Mitsubishi RV-12SDL, RV-12SDC, RV-12SD, RV-12SDLC Specifications

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Page 1

Mitsubishi Industrial Robot

RV-12SD Series

Standard Specifications Manual

(CR3D-701M/CR3D-701 Controller)

BFP-A8656

Page 2

Page 3

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

CAUTION

WARNING

CAUTION

WARNING

CAUTION

Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken.

Safety Precautions

Page 4

The points of the precautions given in the separate "Safety Manual" are given below.

Refer to the actual "Safety Manual" for details.

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 non-designated 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

WARNING

CAUTION

WARNING

CAUTION

WARNING

Page 5

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.

CAUTION

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■ Revision history

Date of print Specifications No. Details of revisions

2008-05-9 BFP-A8656 First print.

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■ 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 the oil mist environment as standard, offering a variety of specifications including clean 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 "2 Robot arm" on

page 3 , the specifications related to the controller"3 Controller" on page 30 , and software functions and a com-

mand list "4 Software" on page 79 separately.

・ No part of this manual may be reproduced by any means or in any form, without prior consent

from Mitsubishi. ・ The contents of this manual are subject to change without notice. ・ The specifications values are based on Mitsubishi standard testing methods. ・ The information contained in this document has been written to be accurate as much as possible.

Please interpret that items not described in this document "cannot be performed.".

Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries.

Page 8

Contents

Page

1 General configuration .................................................................................................................................................................... 1-1

1.1 Structural equipment ............................................................................................................................................................. 1-1

1.1.1 Standard structural equipment .................................................................................................................................. 1-1

1.1.2 Shipping special specifications ................................................................................................................................... 1-1

1.1.3 Options ................................................................................................................................................................................. 1-1

1.1.4 Maintenance parts ........................................................................................................................................................... 1-1

1.2 Model type combination of robot ...................................................................................................................................... 1-2

1.2.1 Combinations of robot arms and controllers ........................................................................................................ 1-2

1.2.2 How to identify the robot model ................................................................................................................................ 1-2

1.3 CE marking specifications .................................................................................................................................................... 1-3

1.4 Indirect export .......................................................................................................................................................................... 1-3

1.5 Instruction manuals ................................................................................................................................................................ 1-3

1.6 Contents of the structural equipment ............................................................................................................................ 1-4

1.6.1 Robot arm ........................................................................................................................................................................... 1-4

1.6.2 Controller ............................................................................................................................................................................ 1-5

1.6.3 CR1B-571 controller ...................................................................................................................................................... 1-5

1.6.4 CR2B-574 controller ...................................................................................................................................................... 1-6

1.7 Contents of the Option equipment and special specification .............................................................................. 1-7

2 Robot arm ........................................................................................................................................................................................... 2-9

2.1 Standard specifications ........................................................................................................................................................ 2-9

2.2 Definition of specifications ................................................................................................................................................ 2-10

2.2.1 Pose repeatability .......................................................................................................................................................... 2-10

2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-11

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-12

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-12

2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-12

2.2.5 Protection specifications and working environment ....................................................................................... 2-13

(1) Types of protection specifications .................................................................................................................... 2-13

(2) About the use with the bad environment ........................................................................................................ 2-14

2.2.6 Clean specifications ...................................................................................................................................................... 2-15

(1) Types of clean specifications ............................................................................................................................... 2-15

2.3 Names of each part of the robot .................................................................................................................................... 2-16

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-17

(1) RV-3SB/3SBC (6-axis type) ............................................................................................................................... 2-17

(2) RV-3SJB/3SJBC (5-axis type) .......................................................................................................................... 2-19

2.5 Tooling ........................................................................................................................................................................................ 2-21

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-21

2.5.2 Internal air piping ............................................................................................................................................................ 2-22

(1) General-purpose envi-ronment/Oil mist specifications ........................................................................... 2-22

(2) Clean type .................................................................................................................................................................... 2-22

2.5.3 Internal wiring for the pneumatic hand output cable ...................................................................................... 2-22

2.5.4 Internal wiring for the hand check input cable .................................................................................................. 2-22

2.5.5 Spare Wiring ..................................................................................................................................................................... 2-22

2.5.6 Wiring and piping system diagram for hand ......................................................................................................... 2-23

2.5.7 Electrical specifications of hand input/output .................................................................................................. 2-25

2.5.8 Air supply circuit example .......................................................................................................................................... 2-26

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-27

2.6.1 Shipping special specifications ................................................................................................................................. 2-27

(1) Machine cable ............................................................................................................................................................. 2-28

2.7 Options ....................................................................................................................................................................................... 2-29

(1) Machine cable extension ........................................................................................................................................ 2-30

(2) Changing the operating range .............................................................................................................................. 2-33

(3) Solenoid valve set ..................................................................................................................................................... 2-34

(4) Hand input cable ........................................................................................................................................................ 2-36

(5) Hand output cable ..................................................................................................................................................... 2-37

(6) Hand curl tube ............................................................................................................................................................ 2-38

2.8 Maintenance parts ................................................................................................................................................................. 2-39

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Page

3 Controller ......................................................................................................................................................................................... 3-40

3.1 Standard specifications ...................................................................................................................................................... 3-40

3.1.1 Standard specifications .............................................................................................................................................. 3-40

3.1.2 Protection specifications and operating supply ............................................................................................... 3-42

3.2 Names of each part ............................................................................................................................................................. 3-43

3.3 Outside dimensions/Installation dimensions ............................................................................................................. 3-46

3.3.1 Outside dimensions ...................................................................................................................................................... 3-46

3.3.2 Installation dimensions ................................................................................................................................................ 3-48

3.4 External input/output ......................................................................................................................................................... 3-49

3.4.1 Types .................................................................................................................................................................................. 3-49

3.4.2 Explanation ....................................................................................................................................................................... 3-49

3.5 Dedicated input/output ...................................................................................................................................................... 3-50

3.6 Emergency stop input/output ......................................................................................................................................... 3-52

3.6.1 Connection of the external emergency stop ..................................................................................................... 3-52

3.6.2 Door switch function ................................................................................................................................................... 3-54

3.7 Parallel input/output unit .................................................................................................................................................. 3-55

3.8 Options ...................................................................................................................................................................................... 3-60

(1) Teaching pendant (T/B) ........................................................................................................................................ 3-61

(2) Pneumatic hand interface ..................................................................................................................................... 3-64

(3) Controller protection box ...................................................................................................................................... 3-67

(4) Expansion option box .............................................................................................................................................. 3-70

(5) Parallel I/O unit ......................................................................................................................................................... 3-72

(6) External I/O cable .................................................................................................................................................... 3-82

(7) Personal computer cable ....................................................................................................................................... 3-84

(8) Extended serial interface ....................................................................................................................................... 3-86

(9) CC-Link interface ..................................................................................................................................................... 3-88

(10) Ethernet interface .................................................................................................................................................. 3-90

(11) Additional axis interface ...................................................................................................................................... 3-92

(12) Extension memory cassette .............................................................................................................................. 3-94

(13) Personal computer support software/Personal computer support software mini ..................... 3-96

(14) Instruction Manual(bound edition) ................................................................................................................... 3-98

3.9 Maintenance parts ................................................................................................................................................................ 3-99

4 Software ......................................................................................................................................................................................... 4-100

4.1 List of commands ............................................................................................................................................................... 4-100

(1) The procedure of robot language selection ................................................................................................. 4-100

(2) MELFA-BASIC Ⅳ commands ........................................................................................................................... 4-101

4.2 List of parameters .............................................................................................................................................................. 4-103

(1) List of parameters .................................................................................................................................................. 4-103

(2) Change the display language / 表示言語の切り替え ............................................................................ 4-105

5 Instruction Manual ...................................................................................................................................................................... 5-106

5.1 The details of each instruction manuals ................................................................................................................... 5-106

6 Safety .............................................................................................................................................................................................. 6-108

6.1 Safety ...................................................................................................................................................................................... 6-108

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-108

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-108

6.1.3 Precautions for using robot .................................................................................................................................... 6-109

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-109

6.1.5 Safety measures for teaching ................................................................................................................................ 6-109

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-109

6.1.7 Examples of safety measures ................................................................................................................................ 6-110

6.2 Working environment ......................................................................................................................................................... 6-112

6.3 Precautions for handling .................................................................................................................................................. 6-113

7Appendix ...........................................................................................................................................................................Appendix-114

Appendix 1 ： Specifications discussion material ......................................................................................... Appendix-114

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1General configuration

Structural equipment

1-1

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) Arm fixing bolts (6) Safety manual, Instruction manual, CD-ROM (Instruction manual) (7) Guarantee card

1.1.2 Shipping special specifications

Part of the standard structural equipment is changed at the time of factory shipment. Consequently, kindly confirm the delivery date. To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.

1.1.3 Options

Installation is possible after shipment. Customer needs to perform the installation work.

1.1.4 Maintenance parts

Consumable parts and spare parts for maintenance use. For items not listed, contact the dealer where you made your purchase.

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1-2

Model type combination of robot

1General configuration

1.2 Model type combination of robot

The robot has decided the type corresponding to load, arm length, and environment specification. Please select

the robot matched with the use.

1.2.1 How to identify the robot model

RV-12SD L C -Sxx

( ａ ) ( ｂ ) ( ｃ ) ( ｄ )

(a). RV-12SD.................................Indicates the RV-12SD series.

(b). L..................................................Indicates long arm type.

Examples)

Blank: Standard type. L: Long arm type.

(c). C .................................................Indicates environment specification.

Examples）

Blank: Standard Specifications C: Clean Specifications

(d). -SXX .........................................[1] Indicates a special model number.

[2] -SM

** ................ Indicates a specification with protection specifi-

cation controller.

1.2.2 Combination of the robot arm and the controller

Table 1-1 ： Combination of the robot arm and the controller

1.3 Combination of the robot arm and the controllerIndirect export

If you intend to export robots bought from us, be sure to choose robots whose language setting parameter (LNG) is set to English (ENG).

1.4 Instruction manuals

The instruction manuals supplied with the shipment are provided in electronic form in a CD-ROM, except for the Safety Manual. This CD-ROM (electronic manual) includes instruction manuals in both Japanese and English versions. Please note that the instruction manuals are the same for both language settings (parameter LNG).

Protection specification

Robot arm

Arm length Controller

Stardard specification

RV-12SD standard arm

CR3D-701M

Note1)

Note1)protection specification. (IP54)

RV-12SDL Long arm

Clean specification

RV-12SDC standard arm

CR3D-701

RV-12SDLC Long arm

Page 12

1General configuration

Contents of the structural equipment

1-3

1.5 Contents of the structural equipment

1.5.1 Robot arm

The list of structural equipment is shown in Fig. 1-1.

Fig.1-1 ： Structural equipment (Robot arm)

Vertical six-axis multiple-jointed type (RV-12SD/12SDL/12SDC/12SDLC)

Hand output cable

・ 1S-GR35S-01 (4sets)

Hand input cable

・ 1S-HC25C-01

Solenoid valve set

(Hand output cable is attached)

<Sink type> ・ 1 set: 1S-VD01-01

・ 2 set: 1S-VD02-01 ・ 3 set: 1S-VD03-01 ・ 4 set: 1S-VD04-01

Hand curl tube

・ 4 set, 8pc.: 1N-ST0608C

Stopper for changing the operating range of the J1 axis ・ Stopper part: 1S-DH-01 *This must be installed by the customer.

［Caution］

Standard configuration

Special shipping

Option

equipment

specifications

Prepared by customer

Pneumatic hand customer-manufactured parts

Note1) □□ refer the length.

Refer to Table 1-1 for datails.

Note2) Connect the extension cables to

the arm side of the standard 7 m (for fixing) cable to extend.

Machine cable extension

(attached to the standard 7 m cable) ・ Fixed type: 1S- □□ CBL-02 ・ Flexed type: 1D- □□ LCBL-02

Machine cable

(Standard product: 7m attachment)

Page 13

1-1

1 General configuration

1.3.1 Controller

The devices shown below can be installed on the controller. The controllers that can be connected differ depending on the model of the robot arm.

Fig.1-1 ： Structural equipment

Pneumatic hand interface

2A-RZ365

Teaching pendant (T/B) R32TB

R56TB

Personal computer Prepared by customer

RT Tool Box2

・ 3D-11C-WINJ(CD-ROM)

(MS-Windows2000/XP/Vista)

RT Tool Box2 mini ・ 3D-12C-WINJ(CD-ROM)

(MS-Windows2000/XP/Vista)

Instruction Manual(bound edition) ・ 5S-DC00-PE01

Controller

・ CR3D-701M(IP54 仕様）または・ CR3D-701

Caster type controller

CC-Link interface

2D-TZ576

Extension memory cassette

2D-TZ454

Parallel I/O interface

2D-TZ368

Parallel I/O unit

2A-RZ361/2A-RZ371

External I/O cable

・ 2D-CBL05 (5m) ・ 2D-CBL15 (15m)

PLC(Programmable Logic Controller) External device

Prepared by customer

External I/O cable

・ 2A-CBL05 (5m) ・ 2A-CBL15 (15m)

Personal computer cable 2D-232CBL03M

(RS-232)

*)Refer to table 1-3 for

USB cable.

Standard configuration

Special shipping

Options

Prepared by customer

［Caution］

equipment

specifications

The photograph is the image figure.

Page 14

Contents of the Option equipment and special specification

1-1

1.4 Contents of the Option equipment and special specification

A list of all Optional equipments and special specifications are shown below.

Table 1-1 ： The list of Option equipment and special specification

[Reference]:The recommendation products of the USB cable are shown below.

Table 1-2 ： Recommendation article of the USB cable

Item Type Specifications

Classificati

Note1)

Note1)In the classification column, ○ refers to an option,and □ to a Shipping special specifications.

Descripsion

Stopper for changing the operating range of the J1 axis

1S-DH-01

Stopper part + side: +135, +90, or +45 deg.

- side: -135, -90, or -45 deg. One each of the following can be selected: ± 170 deg. are used for the standard specification.

○

This must be installed by the customer.

Extended machine cable 1S- □□ CBL-02 For fixing (Three sets for power,

signal and ground cable)

○ 5, 10, 15ｍ

1S- □□ LCBL-02 For bending (Three sets for power,

signal and ground cable)

○ 5, 10, 15ｍ

Solenoid valve set 1S-VD01-01 1 set (Sink type) ○

A solenoid valve set for the pneumatic hand

1S-VD02-01 2 set (Sink type) ○ 1S-VD03-01 3 set (Sink type) ○ 1S-VD04-01 4 set (Sink type) ○

Hand output cable

1S-GR35S-01

Robot side connector. One terminal is not treated.

○

The cable is connected to the hand output connector by the customer.

Hand input cable

1S-HC25C-01 Robot side connector. One terminal

is not treated.

○

The cable is connected to the sensor by the customer.

Hand curl tube 1N-ST0602C For solenoid valve 1set.:Φ6x2 ○

Curl type air tube

1N-ST0604C For solenoid valve 2set.:Φ6x4 ○ 1N-ST0606C For solenoid valve 3set.:Φ6x6 ○ 1N-ST0608C For solenoid valve 4set.:Φ6x8 ○

Teaching pendant R32TB Cable length 7m ○

With 3-position deadman switch

R32TB-15 Cable length 15m ○ R56TB Cable length 7m ○ R56TB-15 Cable length 15m ○

Pneumatic hand interface

2A-RZ365 DO: 8 point (Sink type) ○

It is necessary when the hand output signal of the robot arm is used.

Parallel I/O Interface

(Sink type)

2D-TZ368 (Sink type)

DO: 32 point (Sink type)/ DI : 32 point (Sink type)

Insulated type output signal (100mA/ point)

○

The card type external input-and-output. Interface.Install to the slot of controller.

External I/O cable

(For Parallel I/O Interface)

2D-CBL05 5m ○

Use to connect the external peripheral device to the parallel input/output interface.

2D-CBL15 15m ○

Parallel I/O Unit

2A-RZ361

DO: 32 point (Sink type)/ DI : 32 point (Sink type)

○

The unit for expansion the external input/output. Electrical isolated Type (100mA/Point)

2A-RZ371

DO: 32 point (Source type)/ DI : 32 point (Source type)

○

External I/O cable (For Parallel I/O Unit)

2A-CBL05 5m ○

Use to connect the external peripheral device to the parallel input/output unit

2A-CBL15 15m ○

Personal computer cable

Note2)

Note2)The recommendation products of the USB cable are shown in Table 1-1.

2D-232CBL03M

RS-232C cable 3m for PC-AT compatible model

○

RT ToolBox2 (

Personal computer Sup-

port software)

3D-11C-WINE CD-ROM ○

MS-Windows2000/XP

/Vista

(With the simulation function)

RT ToolBox2 mini (Personal computer Sup-

port software mini)

3D-12C-WINE CD-ROM ○ MS-Windows2000/XP/Vista

CC-Link interface

2D-TZ576

Local station (The local station alone is supported.)

○ for MELSEC PLC with CC-Link connection.

Extended memory cassette

2D-TZ454

Teaching point number: 50,800 Steps number: 50,800 Program number: 512

○

The battery backup function is provided. The value combined with the standard

Caster specifications controller

CR3D-701/701M Specifications with casters □

The controller height will be h =

615

Instruction Manual 5S-DC00-PE01 RV-12SD/12SDL series ○ A set of the instructions manual bookbinding editions

Page 15

1-2

Contents of the Option equipment and special specification

Be careful to the USB cable to apply neither the static electricity nor the noise. Failure to observe this could lead to malfunc-tioning .

製品名形名メーカ名

USB cable (USB A type-USB B type)

USB2-30 ELECOM CO., LTD.

AU230 BUFFALO KOKUYO SUPPLY INC.

USB cable (USB A type-USB mini B type)

KU-AMB530 SANWA SUPPLY INC.

USB-M53 ELECOM CO., LTD.

GT09-C20USB-SP MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., LTD.

MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.

USB adapter (USB B type-USB mini B type)

AD-USBBFTM5M ELECOM CO., LTD.

Caution

Page 16

2Robot arm

Standard specifications

2-3

2 Robot arm

2.1 Standard specifications

2.1.1 Standard specifications

Table 2-1 ： Tab Standard specifications of robot

Item Unit Specifications

Type RV-12SD RV-12SDC RV-12SDL RV-12SDLC

Type of robot

6-axis standard arm 6-axis long arm

Standard

Clean

(Special Specifications)

Standard

Clean

(Special Specifications)

Degree of freedom

6 Installation posture On floor, hanging On floor On floor, hangingOn floor Structure Vertical, multiple-joint type Drive system AC servo motor (brake provided on all axes) Position detection method Absolute encoder

Arm length

Shoulder shift

150 150 Upper arm 400 560 Fore arm 530 670 Elbow shift 80 80 Wrist length 97 97

Operating range

Waist (J1)

Degree

340(-170 to +170) Shoulder (J2) 230(-100 to +130) Elbow (J3) 290(-130 to +160) Wrist twist (J4) 320(-160 to +160) Wrist pitch (J5) 240(-120 to +120) Wrist roll (J6) 720(-360 to +360)

Speed of motion

Waist (J1)

Degree/

276 230 Shoulder (J2) 230 172 Elbow (J3) 267 200 Wrist twist (J4) 352 Wrist pitch (J5) 375 Wrist roll (J6) 660

Maximum resultant velocity

Note1)

Note1) This is the value on the hand flange surface when all axes are combined.

mm/sec Approx. 9,600 Approx. 9,500

Load Maximum

Note2)

Note2) The maximum load capacity is the mass with the flange posture facing downword at the ± 10°limit.

Rating 10

Pose repeatability

Note3)

Note3) The pose repeatability details are given in Page 6, "2.2.1 Pose repeatability"

mm ± 0.05 Ambient temperature ℃ 0 to 40 mass kg Approx. 93 Approx. 98

Allowable moment load

Wrist twist (J4)

N･m

19.3 Wrist pitch (J5) 19.3 Wrist roll (J6) 11

Allowable inertia

Wrist twist (J4)

kg ･ m

0.4 Wrist pitch (J5) 0.4 Wrist roll (J6) 0.14

Note4)

Note4) Up to 0.28kg･m2 can be supported by performing variable acceleration/deceleration control and also by setting the load

inertia.

Arm reachable radius froot p-axis center point

mm 1,086 1,385

Tool wiring

Note5)

Note5) The air hand interface (option) is required when the tool (hand) output is used. Also, if the solenoid set (option) is

used, eight points of hand outputs are used for other options. ｡

Hand input 8 point / hand output 8 point

Eight spare wires : AWG#27(0.1mm

)

(shielded) Tool pneumatic pipes Primary side: Φ6 × 2 , Secondary side: Φ6 × 8 Supply pressure MPa 0.49 ± 10%

Protection specification

Note6)

Note6) The protection specification details are given in Page 7, "2.2.5 Protection specifications and working environment".

J1 to J3 axis : IP54 J4 to J6 axis : IP65

Degree of cleanliness

Note7)

Note7) The clean specification details are given in Page 9, "2.2.6 Clean specifications" .A down flow(0.3m/s or more) in the

clean room is the necessary conditions for the cleanliness.

10(0.3μm)

Internal suction

requirement

10(0.3μm)

Internal suction

requirement

Painting color Light gray （Equivalent to Munsell: 0.08GY7.64/0.81)

Page 17

2-4

Definition of specifications

2 Robot arm

2.2 Definition of specifications

The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.

2.2.1 Pose repeatability

For this robot, the pose repeatability is given in accordance with JIS 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 rela-

tion 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

Note1)

and a posi-

tion within the actual space

Note1) The pallet function is a function that teaches only the position of the work used as reference (3 to 4 points) and obtains the remaining positions by calculations, for an operation that arranges works orderly or for an operation that unloads orderly arranged works. By using this function, for example, in the case of an operation that arranges works on grid points of 100 x 100, by teaching only three points of four corners, the remaining grid points are automatically generated; thus, it is not necessary to teach all 10,000 points. For more information about the pallet function, refer to the separate volume, "Instruction Manual/Detailed Explanation of Functions and Operations."

Page 18

２ Robot arm

Definition of specifications

2-5

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 3, "Table 2-1 ： Tab Standard specifications of robot"

(2) Fig. 2-1 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) When the load is not mass, but force, you should design the tooling so that it does not exceed the value for

allowable moment described in Page 3, "Table 2-1 ： Tab Standard specifications of robot"

[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture.

Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceleration, the operating speed, and the motion posture.

[Caution] The overhang amount of the load for the specified moment and inertia in this section is the dynamic limit

value determined by the motor driving each axis and by the capacity of the reduction gears. Consequently, accuracy cannot be guaranteed for the entire tooling area. Since accuracy is based on the center point of the mechanical interface surface, position accuracy can diminish as you go away from the flange surface, or vibration can result, with tooling that is not rigid or that is long.

[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend-

ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending speed.

Fig.2-1：Position of center of gravity for loads (for loads with comparatively small volume): RV-12SD/12SDLSeries

112

200

197

277

Unit : mm

Rotation center for J6 axis

Rotation center for J5 axis

200

300 100

5.0kg

10.0kg

100

Page 19

2-6

Definition of specifications

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 instruction.

2) Change and move the teaching points of the robot.

3) Change the hand mass and hand inertia.

Page 20

２ Robot arm

Definition of specifications

2-7

2.2.5 Protection specifications and working environment (1) Types of protection specifications

The robot arm has protection specifications that comply with the IEC Standards. The protection specifications and applicable fields are shown in Table 2-2. Even oil mist environment can be used in addition to the general environment.

Table 2-2 ： Protection specifications and applicable fields

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 evaluation regarding oil mist specifications has been confirmed with Mitsubishi's standard testing methods using the cutting oils shown in Table 2-3

Table 2-3 ： Tested cutting oil for oil mist specifications

【Information】・ The IEC IP54

The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm, with 10 ± 0.5 liters of water every minute, at a water pressure of 80 to 100kPa , covering the entire area of the robot with the exception of the installation section at 1 ㎡ per minute, for a total of 5 minutes or more.

・ The IEC IP65

Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully affected when 12.5± 5% liters of water is supplied from a test device at a position approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section. The water is filled one minute per 1m

of test

device surface area for a total of three minutes.

(2) About the use with the bad environment

This robot has protection methods that conform to IEC'sIP54 (for J1 to J3 axis) and IP65 (for J4 to J6 axis) standards (splashproof type). Recommended usage conditions.

1) The robot is designed for use in combination with machining device.

2) Please examine cutting oil referring to Table 2-3 used by a standard examination of our company.

3) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.

4) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR PURGE) of phi 8 is prepared at the rear of the base section, please supply the dry air for pressurization from The specification of the dry air for pressurization is shown in Table 2-4.

Table 2-4 ：

Specification of the dry air for pressurization

The warranty is invalid for any faults that occur when the robot is used under the following conditions.

Type

Protection

specifications

(IEC Standards value)

Classification Applicable field Remarks

RV-12SD RV-12SDL

IP54 (J1 to J3 axis)

General-purpose environment specifications

General assembly Slightly dusty environment

IP65 (J4 to J6 axis)

Oil mist specifications

Machine tool (cutting) Machine shop with heavy oil mist Dusty work shop

Note that if the cutting machine contains abrasive materials, the machine line will be shortened.

Name Maker Relevant JIS Main characteristics Application

Emulcut FA-800

Kyodo Yushi Co., Ltd Class A1 No. 2 Water soluble cutting oil

・ Base oil........................................................50-60％

・ Surfactant and rust inhibitor ..............30-40％

・ Additives......................................................5％ or less

・ Water ...........................................................The rest

Water soluble cutting oil Emulcut

Specification The atmospheric pressure

dew point is -20 degree or less.

0 to 0.01MPa

Page 21

2-8

Definition of specifications

２ Robot arm

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 91, "6.2 Working environment".

1) In surroundings that generate inflammable gases or corrosive gasses.

2) Atmosphere used excluding cutting oil shown in Table 2-3

3) Environment where the robot is exposed to water, oil and/or chips for a long period of time.

4) In surroundings where chips fall directly on the robot.In surroundings where the minimum diameter of chips is less than 0.5mm.

5) Mist atmosphere exceeding the specification.

6) Pressurization by the dry air exceeding the specification of Table 2-4

Page 22

２ Robot arm

Definition of specifications

2-9

2.2.6 Clean specifications (1) Types of clean specifications

The robot arm with clean specification is made by order. Please check the delivery schedule.

Table 2-5 ： Clean specifications

Table 2-6 ： Specifications of vacuum generation valve

■ Precautions for use

1) When using a device that moves or rotates the robot arm, the down flow may not be secured because of the

air flow. In this case, the degree of cleanliness cannot be ensured.

2) A Φ8 coupling is provided in the base section of the robot arm for suction inside the robot arm. When using

the robot, connect this coupling with the vacuum generating valve and vacuum pump (furnished by the customer). * Install the vacuum generating valve downstream of the downflow or install a filter in the exhaust air sec-

tion so that the exhaust air from the vacuum generating valve does not affect cleanness. Recommended filter: Exhaust filter EF300-02, Koganei Corporation

* If any vacuum pump is prepared by the customer, assure on the vacuum side flow rate 30 liters/min.(ANR)

or more .

3) When using the Mitsubishi standard option solenoid valve set, use the spare piping (Φ6 pneumatic hose) of

the primary piping to exhaust the air. If the exhaust leaks into the robot arm, the degree of cleanliness could be affected.

Clean specifications Type Degree of cleanliness Internal suction

RV-12SDC-SA RV-12SDLC-SA

10(0.3μm) Concentrated suction with vaccum generating valve. The use of a vacuum generating valve

is recommended.

Type Maker Air pressure

MEDT 14 KONEGAI CORPORATION 0.2 to 0.6 MPa

Page 23

2-10

Names of each part of the robot

２ Robot arm

2.3 Names of each part of the robot

Fig.2-2 ： Names of each part of the robot

J5 axis

J6 axis

Fore arm

Mechanical interface (Hand installation flange surface)

Upper arm

J1 axis

J2 axis

J3 axis

J4 axis

Base

Elbow block

Shoulder

＋

－

＋

－

＋

－

＋

－

＋

－

＋

－

Page 24

２ Robot arm

Outside dimensions ・ Operating range diagram

2-11

2.4 Outside dimensions ・ Operating range diagram

(1) RV-12SD/12SDC

Fig.2-3 ： Outside dimensions : RV-12SD/12SDC

φ25H7

+0.021

depth 9.5

φ50ｈ8

-0.039

depth 8

4-M6 screw, depth 9

φ6H7

+0.012

depth 9

View A: Detail of mechanical interface

150

155

270

250

150155

100

125

4-φ14 installation hole

2-φ6 holes (prepared holes for φ8 positioning pins)

View D bottom view drawing : Detail of installation dimension

(Installation)

6.3a

(Installation)

6.3a

530

120

150

120

106 80

400

220

450

115

150 200

258

Solenoid valve set (option)

(Maintenance space)

Machine cable

130

φ88

89 93

140

214

230

215

161

164

393

172

(for customer use)

View C: Detail of screw holes for fixing wiring hookup

Screw holes for fixing wiring hookup (M4)

Page 25

2-12

Outside dimensions ・ Operating range diagram

２ Robot arm

Fig.2-4 ： Operating range diagram : RV-12SD/12SDC

P-point path: Reverse range (alternate long and short dash line)

P-point path: Entire range (solid line)

1386

400

450

784

646

581

205

416

670

530 150

569

349

Flange downward limit line(dotted line)

343

156

P-point path

Rear surface area wide angle, narrow angle limit *If the angle of axis J1 is -75deg <= J1 <= 75deg and the angle of axis J2 is -25deg <= J2 < 2deg, then operating range is limited to J2 + J3 * 2 >= -258deg. *If the angle of axis J1 is -75deg <= J1 <= 75 deg and the angle of axis J2 is -80deg <= J2 < -25deg, then operating range is limited to J2 + J3 >= -141.5deg. *If the angle of axis J1 is -75deg <= J1 <= 75 deg and the angle of axis J2 is J2 < -80deg, then operating range is limited to 6.4 * J2 + J3 >= 573.5deg. *If the angle of axis J1 is J1 <= -75 degree or J1 > 75 degree and the angle of axis J2 is -80deg <= J2 < 2 degree, then operating range is limited to J2 + J3 * 2 >= -258 degree. *If the angle of axis J1 is J1 <= -75deg or J1 > 75deg and the angle of axis J2 is J2 < -80deg , then o

erating range is limited to 2.4 * J2 + J3 >= -281 degree.

200 or more

Restriction on wide angle in the rear section

Page 26

２ Robot arm

Outside dimensions ・ Operating range diagram

2-13

(2) RV-12SDL/12SDLC

Fig.2-5 ： Outside dimensions : RV-12SDL/12SDLC

φ25H7

+0.021

depth 9.5

φ50ｈ8

-0.039

depth 8

4-M6 screw, depth 9

φ6H7

+0.012

depth 9

View A: Detail of mechanical interface

4-φ14 installation hole

150

155

270

250

150155

100

125

2-φ6 holes (prepared holes for φ8 positioning pins)

View D bottom view drawing : Detail of installation dimension

(Installation)6.3a

(Installation)

6.3a

215

161

164

230

130

φ88

89 93

140

214

670

Solenoid valve set (option)

124

150

120

106 80

560

220

450

115

150 200

258

(Maintenance space)

Machine cable

393

172

(for customer use)

View C: Detail of screw holes for fixing wiring hookup

Screw holes for fixing wiring hookup (M4)

Page 27

2-14

Outside dimensions ・ Operating range diagram

２ Robot arm

Operating range diagram : RV-12SDL/12SDLC

P-point path: Reverse range (alternate long and short dash line)

P-point path: Entire range (solid line)

768

317

928

457

1685

560

450

854

585

670

150

690 470

716

322

0 °

200 or more

Flange downward limit line(dotted line)

P-point path

Rear surface area wide angle, narrow angle limit *If the angle of axis J1 is -75deg <= J1 <= 75deg and the angle of axis J2 is J2 < -25deg , then operating range is limited to J2 + J3 >= -155 degree. *If the angle of axis J1 is J1 <= -75deg or J1 > 75deg and the angle of axis J2 is J2 < -30deg , then operating range is limited to 0.54 * J2 + J3 >= -146.2 degree.

Page 28

２ Robot arm

Tooling

2-15

2.5 Tooling

2.5.1 Wiring and piping for hand

Shows the wiring and piping configuration for a standard-equipped hand.

Fig.2-6 ： Wiring and piping for hand

Solenoid valve set (option) * Use by connecting it with the hand

output signal connector.

(1)φ6 quick coupling

(3)Hand input signal connector

(4)Hand output signal connector

(2)φ6 quick coupling (5)φ8 quick coupling

Note1）

Spare wiring

AIRIN RETURN

CN2

CN1

AIRIN（φ6）

RETURN（φ6）

VACUUM（φ8） AIR PARGE（φ8）

SPEAR WIRE INLET

Primary piping pneumatic hose

Hand input signal cable

Hand output signal cable

Secondary piping pneumatic hose (φ6)

(customer-prepared)

Connector and pneumatic coupling

No Name Qty.

Robot side (Robot arm side) Counter side (customer-prepared)

Manufacturer

Connectors, couplings Connector pins Connector Connector pins

(1) Coupling 8 KJL06-01S －－－ SMC Corporation (2) Coupling 2 UKBL6 －－－ Koganei Corporation (3) Connector 2 1-1717834-3 1318108-1 1-1318115-3 1318112-1 Tyco Electronics

AMP

(4) Connector 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1 Tyco Electronics

AMP

(5) Coupling

Note1)

Note1) For dust suction in the clean specification

1 UKBL8 －－－ Koganei Corporation

Page 29

2-16

Tooling

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.

2) One hose is the primary piping for the pneumatic equipment.The remaining pipe is used for air exhaust.

3) The optional solenoid is provided with a maximum of eight couplings for the φ6 air hose.

4) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge.

5) Refer to Page 24, "(3) Solenoid valve set" for details on the electronic valve set (optional).

6) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR PURGE) of phi 8 is prepared at the rear of the base section, please supply the dry air for pressurization from this joint. Refer to Page 7, "2.2.5 Protection specifications and working environment" for the details of dry air.

(2) Clean type

1) The clean type 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). Table 2-7 shows the specifications of the vacuum generating valve.

3) To use the vacuum pump, assure a flow rate of 30 liters/min. or more.

4) Use clean air as the air supplied to the vacuum generator.

Table 2-7 ： Vacuum generating valve specifications

2.5.3 Internal wiring for the pneumatic hand output cable(Standard type/Clean type)

1) When the controller uses the optional pneumatic hand interface (2A-RZ365/RZ375), the hand output signal works as the pneumatic hand cable.

2) The hand output primary cable extends from the connector PCB of the base section to the inside of the forearm. (AWG#24(0.2mm

)x 2 : 8 cables) The cable terminals have connector bridges for eight hand out-

puts. The connector names are GR1 and GR2. To extend the wiring to the outside of the arm, a separate cable (optional "hand output cable 1S-GR35S01" IP65 is recommended) is required.

2.5.4 Internal wiring for the hand check input cable(Standard type/Clean type)

1) The hand output primary cable extends from the connector PCB of the base section to the inside of the forearm. (AWG#24(0.2mm

)x 2 : 8 cables) The cable terminals have connector bridges for eight hand inputs.

The connector names are HC1 and HC2. The terminal section is connected to the connector in the forearm section.

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 1S-HC25C01" IP65 is recommended) is required.

2.5.5 Spare Wiring (1) Standard type

As spare wiring, four pairs of cab tire cables (total of eight cores) are preinstalled between the base section and the forearm side section. The connector is attached to both ends. Customer can be use. Refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" for details. Both ends of the wire terminals are unprocessed. Use them under the following circumstances:

● For folding as the hand output cable when installing the solenoid valve in outside the robot.

● For when installing six or more hand I/O points for the sensor in the hand section (Connects to the parallel I/O general purpose input.)

Type Maker Air pressure

MEDT14 KONEGAI CORPORATION 0.2 to 0.6 MPa

Page 30

２ Robot arm

Tooling

2-17

2.5.6 Wiring and piping system diagram for hand

Shows the wiring and piping configuration for a standard-equipped hand.

Fig.2-7 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)

White Black

Hand signal input connector (HC1 connector)

White Black White Black White Black

1-1717834-3

(Tyco Electronics AMP)

White Black White Black

White Black White Black White Black

1-1318115-3

(Tyco Electronics AMP)

Hand output cable (option)

1-1717834-4 (Tyco Electronics AMP)

Hand signal output connection connector

1-1318115-4

(Tyco Electronics AMP)

Secondary pneumatic hose piping (customer-prepared)

φ6 hose

Hand output cable attached to the solenoid set

Hand input cable (option)

φ6 quick coupling (1 to 8)

Hand signal input connection connector

Hand signal output connector (GR1 connector)

AIR IN

RETURN

A1 A2 A3 B1 B2 B3

<+24V> <Reserved> <HC 1> <HC 2> <HC 3> <HC 4>

A1 A2 A3 A4 B1 B2 B3 B4

<+24V(COM)> <Reserved> <GR 1> <GR 2> <GR 3> <GR 4>

<+24V(COM)> <Reserved> <GR 5> <GR 6> <GR 7> <GR 8>

1 2 3 4 5 6 7 8

A1 A2 A3 B1 B2 B3

A1 A2 A3 A4 B1 B2 B3 B4

Solenoid set (option) valve mounting section

φ6 quick coupling

φ6 hose

Primary piping pneumatic hoses

Yellow

White

Red

Blue

Orange

Driving devices, such as solenoid and hand, provided by the customer

Hand prepared by customer

Base

Forearm

Hand signal input connector (HC2 connector)

Hand signal output connector (GR2 connector)

Spare wiring AWG#28(0.1mm2)×6 (cab tire cables with the shield)

Green Black

Brown

VACCUM AIR PARGE φ8

*Refer to Fig. 2-10 for Air supply circuit example.

Page 31

2-18

Tooling

２ Robot arm

2.5.7 Electrical specifications of hand input/output

Table 2-8 ： Electrical specifications of input circuit

Table 2-9 ： Electrical specifications of output circuit

Note) An optional air hand interface (2A-RZ365/RZ375) is required to use hand output.

Item Specifications Internal circuit

Type DC input

* HCn＝HC1～HC8

No. of input points 8 Insulation method Photo-coupler insulation Rated input voltage 12VDC/24VDC Rated input current Approx. 3mA/approx. 7mA Working voltage range DC10.2 to 26.4V(ripple rate within 5%) ON voltage/ON current 8VDC or more/2mA or more OFF voltage/OFF current 4VDC or less/1mA or less Input resistance Approx. 3.3kΩ

Response time

OFF-ON 10ms or less(DC24V) ON-OFF 10ms or less(DC24V)

Item Specification Internal circuit

Type Transistor output

* GRn ＝ GR1 ～ GR8

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)

Fuse rating 1.6A (each one common) Cannot be exchanged

3.3K

24V

0V(COM)

820

HCn

24V

（Internal power supply）

GRn

Fuse

1.6A

Page 32

2 Robot arm

2-19

2.5.8 Air supply circuit examplefor the hand

Fig. 2-8 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. 2-8 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.

Fig.2-8 ： Air supply circuit example for the hand

Pressure switch

To the robot's air intake （0.5MPa ±10%）

Pneumatic source

0.7MPa less

Filter

Regurater

Page 33

2-20

Options

２ Robot arm

2.6 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.

Page 34

２ Robot arm

Options

2-21

(1) Machine cable extension

■ Order type : ● Fixed type 1S- □□ CBL-02

● Flexed type 1S- □□ LCBL-02 Note) The numbers in the boxes □□ refer the length.

■ Outline

This cable is exchanged for the machine cable (5 m) that was supplied as standard to extend the distance between the controller and the robot arm. A fixed type and flexible type are available. Exchanges after shipment will be charged (for packaging, shipping costs). The fixing and flexible types are both configured of the motor signal cable,motor power cable and ground cable.

■ Configuration Table 2-10 ： Configuration equipments and types

■ 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 2-11.

Table 2-11 ： Conditions for the flexed type cables

[Caution] The guidance of life count may greatly differ according to the usage state (items related to Table 2-11

and to the amount of silicon grease applied in the cable conduit.

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type

Qty.

Remarks

Fixed Flexed

Fixed Set of signal and power cables 1S- □□ CBL-02 1 set -

5m, 10m, or 15m each

Note1)

Note1)The numbers in the boxes □□ refer the length.

Motor signal cable 1S- □□ CBL(S)-01 (1 cable) -

Motor power cable 1S- □□ CBL(P)-01 (1 cable) -

Ground cable BU284D339Ｇ △△ (1 cable) -

12m, 17m or 22m each

Note2)

Note2)The numbers in the boxes △△ refer the length.

△ = Length of standard 7 m + extension (5m, 10m, or 15m each)

Flexed Set of signal and power cables 1S- □□ LCBL-02 - 1 set

5m, 10m, or 15m each

Note1)

Motor signal cable 1S- □□ LCBL(S)-01 - (1 cable)

Motor power cable 1S- □□ LCBL(P)-01 - (1 cable)

Ground cable ＢＵ284D663 Ｇ △△ - (1 cable)

12m, 17m or 22m each

Note2)

Nylon clamp NK-14N - 2 pcs. for motor signal cable

Nylon clamp NK-18N -

2 pcs.

for motor power cable and ground cable

Silicon rubber - 4 pcs.

Item Specifications

Minimum flexed radius 100R or more

Cable bare, etc., occupation rate 50% or less

Maximum movement speed 2000mm/s or less

Guidance of life count 7.5 million times

Environmental proof Oil-proof specification sheath

(for silicon grease, cable sliding lubricant type)

Cable configuration Motor signal cable φ7 x 6and φ1.7 x 1

Motor power cable φ8.9 x 3 and φ6.5 x 6

Ground cable φ7.5 × 1

Page 35

2-22

Options

２ Robot arm

■ Cable configuration The configuration of the flexible cable is shown in Table 2-12. Refer to this table when selecting the cable bare.

Table 2-12 ： Cable configuration

Note) The square in the cable name indicates the cable length.

■ Fixing the flexible cable

(1) Connect the connector to the robot arm . (2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten

sion section as shown in Fig. 2-9, and fix with the nylon clamp to protect the cable from external stress.

Fig.2-9 ： Fixing the flexible cable

Item

Motor signal cable

1S- □□ LCBL(S)-01

Motor power cable

1S- □□ LCBL(P)-01

Ground cable

BU284D663Ｇ △△

No. of cores AWG#24

(0.2mm

)-4P

AWG#24

(0.2mm2)-7P

AWG#18

(0.75mm2)

AWG#16

(1.25mm2)-4C

AWG#18

(0.75mm2)-3C

AWG#18

(0.75mm

)-6C

Finish dimensions Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm Approx. φ8.9mm Approx. φ6.5mm Approx. φ7.5mm

No.of cables used 5 cables 1 cable 1 cable 2 cable 8 cable 1 cable

No. in total 7 cables 10 cables 1 cable

Silicon rubber

Nylon clamp

1S-□□LCBL(S)-01

1D-□□LCBL(P)-01

300～400ｍｍ

NK-18N

NK-14N

Controller

300～400ｍｍ

NK-14N

NK-18N

Nylon clamp

Robot arm

The fixed cable 7m (standard attachment)

Extended flexible cable (option)

Extension section

Motor signal cable

Motor power cable

Nylon clamp

Page 36

２ Robot arm

Options

2-23

(2) Changing the operating range

■ Order type: 1S-DH -01

■ Outline

The J1 axis operating range is limited by the robot arm's mechanical stopper and the controller parameters. If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.

■Configuration Table 2-13 ： Configuration devices

■ Specifications Table 2-14 ： Specifications

(1) The changeable angle shown in Table 2-14indicates the operation range by the software.

The limit by the mechanical stopper is positioned 1degrees outward from that angle, so take care when

designing the layout. (2) The changeable angle can be set independently on the + side and - side. (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.

Part name Type Qty. Remarks

Stopper for changing the operating range 1S-DH-01 2 pcs. Hexagon socket bolt: M12 x 20 plating (strength classification 10.9)

Axis Standard Changeable angle

+ side +170 degree One point from +135°, +90°, +45°

- side -170 degree One point from -135°, -90°, -45°

Page 37

2-24

Options

２ Robot arm

(3) Solenoid valve set

■ Order type: One set: 1S-VD01-01(Sink type)/1S-VD01E-01(Source type) Two sets: 1S-VD02-01(Sink type)/1S-VD02E-01(Source type) Three sets: 1S-VD03-01(Sink type)/1S-VD03E-01(Source type) Four sets: 1S-VD04-01(Sink type)/1S-VD04E-01(Source type)

■ Outline

The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm. All have double sole

noid specification, and either one or two or three sets can be selected. This solenoid valve set has a hand output cable attached to the solenoid valve. Also, for easy installation of this electromaagnetic set onto the robot, it comes equipped with a manifold, couplings, silencers, among other things. When using the robot arm's hand output signal, the pneumatic hand interface option

must be installed on the separate controller.

■ Configuration

Table 2-15 ： Configuration equipment

■ Specifications

Table 2-16 ： Valve specifications

Note2) The air to be provided must be clean, i.e., filtered with a mist separator or air

filter. Failing to do so may lead to malfunctions.

Table 2-17 ： Solenoid specifications

Part name Type

Q'ty

Remark

One set Two sets Three sets Four sets

Solenoid valve set (1 set) 1S-VD01-01/

1S-VD01E-01

1 pc. －－－

M4x8 four screws (installation screws). 1S-VD01-01/VD02-01/VD03-01/VD04-01 are the sink type. 1S-VD01E-01/VD02E-01/VD03E-01/VD04E-01 are the source type.

Solenoid valve set (2 sets) 1S-VD02-01/

1S-VD02E-01

－1 pc. －－

Solenoid valve set (3 sets) 1S-VD02-01/

1S-VD02E-01

－－1 pc.－

Solenoid valve set (4 sets) 1S-VD02-01/

1S-VD02E-01

－－－1 pc.

Item Specifications

Number of positions 2 Port 5

Note1) )

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).

Valve function Double solenoid Operating fluid Clean air

Note2)

Operating method Internal pilot method Effective sectional area (CV value) 0.64mm Oiling Unnecessary Operating pressure range 0.1 to 0.7MPa Guaranteed proof of pressure 1.0MPa or more Response time 22msec or less (at 0.5 MPa) Max. operating frequency 5c/s Ambient temperature -5 to 50 ℃ (However, there must be no condensation.)

Item Specifications

Coil rated voltage DC24V ± 10% Power consumption 0.55W Voltage protection circuit with power surge protection

Diode

CAUTION

Page 38

２ Robot arm

Options

2-25

Fig.2-10 ： Outline dimensional drawing

102

93 4.5

<3>

131

138.5

3.5

80 11

50.137.8

87.9

<9>

<4>

<5>

<6>

<2>

<1>

GR1

GR2

<7><8>

Part no. Part name 1 sets 2 sets 3 sets 4 sets Specifications

<1>Solenoid valve 1234 <2>Manifold block 1111 <3>Quick coupling 2468φ6 <4>Block plate 1111 <5>Quick coupling 1111φ6 <6>Quick coupling 1111φ6 <7>Connector 11221-1318115-4 <8> Contact 6 6 12 12 1318112-1 <9>Installation screw 4444M4×8

SOL1A

SOL1B

SOL2A

SOL2B

White

<GR1>

A1 A2

B3 B4

B1 B2

GR1 GR2

+24V (COM)

Reserve

Reserve Reserve

GR3 GR4

Black Red

SOL3A

SOL3B

SOL4A

SOL4B

White

<GR2>

A1 A2

B3 B4

B1 B2

GR5 GR6

+24V (COM)

Reserve

GR7 GR8

Black Red Black Red Black Red Black Red

Reserve Reserve

Connector name

SOL1

SOL1B

SOL2A

SOL2B

<GR1>

A1 A2

B3 B4

B1 B2

GR1 GR2

24V (RG)

Reserve

GR3 GR4

Reserve Reserve

White

Black

Red

Black

Red

Black

Red

Black

Red

SOL3

SOL3B

SOL4A

SOL4B

<GR2>

A1 A2

B3 B4

B1 B2

GR5 GR6

24V (RG)

Reserve

GR7 GR8

Reserve Reserve

White

Black

Red Black Red Black Red Black Red

Connector name

Page 39

2-26

Options

２ Robot arm

(4) Hand input cable

■ Order type: 1S-HC25C-01

■ Outline

The hand input cable is used for customer-designed pneumatic hands. It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller. One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand. The other end of the cable connects to the sensor inside the hand customer designed.

■ Configuration

Table 2-18 ： Configuration equipment

■ Specifications

Table 2-19 ： Specifications

Fig.2-11 ： Outside dimensional drawing and pin assignment

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Remarks

Hand input cable 1S-HC25C-01 1 cable

Item Specifications Remarks

Size x cable core

AWG#24 (0.2mm

)×12

One-sided connector, one-sided cable bridging

Total length 800mm (Including the curl section, which is 300mmlong）

200 300 200±10

100

φ25

HC1 HC2 HC3 HC4

+24V Reserve

24G（RG） HC5 HC6

(Yellow)

(Purple) (Brown)

(Blue) (Black)

(Green) (Red) (White)

A2 A3

B1 B2 B3

A1 A2 A3 B1 B2 B3

Reserve

HC7 HC8

(Gray)

（Pink）

<HC1>

<HC2>

1-1318115-3 (Tyco Electronics AMP)

HC1

HC2

Page 40

２ Robot arm

Options

2-27

(5) Hand output cable

■ Order type: Four sets:1S-GR35S-01

■ Outline

The hand output cable (solenoid valve connection cable) is an option that is used when an solenoid valve other than one of the solenoid valve set options, is used. One end of the cable has a connector that connects to the input terminal inside the robot. The other end of the cable is connected.

■Configuration Table 2-20 ： Configuration equipment

■ Specifications Table 2-21 ： Specifications

Fig.2-12 ： Outline dimensional drawing and pin assignment

Part name Type Qty. Remarks

Hand output cable 1S-GR35S-01 1 cable For four sets

Item Specifications Remarks

Size x Cable core

AWG#24(0.2mm

) x 12 cores

One side connector and one side cable connection

Total length 400mm

300

100

GR1

GR3 GR4 Reserve

+24V (COM) Reserve

+24V（COM）

GR5

GR7

A1 A2 A3

B1 B2 B3

A1 A2 A3

B1 B2 B3

Reserve

GR8 Reserve

<GR1>

<GR2>

1-1318115-4 (Tyco Electronics AMP)

GR1

GR2

Reserve

GR2

GR6

Reserve

(Yellow)

(Purple) (Brown)

(Blue) (Black)

(Green)

(Red) (White) (Gray)

（Pink）

GR1

GR3 GR4 Reserve

24G (RG) Reserve

24V（RG）

GR5

GR7

Reserve

GR8 Reserve

Reserve

GR2

GR6

Reserve

Source type

Sink type

Page 41

2-28

Options

２ Robot arm

(6) Hand curl tube

■ Order type: Four set: :1N-ST0608C

■ Outline

The hand curl tube is a curl tube for the pneumatic hand.

■Configuration Table 2-22 ： Configuration equipment

■ Specifications This option can be installed on clean-type, but its cleanliness is not under warranty.

Table 2-23 ： Specifications

Fig.2-13 ： Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Remarks

Hand curl tube (Four set: 8 pcs.) 1N-ST0608C 1 pc. φ6 tube, 8pcs.

Item Specifications

Material Urethane

Size Outside diameter: φ6 x Inside diameter: φ4

(Tooling side)

(Robot side)

Page 42

２ Robot arm

Maintenance parts

2-29

2.7 Maintenance parts

The consumable parts used in the robot arm are shown in Table 2-24. 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 2-24 ： Consumable part list

No.

Part name

Type

Note1)

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

the type.

Usage place Qty. Supplier

1 Grrase SK-1A Reduction gears of each axis As needed

Mitsubishi Electric System & Service;Co.,Ltd.

2 Lithium battery A6BAT In the battery cover 5 pcs.

Page 43

3-30

Standard specifications

3Controller

3 Controller

3.1 Standard specifications

3.1.1 Standard specifications

Table 3-1 ： Standard specifications of controller

Item Unit Specification Remarks

Type CR3D-701/701M CR3D-701:RV-12SDC series

CR3D-701M:RV-12SD series Number of control axis Simultaneously 6(Maximum) Memory

capacity

Programmed positions and No. of steps

point step

13,000 26,000

Number of programs 256

Robot language MELFA-BASIC Ⅴ

MELFA-BASIC Ⅳ

Note1)

Note1)The program of MELFA-BASICIV can be used by MELFA-BASICV, if program is converted by RT ToolBox2

(option).

Teaching method Pose teaching method ,MDI method External

input and output

input and output point 0/0 Max. 256/256 by option

Dedicated input/output point Assigned with general-purpose input/output Special stop input point 1 Hand open/close input/output

point Input 8 point/Output 0 point

Up to 8 output points can be added as an option

Note2)

Note2) It is when an pneumatic hand interface (2A-RZ365) is installed.

Emergency stop input point 1 Dual emergency line Door switch input point 1 Dual door switch line Enabling device input point 1 Dual enabling switch line Emergency stop output point 1 Mode output point 1 Robot error output point 1 Addition axis synchronization point 1

Interface RS-232C port

For expansion such as the personal

cpmputer, Vision sensor Ethernet port 1: For T/B, 1: For customers 10BASE-T/100BASE-Tx USB 1 Ver. 2.0 Only device function

Hand dedicated slot slot 1

Dedicated for pneumatic hand

interface Option slot slot 3 Additional axis interface Channel 1 SSCNET Ⅲ

Power source

Input voltage range V 3-phase, AC180 to 253

Note3)

Note3) Please use the controller with an input power supply voltage fluctuation rate of 10% or less.

Power capacity KVA

3.0

Does not include rush current

Note4) Note5)

Note4) The power capacity is the rating value for normal operation. The power capacity does not include the rush

current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The power consumption in the specific operation pattern with the RV-12SD/12SDL series is approx. 4.5kW.

Note5)If the earth leakage breaker is installed in the primary side power supply circuit of the controller, please

select the earth leakage breaker of the specification of the amperage rating 20A and 10mA of sensed cur

rent. (The leak current of the controller is set to about 7.5mA)

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 cur

rent value carries out the trip.

Outline dimensions mm CR3D-701: 450(Ｗ) x 380(D) x 625( Ｈ )

CR3D-701M: 450(Ｗ) x 440(D) x 625(Ｈ )

Excluding protrusions

Note6)

Note6)Becomes 615(H) at the caster specification.

Mass kg Approx. 60 Construction Self-contained floor type, Closed type (IP54) Operating temperature range deg. 0 to 40 Ambient humidity %RH 45 to 85 Without dew drops Grounding Ω 100 or less

D class grounding earth

Note7)

Note7) The robot must be grounded by the customer.

Paint color Light gray Munsell 0.08GY7.64/0.81

Page 44

3Controller

Standard specifications

3-31

3.1.2 Protection specifications and operating supply

A protection method complying with the IEC Standard IP54(Closed 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.

Refer to the section Page 91, "6.2 Working environment" for details on the working environment.

Page 45

3-32

Names of each part

3 Controller

3.2 Names of each part

Fig.3-1 ： Names of controller parts

①

POWER switch....................................... This turns the control power ON/OFF. (With earth leakage breaker function)

② START button................................... This executes the program and operates the robot. The program is run continuously.

③ STOP button...................................... This stops the robot immediately. The servo does not turn OFF.

④ RESET button.................................... This resets the error. This also resets the program's halted state and resets the program.

⑤ Emergency stop switch ................. This stops the robot in an emergency state. The servo turns OFF.

⑥ CHNGDISP button........................... This changes the details displayed on the display panel in the order of "Override" → "Pro-

gram No." → "Line No.".

⑦ END button......................................... This stops the program being executed at the last line or END statement.

⑧ SVO.ON button................................. This turns ON the servo power. (The servo turns ON.)

⑨ SVO.OFF button............................... This turns OFF the servo power. (The servo turns OFF.)

⑩ STATUS NUMBER

　 (display panel) .................................... The alarm No., program No., override value (%), etc., are displayed.

⑪ T/B connection connector ......... This is a dedicated connector for connecting the T/B. When not using T/B, connect the

attached dummy connector.

＜ CR3D-700 ＞

＜ Operating panel ＞

⑯

①

＜Operating panel

②

④

⑤

⑥

⑧

⑬

⑫

⑩

⑨

⑭

⑦

③

⑪

⑮

Page 46

3 Controller

Names of each part

3-33

⑫ MODE key switch............................. This 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. It is necessary to set the parameter for the rights of operation to connection between the operation panel and external equipment. For details, please refer to "INSTRUCTION MANUAL/Detailed explanations of functions and operations" of the separate volume.

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.

⑬

UP/DOWN button............................ This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.

⑭ Interface cover ...........................USB interface and battery are mounted.

⑮ RS-232 connector

...................... This is an RS-232C specification connector for connecting the personal computer.

⑯ Power cable clamp .......................... Fix the primary power cable.

1) Machine cable (for motor power)................................. Connects to the robot arm base. (CN1 connector)

2) Machine cable (for motor signal).................................. Connects to the robot arm base. (CN2 connector)

Fig.3-2 ： Names of each part (Rear side CR3D-700 series)

CN2

CN1

①

②

＜ CR3D-700 series ＞

① Machine cable connector (motor power)(CN1)........... Connects to the robot arm base. (CN1 connector)

② Machine cable connector (motor signal)(CN2)............ Connects to the robot arm base. (CN2 connector)

Page 47

3-34

Names of each part

3 Controller

図 3-3 ： Names of each part (interior CR3D-700 series）

①

②

④

③

⑤SLOT1

⑥SLOT2

⑦SLOT3

R700CPUユニット

OPT1 (予約済)

⑩OPT2

⑪MEMORY CASSETTE

⑫LAN1

⑬CNENC

⑨BAT

⑧RIO

① Emergency stop input(EMGIN)........................................... Connect the emergency stop switch to the robot.

② Emergency stop output(EMGOUT).................................. The robot's error condition is outputted.

③ Special stop input(SKIP)....................................................... stops the robot immediately.

④ Hand slot(HND)......................................................................... Install the pneumatic hand interface optional.

⑤⑥⑦ Option slot(SLOT1, SLOT2, SLOT3)..................... Install the interface optional.

⑧ Extension parallel input/output unit connection connector(RIO)

Connect the extension parallel input/output unit.

⑨ Battery connection connector(BAT)...............................Connect the battery

⑩ Addition axis connection connector(OPT).................... Connect the cable for addition axis control.

⑪ Expansion memory cassette(

MEMORY CASSETTE).... Install the memory cassette optional.

⑫ Ethernet interface(LAN1).....................................................Connect the Ethernet cable.

⑬ Tracking interface(CNENC).................................................Connect the encoder cable, if it uses the tracking

function.

CR3D-700 series

Page 48

3 Controller

Outside dimensions/Installation dimensions

3-35

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

図 3-4 ： Outside dimensions of controller(CR3D-700)

550

（65）

615

(45)

(35)

420（15）（15）

380

3.2

(75)

550

625

450

（35）

（40.5）（79.5）320

440

(134)

55 340

(55)

380 60

288

SVO OFF

STOP

END

SVO ON

MODE

START RESET

DOWN

STATUS NUMBER

EMG.STOP

CHANG DISP

RS-232

Eye bolt

2-M10

2×2-φ15 hole

←（When caster specification）

<CR3D-700>

Page 49

3-36

Outside dimensions/Installation dimensions

3 Controller

Fig.3-5 ： Outside dimensions of controller (CR3D-700M Supplement)

図 3-6 ： Outside dimensions of controller （CR3D-700 Supplement）

（Right side drawing）

（Back drawing）

Exhaust

Suction

Exhaust

(380)

140

(75)

(625)

CN2 CN1

122

123

FANFAN

(7,000)

<CR3D-700M>

（Right side drawing）

（Back drawing）

Exhaust

Suction

Exhaust

(380)

140

(75)

(625)

CN2 CN1

122

123

FANFAN

(7,000)

<CR3D-700>

Page 50

3 Controller

Outside dimensions/Installation dimensions

3-37

3.3.2 Installation dimensions

Fig.3-7 ： Installation of controller （CR3D-700/700M）

450

380

450

440

450

（

Anchor bolt installation: 4 places)

300

Approx.

Side

Approx.

200

Controller (upside)

Approx.

Back

500

Note１）

Front

500

Approx.

（

View from upside

）

Maintenance area

（

View from upside

）

Maintenance area

Approx.

Back

500

Note１）

Front

500

Approx.

300

Approx.

Side

Approx.

200

Controller (upside)

Note1) The controller sucks in the outside air and discharges the inside air after cooling. The space

required for cooling is 100 mm minimum. Reserve approximately 500 mm of space behind the unit as the maintenance work area.

<CR3D-700/700M>

<CR3D-700M> <CR3D-700>

Page 51

3-38

Outside dimensions/Installation dimensions

3 Controller

図 3-8 ： Cable lead-in and dimension of the controller （CR3D-700/700M）

Capcon installing panel

Left side drawing

Front drawing

Right side drawing

Cable lead in port

(1) Left surface input power supply lead-in port (2) Bottom surface input/output signal lead-in port (with sponge) (3) Left surface cable outlet (4) Right surface input/output signal lead-in port (no sponge, with cabl fixing plate) ・Use (1) to lead in the input power cable. ・Use (2) or (4) to lead in the input/output signal cable.

SVO OFF STOP

END

SVO ONMODE

TEACH

AUTO (Ext.)

AUTO (Op.)

START

RESET

DOWN

STATUS NUMBER

REMOVE T/B

EMG.STOP

CHANG DISP

40（45）

(39) 90

□40×90

φ34

φ28

199

□40×81

273

Enlarged view of A section

(4)

(1)

(3)

(2)

Bottom view

<CR3D-700/700M>

Page 52

3 Controller

External input/output

3-39

3.4 External input/output

3.4.1 Types

(1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and

status display.

(2) General-purpose input/output.................These are inputs and outputs that the customer can program for

peripheral device control.

(3) Hand input/output.........................................These are inputs and outputs related to the hand that the customer can

program.

Table 3-2 ： Emergency stop/Door switch input

The wiring for the safe security of the emergency stop etc. is shown after The hand output is an option. Refer to Page 57, "(2) Pneumatic hand interface" for details

Name

No. of input/output points

Connection

format

Input Output

Emergency stop 1 1 Connector

Special stop input 1 -

Door switch 1 -

Enabling device input 1 -

Dedicated input/output Assigned with HLS input/output

Page 53

3-40

Dedicated input/output

3 Controller

3.5 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-3. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi

cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No. If the number of dedicated inputs and general-purpose input points used exceeds the standard No. of input/output points, install the parallel input /output unit (1st to 7th station: option).

Table 3-3 ： Dedicated input/output list

Parameter

name

Input

Note1)

Output

Name Function Level Name Function

TEACHMD None Teaching mode out-

put signal

Outputs that the teaching mode is entered.

ATTOPMD None Automatic mode out

put 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.

AUTOENA Automatic opera

tion enabled input signal

Allows automatic operation.

Ｌ

Automatic operation enabled output signal

Outputs the automatic operation enabled state.

START Start input signal Starts all slots.

Ｅ

Operating output sig

nal

Outputs that the slot is operating.

STOP Stop input signal Stops all slots.

The input signal No. is fixed to 0. Note) Use the emergency stop

input for stop inputs related to safety.

Ｌ

Wait output signal Outputs that the slot is temporarily

stopped.

STOP2 Stop input signal 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.

Ｌ

Wait output signal Outputs that the slot is temporarily

stopped.

SLOTINIT Program reset input

signal

Resets the wait state.

Program selection enabled output signal

Outputs that the slot is in the program selection enabled state.

ERRRESET Error reset input

signal

Resets the error state.

Error occurring out

put signal

Outputs that an error has occurred.

CYCLE Cycle stop input

signal

Carries out cycle stop.

In cycle stop opera

tion output signal

Outputs that the cycle stop is operat

ing.

SRVOFF Servo ON enabled

input signal

Turns the servo OFF for all mech

anisms.

Ｌ

Servo ON enabled output signal

Outputs servo-on disable status. (Echo back)

SRVON Servo ON input

signal

Turns the servo ON for all mecha

nisms.

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 out

put 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 out

put 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.

ＥNone

EMGERR

None

Emergency stop out

put signal

Outputs that an emergency stop has occurred.

S1START ： S32START

Start input Starts each slot. Ｅ In operation output

Outputs the operating state for each slot.

S1STOP ： S32STOP

Stop input Stops each slot. Ｌ In wait output

Outputs that each slot is temporarily stopped.

Page 54

3 Controller

Dedicated input/output

3-41

PRGSEL Program selection

input signal

Designates the setting value for the program No. with numeric value input signals.

ＥNone

OVRDSEL Override selection

input signal

Designates the setting value for the override with the numeric value input signals.

ＥNone

IODATA

Note2)

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.)

Used to output the program name, override value., mechanism No.

PRGOUT Program No. out

put request

Requests output of the program name. Ｅ

Program No. output signal

Outputs that the program name is being output to the numeric value out

put signal.

LINEOUT Line No. output

request

Requests output of the line No.

Ｅ Line No. output signal

Outputs that the line No. is being out

put to the numeric value output signal.

OVRDOUT Override value out

put request

Requests the override output.

Ｅ

Override value out

put signal

Outputs that the override value is being output to the numeric value output signal.

ERROUT Error No. output

request

Requests the error No. output.

Ｅ

Error No. output sig

nal

Outputs that the error No. is being out

put to the numeric value output signal.

JOGENA Jog valid input sig

nal

Validates jog operation with the external signals

Ｅ

Jog valid output sig

nal

Outputs that the jog operation with external signals is valid.

JOGM Jog mode input 2-

bit

Designates the jog mode.

Ｌ

Jog mode output 2bit

Outputs the current jog mode.

JOG+ Jog feed + side for

8-axes

Requests the + side jog operation. Ｌ None

JOG- Jog feed - side for

8-axes

Requests the - side jog operation. Ｌ None

HNDCNTL1

： HNDCNTL3

None

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.

HNDSTS1

： HNDSTS3

None

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.

HNDERR1

： HNDERR3

Mechanism 1 hand error input signal ： Mechanism 3 hand error input signal

Requests the hand error occur

rence.

Ｌ

Mechanism 1 hand error output signal ： Mechanism 3 hand error output signal

Outputs that a hand error is occurring.

AIRERR1

： AIRERR3

Pneumatic pressure error 1 input signal ： Pneumatic pressure error 3 input signal

Request the pneumatic pressure error occurrence.

Ｌ

Pneumatic pressure error 1 output signal. ： Pneumatic pressure error 3 output signal.

Outputs that a pneumatic pressure error is occurring.

M1PTEXC

： M3PTEXC

None Ｌ

Maintenance parts replacement time warning signal

Outputs that the maintenance parts have reached the replacement time.

USER

AREA

Note3)

None

User-designated area 8-points

Outputs that the robot is in the userdesignated area.

Parameter

name

Input

Note1)

Output

Name Function Level Name Function

Page 55

3-42

Emergency stop input and output etc.

3 Controller

3.6 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from

the "special input/output" terminal connector.

Table 3-4 ： Special input/output terminal

Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-10.

3.6.1 Connection of the external emergency stop

The external emergency stop input and door switch input and enabling device input are opened at shipment as shown in Fig. 3-10. Connect the external emergency stop switch and door switch with the following procedure.

1) Prepare the "emergency stop switch", "enabling device" and "door switch".

2) Securely connect the external emergency stop's contacts across 3A-4A, 3B-4B, and the door switch's con

tacts across 8A-9A, 8B-9B, and the enabling device switch's contacts across 10A-11A, 10B-11B, on the terminal block.

[Caution] When wiring the emergency stop switch (double emergency line type), wire both contacts to the two

terminal blocks on the controller. If both contacts are wired to only one of the terminal blocks, errors cannot be cancelled using the door switch. The cable uses the shielded cable and installs the ferrite core. Install the ferrite core in less than 30cm from the contact button.

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 sig

nal 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.

区分名称内容

Input Emergency stop Applies the emergency stop. Dual emergency line Input Special stop input Applies the stop. （Refer to Page 45, "3.6.2 Special stop input(SKIP)"） Input door switch Servo-off Input enabling device Servo-off Output Emergency stop It outputs that the emergency stop is inputting.

Page 56

3 Controller

Emergency stop input and output etc.

3-43

Fig.3-9 ： Emergency stop cable connection( CR3D-700)

安全ユニット(R700SFT)

EMGINコネクタ

フェライトコア

非常停止配線ケーブル

EMGOUTコネクタ

30cm以内

<CR3D-700/700M>

Pin allotment of EMGIN and the EMGOUT connector is shown in Page 44, "Fig.3-10 ： External emergency stop connection".

ferrite core

EMGOUT

EMGIN

Safty unit

Cable

Page 57

3-44

Emergency stop input and output etc.

3 Controller

Fig.3-10 ： External emergency stop connection

EMGOUT1

EMGOUT2

Internal circuit structure

（Customer）

（

Controller）

Warning

Please do not do the withstand voltage examination. Moreover, it becomes the cause of failure if it connects incorrectly.

11A

10A

EMGIN1

+24V

Relay

+24V

24GND

+24V

Relay

External emergency input (prepare by customer)

Door switch input (prepare by customer)

Enabling device input (prepare by customer)

EMG. stop

11B

10B

EMGIN2

+24V

Relay

+24V

24GND

+24V

Relay

Robot error output

Mode output

Add. axis contacts control output （AXMC1）

EMGIN pin arrangement

AWG#24～#18 (0.2～0.75mm

)

Type ：2-1871940-1

EMGIN2

EMGIN1

11A 10A

9A 8A 7A 6A 5A 4A 3A 2A 1A

11B 10B

9B 8B 7B 6B 5B 4B 3B 2B 1B

EMGOUT pin arrangement

EMGOUT2

EMGOUT1

6A 5A 4A 3A 2A 1A

6B 5B 4B 3B 2B 1B

Type ：1-1871940-6

Minus driver plug

AWG#24～#18(0.2～0.75mm

)

Electric wire plug

The electric wire skins covering 7mm. In the condition that the minus driver is inserted, insert the electric wire , and remove the minus driver. The electric wire is locked by the connector.

（Customer）

Of the customer, please do suitable wiring and use it.

Short

External emergency input (prepare by customer)

Door switch input (prepare by customer)

Enabling device input (prepare by customer)

Robot error output

Mode output

Add. axis contacts control output （AXMC2）

Minus driver plug

Electric wire plug

7mm

Skin covering of the electric wire and insert directly. Use it after twisting the electric wire.

Please insert the electric wire to the back, pushing the back spring with the small minus driver etc. * Recommendation driver sizes are 1.4mm - 2.4mm. (The driver plug area of the connector is 2.5mm)

Page 58

3 Controller

Emergency stop input and output etc.

3-45

Please install the emergency stop switch to the place which is easy to operate it, and when the robots are the abnormalities, stop the robot immediately.

Be careful of the short circuit with the next terminal at the time of connection of the electric wire to the EMGIN connector. Moreover, since solder plating to the electric wire section may wake up loose connection, please do not carry out.

3.6.2 Special stop input(SKIP)

The skip is the input signal to stop the robot. Wire 1A-1B of the special stop connector (SKIP) shown in Page

46, "Fig.3-11 ： Connection of the special-stop-input".

Table 3-5 ： Special stop input electric specification

Item Specifications Internal circuit

Type ＤＣ input

No. of input point １

Insulation method Phto-coupler insulation

Rated inpit voltage ＤＣ２４Ｖ

Rated input current approx. １１ｍＡ

Working voltage range ＤＣ２１．６～２６．４Ｖ

（Ripple rate within ５％）

ON voltage/ON current ＤＣ８Ｖ or more 　／　２ｍＡ or more

OFF voltage/OFF current ＤＣ４Ｖ or less 　／　１ｍＡ or less

Input resistance approx. ２．２ｋ Ω

Response time

OFF → ON １ｍｓ or less

ON → OFF １ｍｓ or less

Common method １ point per common

External wire connection method Connector

CAUTION

330

2.2k

入力

＋２４V(COM)

Input

Page 59

3-46

Emergency stop input and output etc.

3 Controller

Fig.3-11 ： Connection of the special-stop-input

安全ユニット（R700SFT）

SKIP

CR3D-700

専用停止入力コネクタ（SKIP）

電線差込口（AWG#24-18）

マイナスドライバ差込口

Special stop connector

Minus driver plug area

Electric wire plug area(AWG#24-18)

The electric wire skins covering 7mm. In the condition that the minus driver is inserted, insert the electric wire, and remove the minus driver. The electric wire is locked by the connector.

Safty unit

Page 60

3 Controller

Emergency stop input and output etc.

3-47

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 Fig. 3-10, and wire so that the contact closes when the door is closed. Details of this function according to the robot status are shown below.

・ During automatic operation ............. When the door is opened, the servo turns OFF and the robot stops. An error

occurs. The process of the restoration : Close the door, reset the alarm, turn on the servo, and restart

・ During teaching...................................... Even when the door is opened, the servo can be turned ON and the robot

moved using the teaching pendant.

Fig.3-12 ： Door switch function

Safeguard

Turns OFF the servo

STOP!!

Open

TEACH

AUTO

(Ext.)

UTO

(Op.)

Open

TEACH

AUTO

(Ext.)

UTO

(Op.)

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

Safeguard

Teaching pendant

Robot arm (Example)

① Auto executing

②Teaching

Page 61

3-48

Additional Axis Function

3 Controller

3.7 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 series) that supports Mitsubishi's SSC Net Ⅲ . Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

3.7.1 Wiring of the Additional Axis Interface

Table 3-6 shows the connectors for additional axes inside the controller and Fig. 3-13 shows a connection exam-

ple (configuration example). The magnet contactor control connector for additional axes, AXMC1, is designed to accommodate circuit connection with improved safety in Mitsubishi's industrial robot systems connecting addi

tional axes. Please implement the appropriate circuit connection by refere to Page 50, "3.8 Magnet contactor

control connector output (AXMC) for addition axes".

Table 3-6 ： Dedicated Connectors inside the Controller

Name Connector name Details

Connector for additional axes OPT2 This connector is used to connect between general-purpose servo

amplifiers and the controller.

Magnet contactor control connector for additional axes

EMGOUT This contact output is used to turn ON/OFF the motor power by

connecting to general-purpose servo amplifiers.

Page 62

3 Controller

Additional Axis Function

3-49

Fig.3-13 ： Example of addition axis connection (CR3-700/700M)

EMGOUT

OPT2

R700CPU

SSCNETⅢcable

Servo amplifier Servo amplifier

OPT connector

CN1A connector

CN1B connector

CN1A connector

Cap

CN1B connecto

*It cannot communicate, if connection of CN1A and CN1B is mistaken.

Magnetic contact

<CR3D-700/700M>

Page 63

3-50

Magnet contactor control connector output (AXMC) for addition axes

3 Controller

3.8 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.

Fig. 3-14 shows an example of its circuit, and Fig. 3-15 show the layout drawings of the output contact (AXMC1).

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.

Fig.3-14 ： Example of circuit for addition axes of Magnet contactor control output

MC2

MC MC1

5B 6B

AXMC2

AXMC1

5A 6A

EMGOUT

Amplifier

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

2) Get the power supply for the MC synchronization from the secondary terminal of short circuit breaker (NV) built in the controller.

To the internal circuit

AXMC is outputted

from the contact

for internal servo

power supplies.

Note) This output is opened, if the robot turns off the servo by occurrence of alarm etc.

AC15 class(AC200V) 5A AC13 class(DC48V)3A

Note)

Page 64

3 Controller

Magnet contactor control connector output (AXMC) for addition axes

3-51

図 3-15 ： EMGOUT connector （CR3D-700/700M）

EMGOUT

Safty unit（R700SFT）

EMGOUT connector

EMGOUT2

EMGOUT1

6A 5A 4A 3A 2A 1A

6B 5B 4B 3B 2B 1B

Type ：1-1871940-6

Minus driver plug area

AWG#24～#18 (0.2～0.75mm

)

Electric wire plug area

Internal circuit

EMGOUT1

EMGOUT2

（Custmer）

（Controller）

Contactor control output for addition axes (AXMC1)

<CR3D-700/700M>

Page 65

3-52

Magnet contactor control connector output (AXMC) for addition axes

3 Controller

Page 66

3 Controller

3-53

3.9 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.

Page 67

3-54

Teaching pendant (T/B)

3 Controller

(1) Teaching pendant (T/B)

■ Order type: R32TB :Cable length 7m

R32TB-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.

Note1)

■Configuration Table 3-7 ： Configuration device

■Specifications Table 3-8 ： Specifications

Note1) <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 "Deadman switch". The 3-position deadman switch has three statuses. The following modes are entered according to the switch state.

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

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

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

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

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

Part name Type Qty. Remarks

Teaching pendant R32TB Either one pc. Cable length is 7m. Hand strap is attached.

R32TB-15 Cable length is 15m. Hand strap is attached.

Items Specifications Remarks

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 square connector (24-pin)

Interface RS-422

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

Operation section 36 keys

Page 68

3 Controller

Teaching pendant (T/B)

3-55

Fig.3-16 ： Outside dimensions of teaching pendant

■ Installation method The teaching pendant is connected to the T/B connector on the front of the controller.

Enable/Disable switch

Emergency stop

Enable switch

Operetion key

Body

Cable (with connector)

<Back>

63.5

<Front>

LCD

291.9

195.2 133

<side>

105.5

Page 69

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Teaching pendant (T/B)

3 Controller

■ Key layout and main functions

Fig.3-17 ： Teaching pendant key layout and main functions

⑪

⑭

⑬

⑫

⑨

⑤ ⑥ ⑦

⑮ ⑯

⑳

⑤

⑥

⑧

⑱

⑲

⑩ ⑰

①

④

③

②

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]....................................... 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) : [CHAR] 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

Page 70

3 Controller

Pneumatic hand interface

3-57

(2) Pneumatic hand interface

■ Order type: 2A-RZ365(Sink type)

■ Outline This interface is required to use the robot arm's hand output signals. This interface is pre-installed on the controller. ・ Up to eight hand output points can be used with this interface. ・ The eight hand input points can be used without this interface. ・ The previous pneumatic hand interface can be used. .

■ Configuration

Table 3-9 ： Configuration device

■ Specifications

Table 3-10 ： Specifications

Part name Type Qty. Remarks

Pneumatic hand interface 2A-RZ365 1pc. Output 8 points expansion.

Item Specification Internal circuit

Type Transistor output

* GRn＝GR1～GR8

ON-OFF 2 ms or less (resistance load) (hardware response time) Fuse rating Fuses 1.6A (each one common) Common method 8 points, 1 common

24V

（Internal power supply）

GRn

Fuse

1.6A

Page 71

3-58

Pneumatic hand interface

3 Controller

■ Installation method This is mounted in the controller. Attach the pneumatic hand interface (2A-RZ365) to the CNHNDOUT/CNHND connector of the hand interface relay card (2D-TZ315) securely. Refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance" for details on the installing method.

Fig.3-18 ： Installation of the pneumatic hand interface （CR3D-700/700M）

Safty unit（R700SFT）

（2A-RZ365）

（2D-TZ315）

pneumatic hand interface

hand interface relay card

M4x2

View A

CNHNDOUT

CNHND

CNHNDOUT

pneumatic hand interface

hand interface relay card

<CR3D-700/700M>

Page 72

3 Controller

Parallel I/O interface

3-59

(3) Parallel I/O interface

■ Order type ： ● 2D-TZ368 （Sink type）

■ Outline

This is used to expand the external inputs and outputs ・ The connecting cable with external equipment is not attached. Since we are preparing

the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.

Notes)Although the combined use with the parallel input-and-output unit (2A-RZ361/2A-

RZ371) of another option is also possible, please use the setup of the station number by the different number separately. The station number is automatically determined by the position of the option slot which installed this interface. (station number 0 to 2)

■ Configuration

Table 3-11 ： Configuration device

■仕様

1) The CR3D-700 series controller can connect this three interfaces.

Table 3-12 ： Electrical specifications of input circuits

Part name Type

Qty.

Remarks

Parallel I/O interface 2D-TZ368 １ pc.

Input/output 32 points/32 points

Item

Specification Internal circuit

Type DC input

Number of input points 32 Insulation method Photo coupler insulation Rated input voltage DC12V/DC24V Rated input current Approx. 3mA/7mA Working voltage range DC10.2 ～ 26.4V

(Ripple factor should be less than 5％) ON voltage/ON current DC4V or more/1mA or more OFF voltage/ OFF current DC0.1V or less/0.02mA or less Input resistance Approx. 2.7kΩ Response time OFF-ON 10ms or less(DC24V)

ON-OFF 10ms or less(DC24V) Common method 8points per common External cable connection

method

Connector

入力

+24V/+12V (COM)

2.7K

820

Page 73

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Parallel I/O interface

3 Controller

Table 3-13 ： Electrical specifications for the output circuits

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) SLOT3: station number 2(64 to 95)

If it uses together with parallel input-and-output unit 2 A-RZ361/2 A-RZ371, please do not overlap with the station number of the parallel input-and-output interface.

Item

Specification Internal circuit

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

0.1mA or less

Max. voltage drop at ON

DC0.9V(TYP.)

Respo nse time

OFF-ON 10ms or less 　　 (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 8per common(common terminal ： 4 points) External wire connec

tion method

Connector

Exter

nal power supply

Voltage DC12/24V(DC10.2 ～ 30V)

Current

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

+24V/+12V

出力

ヒューズ

Caution

Page 74

3 Controller

Parallel I/O interface

3-61

Fig.3-19 ： Parallel I/O interface installation position （CR3D-700/700M）

SLOT1

SLOT2

SLOT3

R700CPUユニット

<CR3D-700/700M>

unit

Page 75

3-62

Parallel I/O interface

3 Controller

■ Pin layout of connector

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-and-

output signal is fixed.

Table 3-14 ： The slot number and the station number

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

allocation are shown in Table 3-15 and Table 3-16. If it installs in other slots, please interpret and utilize.

Slot number

Station number

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

Connector <1> Connector <2>

SLOT1 0 Input ： 0 to 15

Output ： 0 to 15

Input ： 16 to 31

Output ： 16 to 31

SLOT2 1 Input ： 32 to 47

Output ： 32 to 47

Input ： 48 to 63

Output ： 48 to 63

SLOT3 2 Input ： 64 to 79

Output ： 64 to 79

Input ： 80 to 95

Output ： 80 to 95

20A

20B

20C

20D

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)

Page 76

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3-63

Table 3-15 ： Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Pin No.

Line color

Function name

Pin No.

Line color

Function name

General-purpose power supply, common General-purpose power supply, common

1C Orange/Red a 0V ： For pins 5D-20D 1D Orange/Black a 12V/24V ： For pins 5D-20D 2C

Gray/Red a 12V/24V ： For pins 5C-20C 2D Gray/Black a

Reserved

3C White/Red a

Reserved

3D White/Black a

Reserved

4C Yellow/Red a

Reserved

4D Yellow/Black a

Reserved

5C Pink/Red a

General-purpose input

Pink/Black a

General-purpose output

Orange/Red b

General-purpose input

Orange/Black b

General-purpose output

Gray/Red b

General-purpose input

Gray/Black b

General-purpose output

White/Red b

General-purpose input

White/Black b

General-purpose output

Yellow/Red b

General-purpose input

Yellow/Black b

General-purpose output

10C

Pink/Red b

General-purpose input

10D

Pink/Black b

General-purpose output

11C

Orange/Red c

General-purpose input

11D

Orange/Black c

General-purpose output

12C

Gray/Red c

General-purpose input

12D

Gray/Black c

General-purpose output

13C

White/Red c

General-purpose input

13D

White/Black c

General-purpose output

14C

Yellow/Red c

General-purpose input

14D

Yellow/Black c

General-purpose output

15C

Pink/Red c

General-purpose input

15D

Pink/Black c

General-purpose output

16C

Orange/Red d

General-purpose input

16D

Orange/Black d

General-purpose output

17C

Gray/Red d

General-purpose input

17D

Gray/Black d

General-purpose output

18C

White/Red d

General-purpose input

18D

White/Black d

General-purpose output

19C

Yellow/Red d

General-purpose input

19D

Yellow/Blackc d

General-purpose output

20C

Pink/Red d

General-purpose input

20D

Pink/Black d

General-purpose output

Page 77

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Parallel I/O interface

3 Controller

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

Pin No.

Line color

Function name

Pin No.

Line color

Function name

General-purpose power supply, common General-purpose power supply, common

1A Orange/Red a 0V ： For pins 5B-20B 1B Orange/Black a 12V/24V ： For pins 5B-20B 2A

Gray/Red a 12V/24V ： For pins 5A-20A 2B Gray/Black a

Reserved

3A White/Red a

Reserved

3B White/Black a

Reserved

4A Yellow/Red a

Reserved

4B Yellow/Black a

Reserved

5A Pink/Red a

General-purpose input

Pink/Black a

General-purpose output

Orange/Red b

General-purpose input

Orange/Black b

General-purpose output

Gray/Red b

General-purpose input

Gray/Black b

General-purpose output

White/Red b

General-purpose input

White/Black b

General-purpose output

Yellow/Red b

General-purpose input

Yellow/Black b

General-purpose output

10A

Pink/Red b

General-purpose input

10B

Pink/Black b

General-purpose output

11A

Orange/Red c

General-purpose input

11B

Orange/Black c

General-purpose output

12A

Gray/Red c

General-purpose input

12B

Gray/Black c

General-purpose output

13A

White/Red c

General-purpose input

13B

White/Black c

General-purpose output

14A

Yellow/Red c

General-purpose input

14B

Yellow/Black c

General-purpose output

15A

Pink/Red c

General-purpose input

15B

Pink/Black c

General-purpose output

16A

Orange/Red d

General-purpose input

16B

Orange/Black d

General-purpose output

17A

Gray/Red d

General-purpose input

17B

Gray/Black d

General-purpose output

18A

White/Red d

General-purpose input

18B

White/Black d

General-purpose output

19A

Yellow/Red d

General-purpose input

19B

Yellow/Blackc d

General-purpose output

20A

Pink/Red d

General-purpose input

20B

Pink/Black d

General-purpose output

Page 78

3 Controller

Parallel I/O interface

3-65

<Reference> The example of connection with our PLC

Table 3-17 ： Connection with a Mitsubishi PLC (Example of sink type)

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

60mA (24/12V)

Output

Fuse

(0V)

(COM)

AX41C (Mitsubishi programmable controller)

AY51C (Mitsubishi programmable controller)

＋24V

24V

COM

24V

…

Input

Parallel I/O interface

（Output）

(Input)

3.3K

CTL＋

Output

Input

External power supply

CTLG 24G

COM

External power supply

24G

24V

…

<Sink>

Page 79

3-66

External I/O cable

3 Controller

(4) External I/O cable

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

■Outline

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

nector on the parallel I/O interface. For parallel I/O unit is another option 2A-CBL.**. One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end. One cable correspond to the input 16 points and output 16 points. Two cables are needed to connection of (input 32 points and output 32 points) with

built-in standard.

■ Configuration

Table 3-18 ： Configuration device

■ Specifications

Table 3-19 ： Specifications

■ Connector pin numbers and cable colors

Table 3-20 ： Connector pin numbers and cable colors

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

....20B.

Part name Type Qty. Remarks

External I/O cable 2D-CBL □□ 1 pc. 5m or 15m

Items Specifications

Number of cables x cable size AWG #28 x 20P （40 pairs）

Total length 5m、 15m

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/Blackb 20B/D Pink/Blackd

Page 80

3 Controller

External I/O cable

3-67

■ 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 3-29: Connector pin numbers and cable colors" when making the connections.

Fig.3-21 ： Connections and outside dimensions

(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

Two dots

Three dots

Four dots

b type

c type

d type

1A/C 1B/D

20A/C

20B/D

Plug (Fujitsu Ltd) Connector ： FCN-361J040-AU Cover ： FCN-360C040-B

Page 81

3-68

Parallel I/O unit

3 Controller

(5) Parallel I/O unit

■ Order type: 2A-RZ361(Sink type)

2A-RZ371(Source type)

■ Outline

This is used to expand the external inputs and outputs. 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 automati

cally fixed by the position of the option slot which installed the parallel I/O interface in 0-2.

■ Configuration

Table 3-21 ： Configuration device

■Specifications

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

tion 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.

Part name Type Qty. Remarks

Parallel I/O unit

2A-RZ361/ 2A-RZ371

1 pc.

Input/output 32 points/32 points 2A-RZ361 is the sink type. 2A-RZ371 is the source type.

Robot I/O link connection connector

NETcable-1 2 sets

Connector with pins. The cable must be prepared and wired by the customer.

Power connection connector

DCcable-2 1 set

Connector with pins. The cable must be prepared and wired by the customer.

Terminator R-TM 1 pc. 100Ω(1/4W)

Page 82

3 Controller

Parallel I/O unit

3-69

Table 3-22 ： Electrical specifications of input circuits

Table 3-23 ： Electrical specifications for the output circuits

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.

Item Specification Internal circuit

Type DC input

Number of input points 32 Insulation method Photo coupler insulation Rated input voltage 12VDC/24VDC Rated input current Approx 3mA/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

Item Specification Internal circuit

Type Transistor output

No. of output points 32 Insulation method Photo-coupler insulation Rated load voltage 12VDC/24VDC Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC) Max. load current 0.1A/point (100％) Leakage current at OFF 0.1mA or less Max. voltage drop at ON 0.9VDC(TYP.)

Response time

OFF-ON

2ms or less (hardware response time)

ON-OFF

2ms or less

(Resistance load) (hardware response time) Fuse rating Fuse 3.2A (one per common) Replacement not possible Common method 8 points per common (common terminal: 8 points) External wire connection

method

Connector

External power supply

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

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

3.3K

Input

820

24V/12V

(COM)

3.3K

Input

820

0V(COM)

(24/12V)

Outline

(0V)

Fuse

(24/12V)

Outline

(0V)

CAUTION

Page 83

3-70

Parallel I/O unit

3 Controller

Fig.3-22 ： Spacifications for the connection cable

NETcable-1 (Network cable)

Pin No. RIO1/2 RIO1/2 Pin No.

１TXRXH TXRXH１

２ TXRXL TXRXL ２

３ SG(GND) SG(GND) ３

DCcable-2 (Power cable)

Pin No. DCIN

１ 24V ＋

24V Power

２24G(RG) －

３FG(PE)

Connected the frame ground or protect ground

R-TM (Terminator)

Pin No. RIO1/2 100Ω

１TXRXH

２ TXRXL

３ SG(GND)

List of parts and manufacturer

Type Connector type Contact type Resistant Manufacturer

NETcable-1 1-178288-3 (2) 175218-3 (6) － AMP DCcable-2 2-178288-3 (1) 175218-3 (3) － AMP R-TM 1-178288-3 (1) 175218-3 (2) 100Ω(1/4W) (1) Equivalent to KOA.

Note 2)

Note 1)

Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.) Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of

AWG#22(0.3mm

) or more.

Page 84

3 Controller

Parallel I/O unit

3-71

■ Installation method

Fig.3-23 ： Installing the parallel I/O unit （CR3D-700/700M）

<CR3D-700/700M>

①

②

④

③

R700CPUユニット

RIO

54 6

Radiation/wiring space

150

156

2-Ｍ５ screw

168

Heat radiation space

128

(175)

100

Wiring space

(40)

<2A-RZ361>

Installation dimensions of 2A-RZ361

downside

upside

Control panel installation dimensions

(The controller outside installation.）

R700CPU

Page 85

3-72

Parallel I/O unit

3 Controller

Fig.3-24 ： Connection method of expansion parallel I/O unit （CR3D-700/700M）

RIO1

R700CPU unit

＜CN100＞

＜CN300＞

＜CN100＞

＜CN300＞

DCIN connector

DCcable-2 cable

RIO1 connector

NETcable-1 cable

DCcable-2 cable

RIO2 connector

RIO1 connector

DCIN connector

Front

Note)

Parallel I/O unit 1 . . . 6 Parallel I/O unit 7

Station No. setting 1 . . . 6

NETcable-1 cable

Note)

RIO2 connector

RIO2 connecto

RIO1 connector

R-TM terminator

Station No. setting 7

I/O unit the bottom Connecta la

out

DCIN connector

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

<CR3D-700/700M>

Page 86

3 Controller

Parallel I/O unit

3-73

■ Pin arrangement of the connector

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 3-24 ： Assignment of pin number and signal

The connector pin number of the parallel I/O unit of the station number 0 and signal number assignment are

shown in Table 3-25 and Table 3-26. If it is set as other station number, please interpret and utilize.

Unit Number

Station number

CN100 CN300

1st set 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

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

Channel No. setting

TXD

LED display

Input 0 to 15 Output 0 to 15

＜CN100＞

＜CN300＞

Input 16 to 31 Output 16 to 31

Page 87

3-74

Parallel I/O unit

3 Controller

■ Parallel I/O interface (First expansion unit) Table 3-25 ： Connector CN100pin No. and signal assignment list (2A-CBL

□□ )

Table 3-26 ： Connector CN300pin No. and signal assignment list (2A-CBL

□□ )

Pin No.

Line color

Function name

Pin No.

Line color

Function name

General-purpose

Dedicated/power supply,

common

General-purpose

Dedicated/power supply,

common

1 Orange/Red A FG 26 Orange/Blue A FG 2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38 3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32 4 Yellow/Red A General-purpose output 0 29 Yellow/Blue A General-purpose output 4 5 Pink/Red A General-purpose output 1 30 Pink/Blue A General-purpose output 5 6 Orange/Red B General-purpose output 2 31 Orange/Blue B General-purpose output 6 7 Gray/Red B General-purpose output 3 32 Gray/Blue B General-purpose output 7 8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38

9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38 10 Pink/Red B General-purpose output 8 35 Pink/Blue B General-purpose output 12 11 Orange/Red C General-purpose output 9 36 Orange/Blue C General-purpose output 13 12 Gray/Red C General-purpose output 10 37 Gray/Blue C General-purpose output 14 13 White/Red C General-purpose output 11 38 White/Blue C General-purpose output 15 14 Yellow/Red C COM0:For pins 15-22 39 Yellow/Blue C COM1:For pins 40-47

Note1)

15 Pink/Red C General-purpose input 0 40 Pink/Blue C General-purpose input 8 16 Orange/Red D General-purpose input 1 41 Orange/Blue D General-purpose input 9 17 Gray/Red D General-purpose input 2 42 Gray/Blue D General-purpose input 10 18 White/Red D General-purpose input 3 43 White/Blue D General-purpose input 11 19 Yellow/Red D General-purpose input 4 44 Yellow/Blue D General-purpose input 12 20 Pink/Red D General-purpose input 5 45 Pink/Blue D General-purpose input 13 21 Orange/Red E General-purpose input 6 46 Orange/Blue E General-purpose input 14 22 Gray/Red E General-purpose input 7 47 Gray/Blue E General-purpose input 15 23 White/Red E Reserved 48 White/Blue E Reserved 24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved 25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Pin No.

Line color

Function name

Pin No.

Line color

Function name

General-purpose

Dedicated/power supply,

common

General-purpose

Dedicated/power supply,

common

1 Orange/Red A FG 26 Orange/Blue A FG

2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38

3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32

4 Yellow/Red A General-purpose output 16 29 Yellow/Blue A General-purpose output 20

5 Pink/Red A General-purpose output 17 30 Pink/Blue A General-purpose output 21

6 Orange/Red B General-purpose output 18 31 Orange/Blue B General-purpose output 22

7 Gray/Red B General-purpose output 19 32 Gray/Blue B General-purpose output 23

8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38

9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38 10 Pink/Red B General-purpose output 24 35 Pink/Blue B General-purpose output 28 11 Orange/Red C General-purpose output 25 36 Orange/Blue C General-purpose output 29 12 Gray/Red C General-purpose output 26 37 Gray/Blue C General-purpose output 30 13 White/Red C General-purpose output 27 38 White/Blue C General-purpose output 31 14 Yellow/Red C COM0:(12V/24V(COM))

For pins 15-22

39 Yellow/Blue C COM1:(12V/24V(COM))

For pins 40-47 15 Pink/Red C General-purpose input 16 40 Pink/Blue C General-purpose input 24 16 Orange/Red D General-purpose input 17 41 Orange/Blue D General-purpose input 25 17 Gray/Red D General-purpose input 18 42 Gray/Blue D General-purpose input 26 18 White/Red D General-purpose input 19 43 White/Blue D General-purpose input 27 19 Yellow/Red D General-purpose input 20 44 Yellow/Blue D General-pu rpose input 28 20 Pink/Red D General-purpose input 21 45 Pink/Blue D General-purpose input 29 21 Orange/Red E General-purpose input 22 46 Orange/Blue E General-purpose input 30 22 Gray/Red E General-purpose input 23 47 Gray/Blue E General-purpose input 31 23 White/Red E Reserved 48 White/Blue E Reserved 24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved 25 Pink/Red E Reserved 50 Pink/Blue E Reserved

Page 88

3 Controller

External I/O cable

3-75

(6) External I/O cable

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

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

nector on the parallel input/output unit. One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end. One cable correspond to the input 16 points and output 16 points. Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

■ Configuration

Table 3-27 ： Configuration device

■ Specifications

Table 3-28 ： Specifications

■ Connector pin numbers and cable colors

Table 3-29 ： Connector pin numbers and cable colors

Part name Type Qty. Remarks

External I/O cable 2A-CBL □□ 1pc. 5m or 15m

Items Specifications

Number of cables x cable size 50 pairs x AWG #28

Total length 5m or 15m

no.

Cable colors

no.

Cable colors

Pin no.

Cable colors

no.

Cable colors

no.

Cable colors

1 Orange/Red A 11 Orange/Red C 21 Orange/Red E 31 Orange/Blue B 41 Orange/Blue D

2 Gray/Red A 12 Gray/Red C 22 Gray/Red E 32 Gray/Blue B 42 Gray/Blue D

3 White/Red A 13 White/Red C 23 White/Red E 33 White/Blue B 43 White/Blue D

4 Yellow/Red A 14 Yellow/Red C 24 Yellow/Red E 34 Yellow/Blue B 44 Yellow/Blue D

5 Pink/Red A 15 Pink/Red C 25 Pink/Red E 35 Pink/Blue B 45 Pink/Blue D

6 Orange/Red B 16 Orange/Red D 26 Orange/Blue A 36 Orange/Blue C 46 Orange/Blue E

7 Gray/Red B 17 Gray/Red D 27 Gray/Blue A 37 Gray/Blue C 47 Gray/Blue E

8 White/Red B 18 White/Red D 28 White/Blue A 38 White/Blue C 48 White/Blue E

9 Yellow/Red B 19 Yellow/Red D 29 Yellow/Blue A 39 Yellow/Blue C 49 Yellow/Blue E

10 Pink/Red B 20 Pink/Red D 30 Pink/Blue A 40 Pink/Blue C 50 Pink/Blue E

Page 89

3-76

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 3-29: Connector pin numbers and cable colors" when making the connections.

Fig.3-26 ： Connections and outside dimensions

(Eg.) Pin number: color indication １： Orange ／ Red ／Ａ

Type of dot mark (see figure below) Color of dot mark Color of sheath

ype of dot mark

A type

B type

C type

D type

E type

F type

G type

H type

I type

J type

Dot pattern

Receptacle type (PCB side)：57AE-40500-21D(D8) Plug type　　　（cable side）：57YE-30500-2(D8)

……DDK

Maker

……DDK

5000

18.5

Continuous

18.5

1.5

18.5

7.5

Continuous

35.7

13.54

16.2

9.27

Type of dot mark

Dot pattern

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

ressure connection type)......DDK

Note1)

Page 90

3 Controller

Personal computer cable

3-77

(7) Personal computer cable

■ Order type: ● For PC/AT ： 2D-232CBL03M

■ 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. Confirm the connection specifications when placing an order. Personal computer cables for the PC/AT compatible model is available.

■ Configuration

Table 3-30 ： Configuration device

■ Specifications

Fig.3-27 ： Personal computer cabe connection

Part name Type Qty. Remarks

Personal computer cable (for PC/AT)

2D-232CBL03M

1pc.

3m, D-SUB 9 pin

Robot controller side

(signal, pin number)

Personal computer side

（Not use）　DCD 1

Ｒ×D 2

T×D 3

DTR 4 DSR 6

RTS 7

CTS 8

GND 5

1 ＤCD 2 Ｒ×D 3 Ｔ×D 4 DTR 6 DSR 7 RTS 8 CTS 5 GND

2D-232CBL03M

　（Not use）　RI 9

9 ＲI　（Not use）

(signal, pin number)

Robot controller side

Personal computer side

Page 91

3-78

CC-Link interface

3 Controller

(8) 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 deviceon

Table 3-32 ： Procured by the customer

Fig.3-28 ： Example of CC-Link Product Configuration

■ Specifications

Part name Type Qty. Remarks

CC-Link interface 2D-TZ576 1

Ferrite core E04SR301334 2 Be sure to install this for noise countermeasure.

Part name Type Qty. Remarks

Master station

QJ61BT11(Q series)

1 FX series products are not supported.

AJ61QBT11(QnA series)

A1SJ61QBT11(QnAS series)

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.

Cc-Link interface (this option)

Partner manufacturers' devices

I/O unit

Display

Sequencer

Robot arm

Controller

Personal computer

Inverter

Page 92

3 Controller

CC-Link interface

3-79

Table 3-33 ： Specifications

Item Specifications Remarks

Communication function Bit data and word data can be transmitted. Word data are used by the registers.

Station type

Intelligent device station

Note1)

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

Support station Local station No master station function

The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.

Mountable option slot Slot 1, 2, 3

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 This is set by the rotary SW.

Station number 1 to 64 When four stations are occupied, continuous

station numbers are used.

Number of occupied stations One or four occupied stations can be set.

Extended cyclic setup 1/2/4/8

Maximum link point Remote I/O

(RX, RY).

Each 896 points The two last cannot be used.

Remote register (RWr, RWw)

Each 128 register 16 bits/register

Extended cyclic setup - 1 fold

setup

2 fold setup

3 fold setup

4 fold setup

Link point per set

When one station is occupied

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

When two stations is occupied

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

When three stations is occupied

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

When four stations is occupied

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."

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CC-Link interface

3 Controller

■ Functions

(1) Communication function

・ The number of usable points is 126 points maximum for bit control and 16 points maximum for word control. ・ Up to 2,048 points of input bit data can be monitored by a unit being connected. (Input only, output is disabled.) ・ Up to 256 points of input word data can be monitored by a unit being connected. (Input only, output is disabled.)

(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 IV (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.

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3 Controller

Extension memory cassette

3-81

(9) Extension memory cassette

■Order type:●2D-TZ454

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

■ Configuration

Table 3-34 ： Configuration device

■ Specifications

Table 3-35 ： Specifications

［CAUTION］･ Inserting and removing the memory cassette

A memory cassette cannot be inserted or removed while the control power is on. Please turn off the control power before handling the memory cassette to avoid destroying the memory information in the cassette.

Part name Type Qty. Remarks

Extension memory cassette 2D-TZ454 1

Items Specifications Remarks

External dimensions Approx. 94(W)X65(D)X15(H) mm Excluding the connection connector

Mass Approx. 0.2 kg

Connection method Connection using a special connector

Memory size

Note1)

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.

Teaching point number: 37,800 Steps number: 75,600 Program number: 256

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

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RT ToolBox2/RT ToolBox2 mini

3 Controller

(10) RT ToolBox2/RT ToolBox2 mini

■ Order type ： ● RT ToolBox2

*For windows CD-ROM : 3D-11C-WINE

●

RT ToolBox2 mini

*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 (remote maintenance.) The "personal computer support software" which supports these function fully, and the "personal computer support software mini" which does not have the simulation function are available.

■ Configuration

Table 3-36 ： Product configuration

■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) Increased maintenance efficiency with remote maintenance function

With remote operations over a telephone line, the robot's operation status can be monitored without going to the site. Losses incurred while moving to the site can be reduced, and the time required to investigate the trou

ble and determine measures to be taken can be shortened.

(4) 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.

(5) 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 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.

Part name Type Medium Remarks

RT ToolBox2 3D-11C-WINE CD-ROM

RT ToolBox2 mini 3D-12C-WINE CD-ROM

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RT ToolBox2/RT ToolBox2 mini

3-83

■ Functions

Table 3-37 ： Functions

Function

Functional existence

Note1)

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

○ : Function provided × : Function not provided

Details

Compatible model ○ ○ Personal computer running Microsoft Windows2000/XP/Vista.

Program editing functions

Editing functions

○○

・ 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

Control func

tions

○○

・ Program file control (list, copy, movement, delete, content compari

son, name change, protect)

Debugging func

tions

○○

・ Direct editing of program in controller ・ Confirmation of robot program operation (step execution, direct execution) ・ Tact time measurement

Note2)

Note2)When using the RT ToolBox2 mini, connect with the controller and measure.

Simulation function ○ ×

・ Off-line simulation of robot program operation using CG (computer graphics) ・ Tact time calculation

Monitor func

tions

○○

・ 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 posi

tion, hand, etc.) ・ Operation monitor (working time statistics, production information, robot version) ・ Servo monitor (position, speed, current, load, power)

Maintenance function

○○

・ Parameter setting ・ Batch, divided backup

Remote mainte

nance function ○ ○

・ Monitoring and maintenance of robot state at remote site using tele

phone line. (A separate modem is required for this function.)

RT ToolBox2 mini （3D-12C-WINE）

RT ToolBox2 （3D-11C-WINE）

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Instruction Manual(bound edition)

3 Controller

(11) Instruction Manual(bound edition)

■ Order type ： ● 5S-DC00-PE01 ： RV-12SD/12SDL series

■Outline

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

■ Configuration

表 3-38 ： Product configuration(RV-12SD-SM/12SDL-SM series)

Name Type

Specifications

Instruction Manual 5S-DC00-PE01

Safety Manual BFP-A5948 Items relating to safety in handling the robot

Standard Specifications BFP-A8599 Specification of the robot arm and controller

Robot Arm Setup & Maintenance BFP-A8600

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

Controller Setup, Basic Operation and Maintenance BFP-A8601

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

Detailed Explanation of Functions and Operations BFP-A8586

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

Troubleshooting BFP-A8588 Causes of errors occurred and their countermeasures

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3 Controller

Maintenance parts

3-85

3.10 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 ： Contloller consumable parts list

No.

Part name

Type

Note1)

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

the type.

Usage

place

Qty. Supplier

CR3D-700 controller

1 Lithium battery Q6BAT 1 Front operation panel

Mitsubishi Electric Sys

tem Service;Co.,Ltd

2 Fan (40 square) 5 Amplifier unit

Converter unit

3 Fan (90 square) 1 Control unit

4 Filter 1 Controller rear

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4-86

List of commands

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)

Position and operation control

Joint interpolation Moves to the designated position with joint interpolation. Mov P1 Linear interpolation Moves to the designated position with linear interpolation. Mvs P1 Circular interpolation Moves along a designated arc (start point →passing point→start point

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

Mvc P1,P2,P1

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

Mvr P1,P2,P3

Moves along the arc on the opposite side of a designated arc (start point → reference point → end point) with 3-dimensional circular interpolation.

Mvr2 P1,P9,P3

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

Mvr3 P1,P9,P3

Speed designation Designates the speed for various interpolation operations with a percentage

(0.1% unit).

Ovrd 100

Designate the speed for joint interpolation operation with a percentage (0.1% unit).

JOvrd 100

Designates the speed for linear and circular interpolation with a numerical value (mm/s unit).

Spd 123.5

Designates the acceleration/deceleration time as a percentage in respect to the predetermined maximum acceleration/deceleration. (1% unit)

Accel 50,80

Operation Adds a process unconditionally to the operation. Wth

Adds a process conditionally to the operation. Wthif Designates smooth operation. Cnt 1,100,200 Designates the positioning completion conditions with a No. of pulses. Fine 200 Turns the servo power ON/OFF for all axes. Servo OFF Limits the operation of each axis so that the designated torque is not exceeded.

Torq 4,10

Position control Designates the base conversion data. Base P1

Designates the tool conversion data. Tool P1

Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1

Operates the pallet grid point position. Plt 1,M1

Program control

Branching Branches unconditionally to the designated place. GoTo 120

Branches according to the designated conditions. If M1=1 Then GoTo 100

Else GoTo 20 End If

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

Next M1

Repeats while the designated conditions are satisfied. While M1<10

Wend Branches corresponding to the designated expression value. On M1 GOTO 100,200,300 Executes program block corresponding to the designated expression value.. Select

Case 1

Break

Case 2

Break

End Select Moves the program process to the next line. Skip

Impact detection Set to enable/disable the impact detection. ColChk ON/OFF

Set the detection level of the impact detection. ColLvl 100,80,,,,,,

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4Software

List of commands

4-87

Program control

Subroutine Executes the designated subroutine. (Within program) GoSub 200

Returns from the subroutine. Return Executes the designated program. CallP "P10",M1,P1 Defines the program argument executed with the CALLP command. FPrm M10,P10 Executes the subroutine corresponding to the designated expression value. On M1 GOSUB 100,200,300

Interrupt Defines the interrupt conditions and process. Def Act 1, M1=1 GOTO 100

Enables/disables the interrupt. Act 1=1 Defines the start line of the program to be executed when an interrupt is generated from the communication line.

On Com(1) GOSUB 100

Enables the interrupt from the communication line. Com(1) ON Disables the interrupt from the communication line. Com(1) OFF Stops the interrupt from the communication line. Com(1) STOP

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

unit)

Dly 0.5

Waits until the variable becomes the designated value. Wait M_IN(1)=1

Stop Stops the program execution. Hlt

Generates an error. During program execution, continue, stop or servo OFF can be designated.

Error 9000

End Ends the program execution. End

Hand

Hand open Opens the designated hand. HOpen 1 Hand close Closes the designated hand.

HClose 1

Input/output

Assignment Defines the input/output variables. Def IO PORT1=BIT,0 Input Retrieves the general-purpose input signal. M1=M_IN (1) Output Calls out the general-purpose output signal.

M_Out(1) =0

Parallel execution

Mechanism designation

Acquires the mechanism with the designated mechanism No. GetM 1 Releases the mechanism with the designated mechanism No. RelM 1

Selection Selects the designated program for the designated slot. XLoad 2,"P102" Start/stop Carries out parallel execution of the designated program. XRun 3,"100",0

Stops parallel execution of the designated program. XStp 3 Returns the designated program's execution line to the head and enters the program selection enabled state.

XRst 3

Others

Definition Defines the integer type or real number type variable. Def Inte KAISUU

Defines the character string variable. Def Char MESSAGE efines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3) Defines the joint variable. Def Jnt TAIHI Defines the position variable. Def Pos TORU Defines the function. Def FN TASU(A,B)=A+B

Clear Clears the general-purpose output signal, variables in program, variables

between programs, etc.

Clr １

File Opens a file. Open "COM1:" AS #1

Closes a file. Close #1 Inputs data from a file. Input# 1,M1 Outputs data to a file. Print# 1,M1

Comment Describes a comment. Rem "ABC" Label Indicates the branching destination. *SUB1

Type Class Function Input format (example)

Mitsubishi RV-12SDL, RV-12SDC, RV-12SD, RV-12SDLC Specifications

Specifications and Main Features

Frequently Asked Questions

User Manual