33 (CR750),

Fig. 3-34 (CR751),

and

Fig. 3-34 (CR760) shows a connection example (configuration example).

Table 3-9 ： Dedicated connectors inside the controller

Name Connector name

Connector for additional axes CR750/CR751: ExtOpt

CR760: OPT2

Details

The connector for connecting the general-purpose servo amplifier.

(1) CR750 controller

ExtOPT

Emergency stop output

(Refer to "3.6Emergency stop input and output etc." )

* Connect with a forced stop input of a servo ampli

fier.

Magnet contactor control connector output (AXMC) for addition axes

(Refer to "3.9Magnet contactor control connector output (AXMC) for addition axes" )

To CN1A

To CN1B

To CN1A

To CN1B

Fig.3-33 ： Example of addition axis connection (CR750)

Additional Axis Function 3-148

3 Controller



ExtOPT


(Refer to "3.6Emergency stop input and output etc."

)

* Connect with a forced stop input of a servo amplifier.


(Refer to "3.9Magnet contactor control connector output

(AXMC) for addition axes"

)

To CN1A con

-

To CN1B

To CN1A

To CN1B connector


3-149

Additional Axis Function


3 Controller


(Refer to "3.6Emergency stop input and output etc."

)

* Connect with a forced stop input of a servo amplifier.

EMG1

EMG2

Magnet contactor control connector output

(AXMC) for addition axes

(Refer to "3.9Magnet contactor control connector output (AXMC) for addition axes"

)

R760CPU unit

R700CPUユニット

OPT2 connector

OPT2コネクタ

SSCNETⅢケーブル

To CN1A connector

CN1Aコネクタへ

サーボアンプ

OPTコネクタへ

To CN1B

CN1Bコネクタへ connector

CN1Aコネクタへ

サーボアンプ

To CN1B

CN1Bコネクタへ

Cap

キャップ



3 Controller

(4) 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.3-36 ： Example of EMC noise filter installation

3-151

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.3-37 ： Example of noise filter installation


3 Controller

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

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

An example circuit is shown "(1)Example circuit" . An image of how to connect the controller connector are shown

"(2)Image of how to connect the controller connector" .

When you are using an additional axis, please perform appropriate circuit connections by referring to these draw

ings.

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

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

(1) Example circuit

■ CR750/CR751 controller

1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box.

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

ondary terminal of short circuit breaker (NV) built in the control

ler.

２）コントローラ内蔵漏電遮断器（NV）の２次側より、

MC同期用電源を取り出す。

NV

MC MC1 MC2

88

DC24V

NV

To the internal circuit

AXMC11

AXMC12

AXMC21

AXMC22

<走行軸（付加軸）アンプボックス>

AXMC11

AXMC12

AXMC21

AXMC22

コネクタピン番号

CNUSR2

CNUSR2

20

45

19

44

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

<接点容量>

DC24V/10mA～100mA

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con

troller. (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.3-38 ： Example of circuit for addition axes of Magnet contactor control output (CR750/CR751 controller)

3-153


3 Controller

■ CR760 controller

1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box.

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

ondary terminal of short circuit breaker (NV) built in the controller.

２）コントローラ内蔵漏電遮断器（NV）の２次側より、

MC同期用電源を取り出す。

NV

MC MC1 MC2

88

DC24V

NV

To the internal circuit

AXMC11

AXMC12

AXMC21

AXMC22

AXMC11

AXMC12

AXMC21

AXMC22

コネクタピン番号

EMG1

EMG1

11

23

12

24

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

<接点容量>

DC24V/10mA～100mA

[Note] In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the con

troller. (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.3-39 ： Example of circuit for addition axes of Magnet contactor control output (CR760 controller)

(2) Image of how to connect the controller connector


*Connects with CNUSR2 connector

with soldering. Refer to

Page 136 "Fig.

3-20: Method of wiring for external emergency stop connection (CR750

(CNUSR2))"

.

Fig.3-40 ： AXMC terminal connector (CR750)

フェライトコア

Pass twice

Magnet contactor control connector output (AXMC) for addition axes 3-154

3 Controller



フェライトコア

2回通し



Inside of CR760 controller

* The CNUSR2 connector is connected by

soldering. Refer to Page 139 "Fig. 3-23:

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

.

Safety unit

(R760SFT)

EMG1

Within 30cm

Ferrite core

Pass twice

* Connection method is the same as the connection of emergency stop.

Refer to

Page 141 "Fig. 3-25: External emergency stop connection (CR760)"

.


3-155


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.

3-156

3 Controller

(1) Teaching pendant (T/B)

■ Order type: CR750/CR760 controller ......... ● R32TB: Cable length 7m

● R32TB-15: Cable length 15m

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

● R33TB-15: Cable length 15m

■ Outline

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

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

*1)

■ Configuration

Table 3-10 ： Configuration device

Part name Type

CR750/CR760 controller

Teaching pendant R32TB

R32TB-15

CR751 controller

Teaching pendant R33TB

R33TB-15

Note1) Mass indicates one set.

Qty.

Either one pc.

Either one pc.

Mass (kg)

Note1)

1.7

2.8

1.7

2.8

Cable length is 7m. Hand strap is attached.




■ Specifications

Table 3-11 ： Specifications

Items

Outline dimensions

Body color

Mass

Connection method

Interface

Display method

Operation section

Specifications

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

Dark gray

Approx. 0.9kg (only arm, excluding cable)

Connection with controller and connector.

RS-422

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

36 keys

Remarks

Remarks

At 8x8 font

*1) <3-position enable switch>

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

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

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

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

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

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

*)

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

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

3-157

Teaching pendant (T/B)

195.2

133

LCD

Emergency stop

Operetion key

105.5

Enable/Disable switch

3 Controller

<Front>

Body

Cable (with connector)

<side>

Enable switch

<Back>

<Bottom>

Fig.3-43 ： 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) 3-158

3 Controller

■ Key layout and main functions

②

④

⑤

⑥

⑦

⑨

⑪

⑫

⑬

⑭

⑮

⑯

⑳

①

⑤

⑥

⑧

⑩

⑰

⑱

⑲

③

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

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

able.

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

ating robot will stop immediately.

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

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

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

played on LCD.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ber or character

Fig.3-44 ： Teaching pendant key layout and main functions

3-159

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-RZ361/2A-

RZ371) of another option is also possible, please use the setup of the station number by the different number separately. The station number is automatically determined by the position of the option slot which installed this interface. (CR750/

CR751 controller: station number 0 to 1, CR760 controller: station number 0 to 2)

■ Configuration


Part name Type

Qty.

Mass (kg)

Note1)

Remarks

Parallel I/O interface 2D-TZ368

2D-TZ378

Either one pc.

0.4

Input/output 32 points/32 points

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


■ Specifications

Table 3-13 ： Electrical specifications of input circuits

Item

Specification

Type

Number of input points

Insulation method

DC input

32

Photo coupler insulation

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

OFF voltage/ OFF current

Input resistance

Response time

DC12V

Approx. 3mA

DC24V

Approx.9mA

DC10.2 ～ 26.4V

(Ripple factor should be less than 5％)

DC8V or more/2mA or more

DC4V or less/1mA or less

Approx. 2.7kΩ

OFF-ON 10ms or less(DC24V)

ON-OFF 10ms or less(DC24V)

Common method

External cable connection method

32 points per common

Connector

<Sink type>

Internal circuit

+24V/+12V

(COM)

820

2.7K

<Source type>

2.7K

820

Input

Input

24G/12G

Parallel I/O interface 3-160

3 Controller

Table 3-14 ： Electrical specifications for the output circuits

Item

Specification

Type

No. of output points

Insulation method

Rated load voltage

Transistor output

32

Photo-coupler insulation

DC12V/DC24V

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

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

Leakage current at OFF Within 0.1mA

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

Note1)

Respons e time

OFF-ON

ON-OFF

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

Fuse rating

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

Fuse 1.6A(one per common)

Replacement possible （max. 3）

Common method

External wire connection method

External power supply

Voltage

Current

16 points per common (common terminal: 2points)

Connector

DC12/24V(DC10.2 ～ 30V)

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

Note1) The maximum voltage drop value at signal ON.

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

<Sink type>

Internal circuit

<Source type>

Fuse

+24V/+12V

Output

24G/12G

Fuse

+24V/+12V

Output

24G/12G

Caution

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


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)



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.3-45 ： Parallel I/O interface installation position (CR750)

3-161

Parallel I/O interface

3 Controller

<CR751 controller>


SLOT1

SLOT2


<CR760 controller>

R760CPUユニット

SLOT1

SLOT2

SLOT3


■ Pin layout of connector

1B 20B

1A

1D

1C

20A

20D

20C

Connector<2>

Output 16 to 31

Input 16 to 31

(when station number 0)

Connector<1>

Output 0 to 15

Input 0 to 15

(when station number 0)

Fig.3-48 ： Pin layout of connector


3 Controller

■ 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 3-15 ： The slot number and the station number

Slot number

Station number

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

Connector <1> Connector <2>

SLOT1 0

SLOT2

SLOT3

1

2

Input ： 0 to 15

Output ： 0 to 15

Input ： 32 to 47

Output ： 32 to 47

Input ： 64 to 79

Output ： 64 to 79

Input ： 16 to 31

Output ： 16 to 31

Input ： 48 to 63

Output ： 48 to 63

Input ： 80 to 95

Output ： 80 to 95

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

Table 3-16

and

Table 3-17

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

3-163


3 Controller

Table 3-16 ： Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Function name Function name

Pin

No.

Line color

General-purpose

Dedicated/power supply, common

Pin

No.

Line color

General-purpose


1C

2C

Orange/Red

Gray/Red

a

a

24G/12G: For pins 5D-

20D

COM ： For pins

5C-20C

Note1)

Reserved 3C

White/Red a

4C

Yellow/Red

a

5C

Pink/Red

a

General-purpose input

15

6C

Orange/Red

b


14

7C

Gray/Red

b


13

8C

White/Red b


12

9C

Yellow/Red

b


11

10C

Pink/Red

b


10

Reserved

11C

Orange/Red c


9

12C

Gray/Red

c


8

13C

White/Red

c


7

14C

Yellow/Red

c


6

15C

Pink/Red

c


5 Operation rights input signal

Note2)

16C

Orange/Red

d


4 Servo ON input signal

Note2)

17C

Gray/Red

d


3

Start input

Note2)

18C

White/Red

d


2 Error reset input signal

Note2)

19C

Yellow/Red

d


1 Servo OFF input signal

Note2)

20C

Pink/Red

d


0

Stop input

Note3)

1D

Orange/

Black a

2D

Gray/

Black a

+24V/+12V(COM): For pins 5D-20D

Reserved

3D

White/

Black a

4D

Yellow/

Black a

5D

Pink/

Black a

General-purpose output

15

6D

Orange/

Black b


14

7D

Gray/

Black b


13

8D

White/

Black b


12

9D

Yellow/

Black b


11

10D

Pink/

Black b


10

11D

Orange/

Black c


9

12D

Gray/

Black c


8

13D

White/

Black c


7

14D

Yellow/

Black c


6

15D

Pink/

Black c


5

Reserved

Reserved

16D

Orange/

Black d


4

17D

Gray/

Black d


3 Operation rights output

signal

Note2)

18D

White/

Black d


2 Error occurring output

signal

Note2)

19D

Yellow/

Black d


1 In servo ON output

signal

Note2)

20D

Pink/

Black d


0

Operating output

Note2)

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

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

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

Table 3-17 ： Connector<2> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Function name Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

General-purpose


1A

Orange/Red

a

2A

Gray/Red

a

24G/12G: For pins 5B-

20B

COM ： For pins 5A-

20A

Note1)

Reserved

Reserved

1B

Orange/

Black a

2B

Gray/

Black a

+24V/+12V(COM): For pins 5B-20B

Reserved

3A

White/Red a

4A

Yellow/Red

a

5A

Pink/Red

a


31

6A

Orange/Red

b


30

7A

Gray/Red

b


29

8A

White/Red b


28

9A

Yellow/Red

b


27

10A

Pink/Red

b


26

11A

Orange/Red c


25

12A

Gray/Red

c


24

13A

White/Red

c


23

14A

Yellow/Red

c


22

15A

Pink/Red

c


21

16A

Orange/Red

d


20

17A

Gray/Red

d


29

18A

White/Red

d


18

19A

Yellow/Red

d


17

20A

Pink/Red

d


16

3B

White/

Black a

4B

Yellow/

Black a

5B

Pink/

Black a


31

6B

Orange/

Black b


30

7B

Gray/

Black b


29

8B

White/

Black b


28

9B

Yellow/

Black b


27

10B

Pink/

Black b


26

11B

Orange/

Black c


25

12B

Gray/

Black c


24

13B

White/

Black c


23

14B

Yellow/

Black c


22

15B

Pink/

Black c


21

16B

Orange/

Black d


20

17B

Gray/

Black d


19

18B

White/

Black d


18

19B

Yellow/

Black d


17

20B

Pink/

Black d


16

Reserved

Reserved

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


3 Controller

<Reference> The example of connection with our PLC

<Sink>


（Output）

60mA

(+24/+12V)

Output

QX41

(Mitsubishi programmable controller)

COM

X

Output

24V

Fuse (24G/12G)


(Input)

QY41P


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

(COM)

+24V

3.3K

Input

Input


24V

Y

COM

24G

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller.

(related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

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

<Source>


(Output)

Fuse

60mA

(+24/+12V)

Output

QX41


(Input)

3.3K

Input

Input

(COM)

External

24V power supply

X

Output

24V

COM

(24G/12G)


QY81P

+24V



Y

24G

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Table 3-19 ： Connection with a Mitsubishi PLC (Example of source type)

3-165


3 Controller

(3) External I/O cable

■ Order type ： ● 2D-CBL □□ 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m, 15: 15m）

■ Outline

This is the dedicated cable used to connect an external peripheral device to the con

nector on the parallel I/O interface. For parallel I/O unit is another option 2A-CBL.**.

One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

■ Configuration


Part name Type

External I/O cable 2D-CBL □□

Qty.

1 pc.

Mass (kg)

Note1)

0.7(5m)

1.84(15m)

5m or 15m

Remarks


■ Specifications


Items

Number of cables x cable size

Total length

AWG #28 x 20P （40 pairs）

5m, 15m

Specifications

■ Connector pin numbers and cable colors

Table 3-22 ： Connector pin numbers and cable colors

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

1A/C

2A/C

3A/C

4A/C

5A/C

6A/C

7A/C

8A/C

9A/C

Orange/Red a

Gray/Red a

White/Red a

Yellow/Red a

Pink/Red a

Orange/Red b

Gray/Red b

White/Red b

Yellow/Red b

11A/C

12A/C

13A/C

14A/C

15A/C

16A/C

17A/C

18A/C

19A/C

Orange/Red c

Gray/Red c

White/Red c

Yellow/Red c

Pink/Red c

Orange/Red d

Gray/Red d

White/Red d

Yellow/Red d

1B/D

2B/D

3B/D

4B/D

5B/D

6B/D

7B/D

8B/D

9B/D

Orange/Black a

Gray/Black a

White/Black a

Yellow/Black a

Pink/Black a

Orange/Black b

Gray/Black b

White/Black b

Yellow/Black b

11B/D

12B/D

13B/D

14B/D

15B/D

16B/D

17B/D

18B/D

19B/D

Orange/Black c

Gray/Black c

White/Black c

Yellow/Black c

Pink/Black c

Orange/Black d

Gray/Black d

White/Black d

Yellow/Black d

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

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

2B, ....20B.

External I/O cable 3-166

3 Controller

■ Connections and outside dimensions

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

-

fications in "Table 3-33: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

１： Orange ／ Red ／ a

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Line color type a type

Pattern of the print mark

One dot b type

Two dots c type

Three dots d type

Four dots or

20A/C

20B/D

1A/C 1B/D

Fig.3-49 ： Connections and outside dimensions

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

Cover ： FCN-360C040-B

3-167

External I/O cable

3 Controller

(4) Parallel I/O unit

■ Order type: 2A-RZ361(Sink type)

2A-RZ371(Source type)

■ Outline

This is used to expand the external inputs and outputs. One one equal with this unit is built into the control unit among controllers the standard.

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

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

RZ371 for source type signal logic.

Notes) Although the combined use with the parallel I/O interface (2D-TZ368) of another option is also possible, please use the setup of the station number by the different number separately. The station number is auto

matically fixed by the position of the option slot which installed the parallel I/O interface in 0-1 (CR750/

CR751 controller) or 0-2 (CR760 controller).

■ Configuration


Part name Type

Parallel I/O unit

2A-RZ361

2A-RZ371

Robot I/O link connec

tion connector

Power connection con

nector

Terminator

NETcable-1

DCcable-2

R-TM


Qty.

Either one pc.

2 sets

1 set

1 pc.

Mass (kg)

Note1)

0.7

0.7

-

-

-

Remarks

Input/output 32 points/32 points

2A-RZ361 is the sink type.

2A-RZ371 is the source type.

Connector with pins.

The cable must be prepared and wired by the customer.

Connector with pins.

The cable must be prepared and wired by the customer.

100Ω(1/4W)

■ Specifications

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

2) The power supply (24V) must be prepared by the customer and connected with the power connection cable

(DCcable-2)

A separate 24V power supply is required for the input/output circuit wiring.

Table 3-24 ： Electrical specifications of input circuits

Item Specification

Type

Number of input points

Insulation method

Rated input voltage

Rated input current

Working voltage range

ON voltage/ON current

DC input

32

Photo coupler insulation

12VDC

Approx 3mA

24VDC

Approx 7mA

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

8VDC or more/ 2mA or more

OFF voltage/ OFF current

Input resistance

Response time OFF-ON

ON-OFF

4VDC or less/ 1mA or less

Approx. 3.3kΩ

10ms or less (24VDC)

10ms or less (24VDC)

Common method 8 points per common

External cable connection method Connector

Internal circuit

<Sink type>

820

3.3K

<Source type>

3.3K

820

+24V/+12V

(COM)

24G/12G

Parallel I/O unit 3-168

3 Controller

Table 3-25 ： Electrical specifications for the output circuits

Item

Type

No. of output points

Insulation method

Rated load voltage

Rated load voltage range

Max. load current

Leakage current at OFF

Max. voltage drop at ON

Response time

OFF-ON

ON-OFF

Fuse rating

Common method

External wire connection method

Specification

Transistor output

32

Photo-coupler insulation

12VDC/24VDC

10.2 to 30VDC(peak voltage 30VDC)

0.1A/point (100％)

0.1mA or less

0.9VDC(TYP.)

Note1)

2ms or less

(hardware response time)

2ms or less

(Resistance load) (hardware response time)

Fuse 3.2A (one per common) Replacement not possible

8 points per common (common terminal: 4 points)

Connector


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

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

Note1) The maximum voltage drop value at signal ON.

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

Internal circuit

<Sink type>

<Source type>

+24V/+12V

24G/12G

+24V/+12V

24G/12G

CAUTION

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

CAUTION

Inputs the power supply for control (DCcable-2) then inputs the controller’s power supply.

3-169

Parallel I/O unit

3 Controller

NETcable-1 (Network cable)

Pin No.

RIO1/2

１

２

３

TXRXH

TXRXL

SG(GND)

Note 2)

FG

RIO1/2

TXRXH

Pin No.

１

TXRXL ２

SG(GND) ３

Connector for CR750/CR751: 51103-0300

Connector for CR760: 1-178288-3

DCcable-2 (Power cable)

Pin No.

DCIN

１ 24V

２

３

24G

FG(PE)

＋

－

24V Power

Note 1)

Connected the frame ground or protect ground

R-TM (Terminator)

Pin No.

RIO1/2

１ TXRXH

２

３

TXRXL

SG(GND)

100Ω

List of parts and manufacturer

Type

NETcable-1

DCcable-2

R-TM

Connector type

1-178288-3 (2)

51103-0300 (1)

2-178288-3 (1)

1-178288-3 (1)

Contact type

1-175218-3 (6)

50351-8100 (3)

175218-3 (3)

175218-3 (2)

Resistant

－

－

－

100Ω(1/4W) (1)

Manufacturer

Tyco Electronics (Black connector)

MOLEX (White connector)

Tyco Electronics (Black connector)

Equivalent to KOA.

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

In the customer's system, do not ground the + side of 24V power supply prepared by customer for con

nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

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

AWG#22(0.3mm

2

) or more.

Fig.3-50 ： Specifications for the connection cable


3 Controller


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

<CR750 controller>

(4 0 ) (1 7 5 )

1 2 8

6

< 2 A - R Z 3 6 1 >

< 2 A - R Z 3 7 1 >

Fig.3-51 ： Installing the parallel I/O unit (CR750)

5 4

6 0

6

3-171

Parallel I/O unit

<CR751 controller>


(4 0 ) ( 1 7 5 )

1 2 8

6

< 2 A - R Z 3 6 1 >

< 2 A - R Z 3 7 1 >


5 4

6 0

6

3 Controller


3 Controller

<CR760 controller>

( 4 0 ) (1 7 5 )

1 2 8

6

RIO

< 2 A - R Z 3 6 1 >

< 2 A - R Z 3 7 1 >


5 4

6 0

6

3-173

Parallel I/O unit

3 Controller

<CR750 controller>

*1)

Station No. setting

1 . . . 6

20～30mm

Metal braid section

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

* Don't damage the shield line.

Station No. setting

7

Ferrite core

（Only for the CE marking/

KC mark specification）

Pass twice

FG

*2)

＜CN100＞

注)

NETcable-1 cable

FG

DCIN connector

DCcable-2 cable

＜CN300＞

＜CN100＞

＜CN300＞

RIO2コネクタ

注)

Note)

NETcable-1 cable

DCIN connector

FG

DCcable-2 cable

R-TM terminator

*1) Install the ferrite core in within

100mm from each connector.

I/O unit the bottom connector layout

Connect the NET cable-1 to the RIO connector on the back of the controller. Each unit is connected to from a daisy chain.

Always install a terminator (R-TM) to the last unit.

Note) Use a shield cable for NET cable-1 as a measure against noise.

Always connect the shield to FG. Install the attached ferrite core in both ends.

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

Fig.3-54 ： Connection method of expansion parallel I/O unit (CR750)


3 Controller

<CR751 controller>


*1)

Station No. setting

1 . . . 6

20～30mm

ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に

ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。

※ｼｰﾙﾄﾞ線に傷をつけないようにご注意願います。

Station No. setting

7

Ferrite core

（Only for the CE marking/

KC mark specification）

Pass twice

FG

*2)

＜CN100＞

NETcable-1 cable

＜CN300＞

＜CN100＞

＜CN300＞

FG

DCIN connector

DCcable-2 cable

RIO2コネクタ

注)

Note)

NETcable-1 cable

DCIN connector

FG

DCcable-2

ケーブル

R-TM terminator

*1) Install the ferrite core in within

100mm from each connector.

I/O unit the bottom connecter layout







3-175

Parallel I/O unit

3 Controller

<CR760 controller>

RIO1 con

-

Station No. setting

1 . . . 6

0 . . . 6

Ferrite core

注)

Note)

NETcable-1 cable

＜CN100＞

FG

*2)

*1)

Station No. setting

7

7

＜CN300＞

＜CN100＞

＜CN300＞

FG

DCIN connector

NETcable-1 cable

ｹｰﾌﾞﾙ

DCcable-2

ｹｰﾌﾞﾙ

FG

DCIN connector

DCcable-2

ｹｰﾌﾞﾙ

RIO2 connector

R-TM

ﾀｰﾐﾈｰﾀ

*1) Install the ferrite core in within 100mm from each connector.

20～30mm

ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に

ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。

入出力ユニット底面

コネクタ配置図








3 Controller

■ Pin arrangement of the connector

Channel No. setting

TXD

LED display

50

25

＜CN100＞

Input 0 to 15

Output 0 to 15

＜CN300＞

Input 16 to 31

Output 16 to 31

26

1

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

Fig.3-57 ： 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 3-26 ： Assignment of pin number and signal

Unit Number

Station number

CN100

1st set 0

2nd set

3rd set

4th set

5th set

6th set

7th set

8th set

1

2

3

4

5

6

7

Input ： 0 to 15

Output ： 0 to 15

Input ： 32 to 47

Output ： 32 to 47

Input ： 64 to 79

Output ： 64 to 79

Input ： 96 to 111

Output ： 96 to 111

Input ： 128 to 143


Input ： 160 to 175


Input ： 192 to 207


Input ： 224 to 239


CN300

Input ： 16 to 31

Output ： 16 to 31

Input ： 48 to 63

Output ： 48 to 63

Input ： 80 to 95

Output ： 80 to 95

Input ： 112 to 127


Input ： 144 to 159


Input ： 176 to 191


Input ： 208 to 223


Input ： 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 3-27

and Table 3-28 . If it is set as other station number, please interpret and utilize.

3-177

Parallel I/O unit

3 Controller

■ Parallel I/O interface (First expansion unit)

Table 3-27 ： Connector CN100pin No. and signal assignment list (2A-CBL

□□

)

Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

Function name

General-purpose


3

4

1 Orange/Red A

2 Gray/Red A

5

White/Red A

Yellow/Red A General-purpose output 0

FG

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

12V/24V:For pins 4-7

Operating output

Note1)

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

Note1)

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A

29 Yellow/Blue A General-purpose output 4

30 Pink/Blue A General-purpose output 5

FG

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


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

Note1)

31 Orange/Blue B General-purpose output 6

7

8

9

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

Note1)

White/Red B

Yellow/Red B

10 Pink/Red B General-purpose output 8

11 Orange/Red C General-purpose output 9

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


12 Gray/Red C General-purpose output 10

13 White/Red C General-purpose output 11

14 Yellow/Red C

15 Pink/Red C General-purpose input 0

16 Orange/Red D General-purpose input 1

COM0:For pins 15-22

Stop input

Note3)

Note2)

Servo OFF input signal

Note1)

17 Gray/Red D General-purpose input 2

18

19

20

White/Red D

Yellow/Red D General-purpose input 4

Pink/Red D

General-purpose input 3


Error reset input signal

Note1)

Start input

Note1)

Servo ON input signal

Note1)

Operation rights input signal

Note1)

21 Orange/Red E General-purpose input 6

22 Gray/Red E General-purpose input 7

23 White/Red E

24 Yellow/Red E

25 Pink/Red E

Reserved

Reserved

Reserved

32 General-purpose output 7

33 White/Blue B

34 Yellow/Blue B

35 Pink/Blue B General-purpose output 12

36 Orange/Blue C General-purpose output 13

37 Gray/Blue C General-purpose output 14

38 White/Blue C General-purpose output 15

39 Yellow/Blue C

40 Pink/Blue C General-purpose input 8

41 Orange/Blue D General-purpose input 9

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


COM1:For pins 40-47

Note2)

42

Gray/Blue B

Gray/Blue D General-purpose input 10

43 White/Blue D General-purpose input 11

44 Yellow/Blue D General-purpose input 12

45 Pink/Blue D General-purpose input 13

46 Orange/Blue E General-purpose input 14

47 Gray/Blue E General-purpose input 15

48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

Reserved

Reserved

Reserved

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

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

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


3 Controller

Table 3-28 ： Connector CN300pin No. and signal assignment list (2A-CBL

□□

)

Function name

Pin

No.

Line color

General-purpose


Pin

No.

Line color

Function name

General-purpose


3

4

1 Orange/Red A

2 Gray/Red A

White/Red A

Yellow/Red A General-purpose output 16

7

8

5 Pink/Red A General-purpose output 17

6 Orange/Red B General-purpose output 18

Gray/Red B

White/Red B

General-purpose output 19

9

10

Yellow/Red B

Pink/Red B General-purpose output 24

11 Orange/Red C General-purpose output 25

12

13

Gray/Red C

White/Red C

14 Yellow/Red C



15 Pink/Red C General-purpose input 16

16 Orange/Red D General-purpose input 17

17

18

Gray/Red D

White/Red D



19 Yellow/Red D General-purpose input 20

20 Pink/Red D General-purpose input 21

21 Orange/Red E General-purpose input 22

22 Gray/Red E General-purpose input 23

23 White/Red E

24 Yellow/Red E

25 Pink/Red E

FG

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


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


COM0:For pins 15-22

Note1)

Reserved

Reserved

Reserved

26 Orange/Blue A

27 Gray/Blue A

28 White/Blue A

29 Yellow/Blue A General-purpose output 20

30 Pink/Blue A General-purpose output 21

31 Orange/Blue B General-purpose output 22

32 Gray/Blue B General-purpose output 23

33 White/Blue B

34 Yellow/Blue B

35 Pink/Blue B General-purpose output 28

36 Orange/Blue C General-purpose output 29

37 Gray/Blue C General-purpose output 30

38 White/Blue C General-purpose output 31

39 Yellow/Blue C

40 Pink/Blue C General-purpose input 24

41 Orange/Blue D General-purpose input 25

42 Gray/Blue D General-purpose input 26

43 White/Blue D General-purpose input 27

44 Yellow/Blue D General-purpose input 28

45 Pink/Blue D General-purpose input 29

46 Orange/Blue E General-purpose input 30

47 Gray/Blue E General-purpose input 31

48 White/Blue E

49 Yellow/Blue E

50 Pink/Blue E

FG

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


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


COM1:For pins 40-47

Note1)

Reserved

Reserved

Reserved

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

3-179

Parallel I/O unit

3 Controller

<Reference> The example of connection with our PLC

<Sink>


（Output）

60mA

(+24/+12V)

Output

QX41


COM

X

Output

24V

Fuse (24G/12G)


(Input)

QY41P



(COM)

+24V

3.3K

Input

Input


24V

Y

COM

24G



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

<Source>


(Output)

Fuse

60mA

(+24/+12V)

Output

QX41


X

(Input)

Output

24V

COM

(24G/12G)


QY81P

+24V


3.3K

Input

Y

Input

(COM)

24V

24G





Table 3-30 ： Connection with a Mitsubishi PLC (Example of source type)


3 Controller

(5) External I/O cable

■ Order type: 2A-CBL □□ 　　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m）

■ Outline

This is the dedicated cable used to connect an external peripheral device to the con

nector on the parallel input/output unit.

One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

■ Configuration


Part name Type

External I/O cable 2A-CBL □□

Qty.

1pc.

Mass(kg)

Note1)

0.7(5m)

1.84(15m)

5m or 15m

Remarks


■ Specifications


Items

Number of cables x cable size

Total length

50 pairs x AWG #28

5m or 15m

Specifications

■ Connector pin numbers and cable colors

Table 3-33 ： Connector pin numbers and cable colors

Pin no.

Cable colors

Pin no.

Cable colors

Pin no.

Cable colors

1 Orange/Red A 11 Orange/Red C 21 Orange/Red E

8

9

6

7

10

4

5

2

3

Gray/Red A

White/Red A

Yellow/Red A

Pink/Red A

Orange/Red B

Gray/Red B

White/Red B

Yellow/Red B

Pink/Red B

16

17

18

19

20

12

13

14

15

Gray/Red C

White/Red C

Yellow/Red C

Pink/Red C

Orange/Red D

Gray/Red D

White/Red D

Yellow/Red D

Pink/Red D

26

27

28

29

30

22

23

24

25

Gray/Red E

White/Red E

Yellow/Red E

Pink/Red E

Orange/Blue A

Gray/Blue A

White/Blue A

Yellow/Blue A

Pink/Blue A

Pin no.

31

36

37

38

39

40

32

33

34

35

Cable colors

Orange/Blue B

Gray/Blue B

White/Blue B

Yellow/Blue B

Pink/Blue B

Orange/Blue C

Gray/Blue C

White/Blue C

Yellow/Blue C

Pink/Blue C

Pin no.

41

46

47

48

49

50

42

43

44

45

Cable colors

Orange/Blue D

Gray/Blue D

White/Blue D

Yellow/Blue D

Pink/Blue D

Orange/Blue E

Gray/Blue E

White/Blue E

Yellow/Blue E

Pink/Blue E

3-181

External I/O cable

3 Controller

■ Connections and outside dimensions

The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci

fications in

"Table 3-33: Connector pin numbers and cable colors" when making the connections.

(Eg.) Pin number: color indication

１： Orange ／ Red ／Ａ

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Type of dot mark

A type

B type

C type

D type

E type

1

1.5

1.5

1.5

1.5

Dot pattern

18.5

18.5

18.5

18.5

Continuous

Type of dot mark

F type

G type

H type

I type

J type

Dot pattern

3

18.5

3

18.5

3

7.5

18.5

18.5

7.5

Continuous

5000

26

1

50

25

13.54

16.2 9.27 35.7

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

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

Note1)

Maker

……DDK

……DDK

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

The following connector is recommended when user make the cable.

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

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

Fig.3-58 ： Connections and outside dimensions

External I/O cable 3-182

3 Controller

(6) Personal computer cable

■ Order type: CR760 controller ........................● 2D-232CBL03M (for PC/AT)

■ Outline

This is the RS-232 interface cable used for connecting the controller with a personal com

puter. The personal computer on hand may be usable with the above interface cable. Con

firm the connection specifications when placing an order.

Personal computer cables for the PC/AT compatible model is available.

■ Configuration


Part name

Personal computer cable (for PC/AT)


■ Specifications

Type

2D-232CBL03M

Qty.

Mass(kg)

Note1)

1pc.

4

Remarks

3m, D-SUB 9 pin

2D-232CBL03M

Robot controller side

(signal, pin number)

（Not use）　DCD 1

Ｒ×D 2

T×D 3

DTR 4

DSR 6

RTS 7

CTS 8

GND 5

　（Not use）　RI 9

6

1 1

Personal computer side

(signal, pin number)

1 ＤCD

2 Ｒ×D

3 Ｔ×D

4 DTR

6 DSR

7 RTS

8 CTS

5 GND

9 ＲI　（Not use）

6

9

5

Robot controller side

Table 3-35 ： Connectors used with cable

Connection

Controller side


Name

Connector

Case cover

Connector

Case cover

Part name

17JE-23090-02(D1)

17JE-09H-1A4-CF

HDEB-9S(05)

HDE-CTH1(4-40)(10)

5

9


Maker

DDK

DDK

HIROSEDENKI

HIROSEDENKI

Fig.3-59 ： Personal computer cable connection

3-183

Personal computer cable

3 Controller

(7) 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


Part name Type

CC-Link interface

Manual

Ferrite core

Cable clamp

TZ576

BFP-A8701

E04SR301334

AL4

AL5


Qty.

2

2

1

1

2

Table 3-37 ： Procured by the customer

Part name Type

Master station

QJ61BT11(Q series)

QJ61BT11N(Q series)

AJ61QBT11(QnA series)

A1SJ61QBT11(QnAS series)

AJ61BT11(A series)

A1SJ61BT11(AnS series)

A80BD-J61BT11(personal computer board)

Communication cable -

Terminal resistor -

Mass(kg)

Note1)

0.6

-

-

-

-

Qty.

1

1

1

Remarks

Be sure to install this for noise countermeasure.

Remarks

FX series products are not supported.

Shielded 3-core twisted cable

This cable may be manufactured by the customer.

110Ω or 130Ω is recommended.

Robot arm

CC-Link interface card

(This option)

Controller

(* The controller is an example.)

Fig.3-60 ： Example of CC-Link Product Configuration

パートナーメーカーの機器 device computer

CC-Link interface 3-184

3 Controller

■ Specifications


Item

Communication function

Station type

Support station

The version corresponding to CC-Link

Mountable option slot

Number of mountable CC-Link interface cards

Number of stations

Specifications Remarks

Bit data and word data can be transmitted.

Word data are used by the registers.

Intelligent device station

Note1)

Local station

Ver.2

No master station function

The extended cyclic setup is possible.

CR750/CR751 controller: Slot 1, 2

CR760 controller: Slot 1 to 3

1

1 to 64 stations

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

1 to 64

1/2/3/4

1/2/4/8

Each 896 points

Multiple CC-Link interface cards cannot be inserted.

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

This is set by the rotary SW.

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

The two last cannot be used.

Transmission speed

Station number

Number of occupied stations

Extended cyclic setup

Maximum link point

Extended cyclic setup

Remote I/O

(RX, RY).

Remote register

(RWr, RWw)

-

Each 128 register 16 bits/register

1 fold setup

2 fold setup

3 fold setup

4 fold setup

32 point 32 point 64 point 128 point Link point per set

When one station is occupied

Remote I/O

(RX, RY).

Remote register

( RWw)

Remote register

(RWr)

Remote I/O

(RX, RY).

When two stations is occupied

When three stations is occupied

Remote register

( RWw)

Remote register

(RWr)

Remote I/O

(RX, RY).

Remote register

( RWw)

When four stations is occupied

Remote register

(RWr)

Remote I/O

(RX, RY).

Remote register

( RWw)

Remote register

(RWr)

Number of the maximum occupancy station

The I/O first number of the robot controller.

4 word

4 word

8 word

8 word

16 word

16 word

32 word

32 word

64 point 96 point 192 point 384 point

8 word 16 word 32 word


64 word

64 word




96 word

96 word


16 word 32 word 64 word 128 word

16 word 32 word 64 word 128 word

4 stations

No. 6000 -.

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

"CCFIX."

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

3-185

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 3-186

3 Controller

(8) Extension memory cassette

■ Order type: CR760 controller ........................● 2D-TZ454

■ Outline

Used to increase the total number of teaching points in the robot program.

■ Configuration


Part name

Extension memory cassette


Type

2D-TZ454

Qty.

1

Mass(kg)

Note1)

0.1

Remarks

■ Specifications


Items

External dimensions

Mass

Connection method

Memory size

Note1)

Specifications

Approx. 94(W)X65(D)X15(H) mm

Approx. 0.2 kg

Connection using a special connector

Teaching point number: 37,800

Steps number: 75,600

Program number: 256

Remarks

Excluding the connection connector

The sum total value combined with the standard are

Teaching point number: 50,800

Steps number: 101,600

Program number: 512

Backup Backup using the controller's internal battery

Note1) As for the standard points, after adding an expansion memory cassette, the information in all backup memory areas in the controller is copied into the expansion memory cassette. Therefore, please note that if the expansion memory cassette is removed after it has been added, there will be no program left in the controller.

［CAUTION］

1) Inserting and removing the memory cassette

A memory cassette cannot be inserted or removed while the control power is on. Please turn off the con

trol power before handling the memory cassette to avoid destroying the memory information in the cas

sette.

The memory cassette alone does not have a memory backup function. Data security in the memory cas

sette removed from the controller is not guaranteed.

2) Backup using the RT ToolBox 2

The table below shows the time to back up the program using RT ToolBox2.

Interface

Ethernet interface (100Mbps)

USB (12Mbps)

RS-232 (9600bps)

Backup time

Approx. 100 seconds

Approx. 260 seconds

Approx. 200 minutes

Remarks

Each time in the table applies to the program consuming all of the available memory.

3-187

Extension memory cassette

3 Controller

(9) Controller protection box

■ Order type: CR750 controller ........................CR750-MB

CR751 controller ........................CR751-MB

■ Outline

<CR750-MB>

<CR751-MB>

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.

■ Configuration

Table 3-41 ： Configuration equipment and types

Part name Type Qty.

CR750 controller

Controller protection box

Internal power cable

CR750-MB 1

3

Internal earth cable

Label for serial number

Transparent seal

Cable tie

Screw for fixing of the controller mounting plate

Instruction Manual

CR751 controller



T50L

M4x8

BFP-A8896

CR751-MB


1

4

4

1

1

1


Transparent seal

Cable tie

Screw for fixing of the controller mounting plate

Instruction Manual


T50L

M4x8

BFP-A8997

4

4

1

1

1

1

2

1

Mass (Kg)

Note1)

22

-

21

-

Remarks

For connection between the power supply relay terminal and controller inside this box

For connection between the grounding terminal and controller inside this box

For connection between the power supply relay terminal and controller inside this box

For connection between the grounding terminal and controller inside this box

Controller protection box 3-188

3 Controller

■ Specifications


Item Unit

CR750 controller

Outside dimension

Mass

Construction

Grounding

Paint color

CR751 controller

Outside dimension

Mass

Construction

Grounding

Paint color mm

Kg

Ω mm

Kg

Ω

Specifications

500(W)×725(D)×250(H)

22

Self-contained floor type

100 or less (class D grounding)

Dark gray

500(W)×725(D)×250(H)

21

Self-contained floor type

100 or less (class D grounding)

Dark gray

IP54

Remarks

Excluding protrusions

IP54

Equivalent to Munsell: 3.5PB3.2/0.8

Excluding protrusions

Equivalent to Munsell: 3.5PB3.2/0.8

(1) The robot must be grounded by the customer.

(2) The cable for primary power supply connection and the grounding cable are customer preparations.

3-189


3 Controller

■ Outside dimension

<CR750-MB>

Cable cover

Controller setting position

Drain hole

Rubber foot fixa

tion screw for placing vertically

(Four places)

Fig.3-61 ： Outside dimension of CR750-MB


3 Controller

<CR751-MB>

Controller setting position

Rubber foot fixation screw for placing ver

tically (Four places)

Cable cover

Fig.3-62 ： Outside dimension of CR751-MB

3-191


■ Names of each part

<CR750-MB>

Mode key switch

Window


Transparent seal

T/B connector

Front view

Mode change SW extension cable

Controller

T/B junction cable

Front side of the controller

Controller mounting plate

Fixing lever

Power supply relay terminal

(M4 screw)

Grounding terminal (M4 screw)

Cable cover

Cable tie

External emergency stop wiring (customer preparation)

Machine cable CN2

Power supply cable,

Grounding cable

(customer preparation)

Machine cable CN1

Internal earth cable Internal power cable

Upper view

Fig.3-63 ： Names of each part (CR750-MB)

3 Controller


3 Controller

<CR751-MB>


Transparent seal

Front view

Grounding terminal (M4 screw)

Power supply relay terminal

(M4 screw)

Controller mounting plate

Controller

Power supply cable,

Grounding cable

(customer preparation)

Machine cable CN1

Front side of the controller

Machine cable CN2

External emergency stop wiring (customer preparation)

Cable cover

Cable tie

Fixing lever


Upper view


Fig.3-64 ： Names of each part (CR751-MB)

3-193


3 Controller

■ Wiring system diagram

<CR750-MB>

Single phase: RV-4F series


Power supply cable

Grounding cable

(L1)

(L2)

Terminal


(L1)

(L2)

FG

ACIN

CN1

CN2

CNUSR

11/12

Controller

AC fan


FG FG FG

Grounding terminal

Single phase/Three phase: RV-7F/13F series


Terminal

Note1)


Power supply cable

Grounding cable

(L1)

(L2)

(L3)

(L1)

(L2)

(L3)

FG

ACIN

CN1

CN2

CNUSR

11/12

Controller

AC fan


FG 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.3-65 ： Wiring system diagram (CR750-MB)


3 Controller

<CR751-MB>

Single phase: RV-4F series


Terminal


Controller

Power supply cable

Grounding cable

AC fan


Grounding terminal

Single phase/Three phase: RV-7F/13F series


Terminal

Note1)


Controller

Power supply cable

Grounding cable

AC fan


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.3-66 ： Wiring system diagram (CR751-MB)

3-195


3 Controller

■ Installation dimensions

<CR750-MB>

Placed horizontally

150mm or more

30mm or more

150mm or more

Placed vertically

150mm or more

30mm or more

150mm or more

150mm or more

150mm or more

Fig.3-67 ： Installation dimensions (CR750-MB)


3 Controller

<CR751-MB>

Placed horizontally

150mm or more

30mm or more

150mm or more

Placed vertically

150mm or more

30mm or more

150mm or more

150mm or more

150mm or more

Fig.3-68 ： Installation dimensions (CR751-MB)

3-197


3 Controller

(10) MELSOFT RT ToolBox2/RT ToolBox2 mini

■ Order type ： ● MELSOFT

RT ToolBox2

*For windows CD-ROM

● MELSOFT

RT ToolBox2 mini

: 3D-11C-WINE

*For windows CD-ROM : 3D-12C-WINE

■ Outline

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

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

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

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

■ Configuration

Table 3-43 ： Product configuration

Part name Type

RT ToolBox2

RT ToolBox2 mini

3D-11C-WINE

3D-12C-WINE


Medium

CD-ROM

CD-ROM

Mass (kg)

Note1)

0.2

0.2

Remarks

■ Features

(1) Simple operation with guidance method and menu method

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

(2) Increased work efficiency with ample support functions

The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis

plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially sufficient, and are extremely useful when editing or debugging the program.

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

(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri

cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs can be reduced.

(4) The position recovery support function increases the recovery efficiency in the event of origin position dis

placement. This function compensates the origin settings and position data by just reproducing several previ

ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or when reloading the robot. This function can reduce the time required for recovery.

MELSOFT RT ToolBox2/RT ToolBox2 mini 3-198

3 Controller

■ Functions

Table 3-44 ： Functions

Function

Compatible model

Program editing functions

Editing functions

Simulation func

tion

Monitor func

tions

Maintenance function

Control func

tions

Debugging func

tions

Functional existence

Note1)

○

○

○

○

○

○

○

○

○

○

○

×

○

○

Details

Personal computer running Windows XP, Windows Vista, Windows 7,

Windows 8, or Windows 8.1.

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 compari

son, name change, protect)

・ Direct editing of program in controller

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

cution)

・ 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-pur

pose input/output signals (forced output possible), dedicated input/ output signals, operation confirmation (operation range, current posi

tion, hand, etc.)

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

・ Servo monitor (load)

・ Parameter setting

・ Batch, divided backup

RT ToolBox2 mini

（3D-12C-WINE）

RT ToolBox2

（3D-11C-WINE）

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

○ : Function provided ×: Function not provided

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

3-199

MELSOFT RT ToolBox2/RT ToolBox2 mini

3 Controller

(11) Instruction Manual (bookbinding)

■ Order type: ● 5F-FF01-PE01...............RV-4F-D/7F-D/13F-D/20F-D/35F-D/50F-D/70F-D series

■ Outline

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

■ Configuration

Table 3-45 ： Product configuration

Name

Instruction Manual

Safety Manual

Standard Specifications

Robot Arm Setup & Maintenance

Controller Setup, Basic Operation and Maintenance

Detailed Explanation of Functions and Operations

Troubleshooting

Additional axis function

Tracking Function Manual

GOT Direct Connection Extended Function

Note1)

Mass indicates one set.

Type

5F-FF01-PE01

BFP-A8006

BFP-A8931

BFP-A8935

BFP-A8867

BFP-A8869

BFP-A8871

BFP-A8663

BFP-A8664

BFP-A8849

Mass (Kg)

Note1)

2.6

-

-

-

-

-

-

-

-

-

Specifications

The instructions manual set of RV-4F-D series, RV-

7F-D series, RV-13F-D series, and RV-50F-D series.

Items relating to safety in handling the robot

Specification of the robot arm and controller

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

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

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

Causes of errors occurred and their countermeasures

Function of the additional axis, operation method.

Function of the Tracking, operation method.

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

GOT and controller.

Instruction Manual (bookbinding) 3-200

3 Controller

3.11 Maintenance parts

The consumable parts used in the controller are shown in Table 3-46 . 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 3-46 ： Controller consumable parts list

No. Name Type

Note1)

1 Lithium battery Q6BAT

Qty.

1

Usage place Supplier

CR750/CR760 controller:

Inside of the interface cover

CR751 controller:

Inside of the filter cover

Inside the filter cover

Mitsubishi Electric

2 Filter CR750 controller:

BKOFA0773H42

CR751 controller:

BKOFA0773H41

1

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

3-201

Maintenance parts

4Software

4 Software

4.1 List of commands

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

Table 4-1 .

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

Type Class Function Input format (example)

Joint interpolation Moves to the designated position with joint interpolation.

Linear interpolation Moves to the designated position with linear interpolation.

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

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

Speed designation

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

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

→ reference point → end point) with 3-dimensional circular interpola

tion.

Moves along a set arc (start point → end point) with 3-dimensional cir

cular interpolation.

Designates the speed for various interpolation operations with a per

centage (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 numeri

cal 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.

Operation

Position control

Float control

Pallet

Singular point pas sage

-

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

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

Adds a process unconditionally to the operation.

Loadset 1,1

Adds a process conditionally to the operation.

Designates smooth operation.

Wth

WthIf

Cnt 1,100,200

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

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

Fine 200

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

Designates the positioning completion conditions with a joint interpola

tion.

Fine 1, P

Fine 0.5, J, 2

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) Cmp Pos ,&B00000011

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

tem)

Cmp Jnt ,&B00000011

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

tem)

The robot arm rigidity is returned to the normal state.

Cmp Tool ,&B00000011

Cmp Off

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.

Servo OFF

Torq 4,10

Base P1

Tool P1

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 4-202

4Software

Type Class

Branching

Function

Branches unconditionally to the designated place.

Branches according to the designated conditions.

Input format (example)

GoTo 120

If M1=1 Then GoTo *L100

Else GoTo 20

End If

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

Repeats while the designated conditions are satisfied.

Branches corresponding to the designated expression value.

Executes program block corresponding to the designated expression value..

Next M1

While M1<10

WEnd

On M1 GoTo *La1, *Lb2, *Lc3

Select

Case 1

Break

Case 2

Collision detection

Subroutine

Interrupt

Wait

Stop

End

Hand open

Hand close

Assignment

Input

Output

Moves the program process to the next line.

Set to enable/disable the collision detection.

Set the detection level of the collision detection.

Executes the designated subroutine. (Within program)

Returns from the subroutine.

Executes the designated program.

Defines the program argument executed with the CALLP command.

Executes the subroutine corresponding to the designated expression value.

Defines the interrupt conditions and process.

Enables/disables the interrupt.

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

Enables the interrupt from the communication line.

Disables the interrupt from the communication line.

Stops the interrupt from the communication line.

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

Waits until the variable becomes the designated value.

Stops the program execution.

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

OFF can be designated.

Ends the program execution.

Opens the designated hand.

Closes the designated hand.

Defines the input/output variables.

Retrieves the general-purpose input signal.

Calls out the general-purpose output signal.

Break

End Select

Skip

ColChk ON/OFF

ColLvl 100,80,,,,,,

GoSub *L200

Return

CallP "P10",M1,P1

FPrm M10,P10

On M1 GoSub *La1, *Lb2, *Lc3

Def Act 1, M1=1 GoTo *L100

Act 1=1

On Com(1) GoSub *L100

Com(1) On

Com(1) Off

Com(1) Stop

Dly 0.5

Wait M_In(1)=1

Hlt

Error 9000

End

HOpen 1

HClose 1

Def IO PORT1=BIT,0

M1=M_In(1)

M_Out(1) =0

Mechanism designa

tion

Selection

Start/stop

Acquires the mechanism with the designated mechanism No.

Releases the mechanism with the designated mechanism No.

Selects the designated program for the designated slot.

Carries out parallel execution of the designated program.

Stops parallel execution of the designated program.

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

GetM 1

RelM 1

XLoad 2,"P102"

XRun 3,"100",0

XStp 3

XRst 3

4-203

List of commands

4Software

Type Class

Definition

Clear

File

Comment

Label

Function

Defines the integer type or real number type variable.

Defines the character string variable.

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

Defines the joint variable.

Defines the position variable.

Defines the function.

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

Opens a file.

Closes a file.

Inputs data from a file.

Outputs data to a file.

Describes a comment.

Indicates the branching destination.

Input format (example)

Def Inte KAISUU

Def Char MESSAGE

Dim PDATA(2,3)

Def Jnt TAIHI

Def Pos TORU

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

Clr １

Open "COM1:" AS #1

Close #1

Input# 1,M1

Print# 1,M1

Rem "ABC"

*SUB1

List of commands 4-204

RV-4F-D/7F-D/13F-D/20F-D/35F-D/50F-D/70F-D

3.6.3 Door switch function

3.6.4 Enabling device function

(1) When door is opening

(2) When door is closing

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

3.7 Mode changeover switch input

(1) Specification of the key switch interface

(2) Connection of the mode changeover switch input

View A

A

3.8 Additional Axis Function

3.8.1 Wiring of the Additional Axis Interface

(1) CR750 controller

(2) CR751 controller

(3) CR760 controller

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

(1) Example circuit

(2) Image of how to connect the controller connector

3.10 Options

(1) Teaching pendant (T/B)

②

④

⑤

⑥

⑦

⑨

⑪

⑫

⑬

⑭

⑮

⑯

⑳

①

⑤

⑥

⑧

⑩

⑰

⑱

⑲

③

(2) Parallel I/O interface

SLOT1

SLOT2

SLOT1

SLOT2

1B 20B

1A

1D

1C

20A

20D

20C

Connector<2>

Output 16 to 31

Input 16 to 31

(when station number 0)

Connector<1>

Output 0 to 15

Input 0 to 15

(when station number 0)

(3) External I/O cable

(4) Parallel I/O unit

(5) External I/O cable

(6) Personal computer cable

(7) CC-Link interface

(8) Extension memory cassette

(9) Controller protection box

(10) MELSOFT RT ToolBox2/RT ToolBox2 mini

RT ToolBox2

RT ToolBox2 mini

(11) Instruction Manual (bookbinding)

3.11 Maintenance parts

4 Software

4.1 List of commands

Related manuals

Mitsubishi Electric

RV-4F-Q/7F-Q/13F-Q/20F-Q/35F-Q/50F-Q/70F-Q Series Standard