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

Mitsubishi Industrial Robot

RV-12SD Series

Standard Specifications Manual

(CR3D-701M/CR3D-701 Controller)

BFP-A8656

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

CAUTION

WARNING

CAUTION

WARNING

CAUTION

CAUTION

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

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

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

WARNING

CAUTION

WARNING

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

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

CAUTION

■ Revision history

Date of print Specifications No. Details of revisions

2008-05-9 BFP-A8656 First print.

■ 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.

Copyright(C) 2008 MITSUBISHI ELECTRIC CORPORATION

Contents

i

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

ii

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

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.

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

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)

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.

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

on

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

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

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

mm

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/

s

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.

kg

12

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

2

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

2

)

(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

-

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)

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."

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

80

80

112

112

200

200

197

277

0

Unit : mm

Rotation center for J6 axis

Rotation center for J5 axis

200

300 100

5.0kg

10.0kg

97

100

100

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.

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

2

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

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

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

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

＋

－

＋

－

＋

－

＋

－

＋

－

＋

－

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

φ

40

4

5

°

φ25H7

+0.021

0

depth 9.5

φ50ｈ8

-0.039

0

depth 8

4-M6 screw, depth 9

φ6H7

+0.012

0

depth 9

View A: Detail of mechanical interface

150

155

270

250

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

97

120

150

63

97

120

106
80

400

220

450

20

115

150 200

258

R

5

7

φ

1

9

1

φ

2

0

8

R

1

1

9

A

B

C

Solenoid valve set
(option)

(Maintenance space)

Machine cable

50

130

φ88

89 93

89

140

214

230

215

161

164

393

172

50

50

44

93

20

(for customer use)

View C: Detail of screw holes for fixing wiring hookup

Screw holes for fixing
wiring hookup (M4)

2-12

Outside dimensions ・ Operating range diagram

２ Robot arm

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

1

7

0

°

1

7

0

°

1

7

0

°

1

7

0

°

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

P-point path: Entire range
(solid line)

R

4

1

6

R

7

8

6

R

2

0

5

R

1

0

8

6

8

9

1

3

0

80

1386

400

450

784

R

9

3

6

R

2

6

6

R

4

0

0

R

4

0

0

R

3

5

5

R

5

36

R

5

3

6

R

5

3

6

7

0

°

1

0

0

°

1

3

0

°

646

4

0

°

581

205

416

670

97

530 150

569

349

P

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

p

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

200 or more

Restriction on wide angle
in the rear section

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

0

depth 9.5

φ50ｈ8

-0.039

0

depth 8

4-M6 screw, depth 9

φ6H7

+0.012

0

depth 9

φ

4

0

4

5

°

View A: Detail of mechanical interface

4-φ14 installation hole

150

155

270

250

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

50

130

φ88

89 93

89

R

3

0

3

140

214

670

Solenoid valve set
(option)

97

124

150

63

97

120

106
80

560

220

450

20

115

150 200

258

R

5

7

φ

1

9

4

φ

2

0

8

R

1

1

9

(Maintenance space)

A

B

C

Machine cable

393

172

50

50

44

93

20

(for customer use)

View C: Detail of screw holes for fixing wiring hookup

Screw holes for fixing
wiring hookup (M4)

2-14

Outside dimensions ・ Operating range diagram

２ Robot arm

Operating range diagram : RV-12SDL/12SDLC

1

7

0

°

1

7

0

°

R

1

0

8

5

R

3

1

7

R

1

3

8

5

R

4

5

7

1

7

0

°

1

7

0

°

1

3

0

8

9

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

P-point path: Entire range
(solid line)

768

317

928

457

80

1685

560

450

854

585

97

670

150

690 470

P

716

322

1

0

0
°

R

6

7

5

4

0

°

R

3

07

7

0

°

1

3

0

°

R

4

6

7

R

5

6

0

R

1

2

3

5

R

5

6

0

R

6

7

5

200 or more

R

6

7

3

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.

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

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

2

)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

2

)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

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)

<Reserved>
<24GND>
<HC 5>
<HC 6>
<HC 7>
<HC 8>

White
Black

Hand signal input connector (HC1 connector)

White
Black
White
Black
White
Black

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 quick coupling

φ6 hose

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

R

o

b

o

t

a

r

m

w

i

r

i

n

g

r

e

l

a

y

b

o

a

r

d

R

o

b

o

t

c

o

n

t

r

o

l

l

e

r

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.