Mitsubishi Electric RV-1A, RV-2AJ Specifications Manual

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MIT

SUBIS

MELFA

Industrial Robots

Specifications Manual

HI ELECTRI

Art. no.: 132309 05 07 2002 BFP-A8050-F

RV-1A/RV-2AJ Series

MITSUBISHI ELECTRI

INDUSTRIAL AUTOMATION

CAUTION

WARNING

Safety Precautions

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

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 oper ating the robot, and to the measures to be taken when an error occurs or when restart ing. 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

CAUTION

WARNING

CAUTION

During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.) → Indication of teaching work in progress

Provide a fence or enclosure during operation to prevent contact of the operator and robot. → Installation of safety fence

Establish a set signaling method to the related operators for starting work, and follow this method. → Signaling of operation start

As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc. → Indication of maintenance work in progress

Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors. → Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details.

CAUTION

WARNING

Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ ment, 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 malfunc tioning by noise or to electric shock accidents.

CAUTION

WARNING

CAUTION

WARNING

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 pri ority 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

Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected.

C.Precautions for the basic configuration are shown below.(When CR1-571 is used for the controller.)

CAUTION

Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.

Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage. Confirm the set ting connector of the input power supply voltage of the controller, if the type which more than one power supply voltage can be used. Then connect the power supply. Failure to do so could lead to electric shock accidents.

*Except the above: Single phase 180-253VAC.

Cover

Earth leakage breaker (NV)

Terminal

Rear side of controller

Protective earth terminal (PE)

Terminal cover

■ Revision history

Date of print Specifications No. Details of revisions

2000-02-08 BFP-A8050Z First print

2000-04-05 BFP-A8050 Formal style

2000-06-09 BFP-A8050-A The power supply voltage of CR1 controller was corrected

2001-03-12 BFP-A8050-B Error in writing correction.

2002-01-23 BFP-A8050-C LNG, RLNG and MESNGLSW parameters were added.

Error in writing correction.

2002-04-01 BFP-A8050-D CR1-MB (controller protction box) was added.

2002-06-03 BFP-A8050-E RV-1AC-SB, RV-2AJC-SB was added.

2002-07-05 BFP-A8050-F The description of input/output circuit terminal was corrected.

Error in writing correction.

■ Introduction

The "RV-1A" and "RV-2AJ" are compact industrial robots developed with Mitsubishi's advanced technology. These robots respond to users needs for compact and flexible production facilities generated due to the recent diffusion of compact and highly accuracy products such as personal computer related devices, information termi nal devices and compact electronic devices for mounting on vehicles, and due to shorter product life cycles.

However, to comply with the target application, a work system having a well-balanced robot arm, peripheral devices or robot and hand section must be structured. When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics and specifications can be easily understood by users considering the implementation of robots. However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer. Mitsubishi hopes that you will consider these standard specifications and use our robots.

In this manual, the specifications regarding the robot arm are given in Page 5, "2 Robot arm" and following, and the specifications regarding the controller are given in Page 38, "3 Controller" and following. Refer to the correspond ing sections for details on the specifications, options and maintenance parts, etc.

Note:

・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. ・ The contents of this manual are subject to change without notice. ・ The specifications values are based on Mitsubishi standard testing methods. ・ The information contained in this document has been written to be accurate as much as possible. Please inter

pret that items not described in this document "cannot be performed.". Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

Contents

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 Contents of the structural equipment ............................................................................................................................ 1-2

1.2.1 Robot arm ........................................................................................................................................................................... 1-2

1.3 Controller .................................................................................................................................................................................... 1-3

1.4 Contents of the Option equipment and special specification .............................................................................. 1-4

2 Robot arm ........................................................................................................................................................................................... 2-5

2.1 Standard specifications ........................................................................................................................................................ 2-5

2.2 Definition of specifications .................................................................................................................................................. 2-6

2.2.1 Pose repeatability and distance accuracy ............................................................................................................ 2-6

2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-7

2.2.3 Protection specifications and working environment ......................................................................................... 2-8

(1) Types of protection specifications ...................................................................................................................... 2-8

2.2.4 Clean specifications ........................................................................................................................................................ 2-9

(1) Types of clean specifications ................................................................................................................................. 2-9

2.3 Names of each part of the robot .................................................................................................................................... 2-10

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-11

(1) RV-1A/1AC-SB ........................................................................................................................................................ 2-11

(2) RV-2AJ/2AJC-SB ................................................................................................................................................... 2-12

(3) Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB .......... 2-13

2.5 Tooling ........................................................................................................................................................................................ 2-14

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-14

(1) RV-1A/2AJ (General environment) .................................................................................................................. 2-14

(2) RV-1AC-SB/2AJC-SB (Clean specification) .............................................................................................. 2-15

2.5.2 Internal air piping ............................................................................................................................................................ 2-16

2.5.3 Internal wiring for the pneumatic hand output cable ...................................................................................... 2-16

2.5.4 Internal wiring for the hand check input cable .................................................................................................. 2-16

2.5.5 Wiring and piping system diagram for hand ......................................................................................................... 2-17

(1) RV-1A/2AJ (General environment) .................................................................................................................. 2-17

(2) RV-1AC-SB/2AJC-SB (Clean specification) .............................................................................................. 2-19

2.5.6 Electrical specifications of hand input/output .................................................................................................. 2-21

2.5.7 Air supply circuit example for the hand ............................................................................................................... 2-22

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-23

2.6.1 Shipping special specifications ................................................................................................................................. 2-23

(1) Machine cable extension ........................................................................................................................................ 2-24

2.7 Options ....................................................................................................................................................................................... 2-26

(1) Motorized hand set ................................................................................................................................................... 2-27

(2) Pneumatic hand set .................................................................................................................................................. 2-29

(3) Solenoid valve set ..................................................................................................................................................... 2-31

(4) Hand input cable ........................................................................................................................................................ 2-33

(5) Hand output cable ..................................................................................................................................................... 2-34

(6) Hand curl tube ............................................................................................................................................................ 2-35

(7) Hand adapter ............................................................................................................................................................... 2-36

2.8 Maintenance parts ................................................................................................................................................................. 2-37

Page

3 Controller .......................................................................................................................................................................................... 3-38

3.1 Standard specifications ...................................................................................................................................................... 3-38

3.1.1 Standard specifications ............................................................................................................................................... 3-38

3.1.2 Protection specifications and operating supply ................................................................................................ 3-39

3.2 Names of each part .............................................................................................................................................................. 3-40

3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-42

3.3.1 Outside dimensions ...................................................................................................................................................... 3-42

3.3.2 Installation dimensions ................................................................................................................................................ 3-43

3.4 External input/output ......................................................................................................................................................... 3-44

3.4.1 Types .................................................................................................................................................................................. 3-44

3.4.2 Explanation ....................................................................................................................................................................... 3-44

3.5 Dedicated input/output ...................................................................................................................................................... 3-45

3.6 Emergency stop input/output ......................................................................................................................................... 3-47

3.6.1 Connection of the external emergency stop ..................................................................................................... 3-47

3.6.2 Door switch function ................................................................................................................................................... 3-48

3.7 Parallel input/output unit .................................................................................................................................................. 3-49

3.8 Options ...................................................................................................................................................................................... 3-53

(1) Teaching pendant (T/B) ........................................................................................................................................ 3-54

(2) Pneumatic hand interface ..................................................................................................................................... 3-57

(3) Controller protection box ...................................................................................................................................... 3-59

(4) Expansion option box .............................................................................................................................................. 3-62

(5) Parallel I/O unit ......................................................................................................................................................... 3-64

(6) External I/O cable .................................................................................................................................................... 3-72

(7) Personal computer cable ....................................................................................................................................... 3-74

(8) Personal computer support software/Personal computer support software mini ....................... 3-76

3.9 Maintenance parts ................................................................................................................................................................ 3-78

4 Software ........................................................................................................................................................................................... 4-79

4.1 List of commands ................................................................................................................................................................. 4-79

(1) The procedure of robot language selection ................................................................................................... 4-79

(2) MELFA-BASIC Ⅳ commands ............................................................................................................................. 4-80

(3) MOVEMASTER commands ................................................................................................................................... 4-82

4.2 List of parameters ................................................................................................................................................................ 4-85

(1) List of parameters .................................................................................................................................................... 4-85

(2) Change the display language / 表示言語の切り替え .............................................................................. 4-87

Page

5 Safety ................................................................................................................................................................................................ 5-88

5.1 Safety ........................................................................................................................................................................................ 5-88

5.1.1 Self-diagnosis stop functions .................................................................................................................................. 5-88

5.1.2 External input/output signals that can be used for safety protection measures ............................. 5-88

5.1.3 Precautions for using robot ...................................................................................................................................... 5-89

5.1.4 Safety measures for automatic operation .......................................................................................................... 5-89

5.1.5 Safety measures for teaching .................................................................................................................................. 5-89

5.1.6 Safety measures for maintenance and inspections, etc. ............................................................................. 5-89

5.1.7 Examples of safety measures .................................................................................................................................. 5-90

5.2 Working environment ........................................................................................................................................................... 5-91

5.3 Precautions for handling .................................................................................................................................................... 5-91

6Appendix ..............................................................................................................................................................................Appendix-92

Appendix 1 ： Specifications discussion material ........................................................................................... Appendix-92

1General configuration

1 General configuration

1.1 Structural equipment

Structural equipment consists of the following types.

1.1.1 Standard structural equipment

The following items are enclosed as a standard.

(1) Robot arm (2) Controller (3) Machine cable (4) Robot arm installation bolts (5) Instruction manual, Safety manual (6) Guarantee card

1.1.2 Shipping special specifications

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

1.1.3 Options

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

1.1.4 Maintenance parts

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

Structural equipment

1-1

1General configuration

1.2 Contents of the structural equipment

1.2.1 Robot arm

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

Vertical six-axis RV-1A: RV-1AC-SB:

General environment

Clean specification

Solenoid valve set

・1 set: 1E-VD01 ・ 2 set: 1E-VD02

・1 set: 1E-VD01E ・ 2 set: 1E-VD02E

Vertical five-axis multiple-jointed type RV-2AJ: RV-2AJC-SB:

Machine cable fixed type 5m

General environment

Clean specification

・1A-5CBL-1

Machine cable

・ Fixed type:1A- □□ CBL-1 ・ Flexed type:1A- □□ LCBL-1

Note) □□ refer the length.

Refer to section "1.4" for datails.

Pneumatic hand set

：

4A-HP01(sink type)/4A-HP01E (source type)

The set consists of the following parts.

Pneumatic hand

・

Solenoid valve set (1 pc.)

・・ Curl cable ：1A-GHCD/1A-GHCD

Hand curl tube

・

Pneumatic hand I/F

・・ Hand adapter ：1A-HA01/1A-HA01

：1A-HP01/1A-HP01E ：1E-VD01/1E-VD01E

：1A-ST0402C/1A-ST0402C ： 2A-RZ365/2A-RZ375

Note) Not

clean specification

Hand output cable ・1E-GR35S

Hand input cable ・1A-HC20

Hand curl tube

・

1 set, 2pc

・

2 set, 4pc

. ：1E-ST0402C . ：1E-ST0404C

With installation bolts.

Pneumatic hand customer-manufactured parts

With installation bolts.

Note) Not

Motorized hand set ： 4A-HM01 ・ Motorized hand ：1A-HM01 ・ Curl cable ：1A-GHCD ・ Motorized hand ・ Hand adapter ：1A-HA01

I/F

clean specification

： 2A-RZ364

With installation bolts.

Note) Not

Hand adapter ：1A-HA01

clean specification

［Caution］

Standard configuration equipment

Special shipping specifications

With installation bolts.

Option

Prepared by customer

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

1-2

Contents of the structural equipment

1.3 Controller

ETHERNET I/F ・ 2A-HR533E



The devices shown below can be installed on the controller.

Controller ・ CR1-571

Teaching pendant(T/B) ・ R28TB

Controller protection box

・ CR1-MB

1General configuration

Pneumatic I/F

・ 2A-RZ365 (Sink) ・ 2A-RZ375 (Source)

Expansion option box ・ CR1-EB3

Personal computer cable

・ RS-MAXY-CBL ・ RS-AT-RCBL

Parallel I/O unit

・ 2A-RZ361 (Sink) ・ 2A-RZ371 (Source)

Extended serial I/F ・ 2A-RZ581E

Personal computer Prepared by customer

External I/O cable

・ 2A-CBL05(5m) ・ 2A-CBL15(15m)

CC-LINK I/F ・ 2A-HR575E

Personal computer support software

(MS-Windows95/98/NT4.0) ･ 3A-01C-WINE(CD-ROM) Personal computer support software mini

(MS-Windows95/98/NT4.0) ･ 3A-02C-WINE(CD-ROM)

PLC(Programmable Logic Controller) External device

Prepared by customer

Additional axis I/F ・ 2A-RZ541E

Fig.1-2 ： Structural equipment(Controller)

［Caution］

Standard configuration equipment

Special shipping specifications

Option

Prepared by customer

Controller

1-3

1General configuration

1.4 Contents of the Option equipment and special specification

A list of all Optional equipments and special specifications are shown below. Table 1-1：The list of Option equipment and special specification

Item Type Specifications

Extended machine cables 1A-10CBL-1

1A-15CBL-1□15ｍ 1A-05LCBL-1 1A-10LCBL-1□10ｍ 1A-15LCBL-1□15ｍ

Pneumatic hand set 4A-HP01

4A-HP01E

Motorized hand set 4A-HM01

Solenoid valve set 1E-VD011 set(Sink type) ○ A solenoid valve set for the pneumatic hand.

1E-VD02 2 set(Sink type) ○ 1E-VD01E 1 set(Source type) ○ 1E-VD02E 2 set(Source type) ○

Hand output cable 1E-GR35S Length 350mm with robot side con

Hand input cable 1A-HC20 Length 200mm with robot side con

Hand curl tube 1E-ST0402C For solenoid valve 1set.:Φ4x2 ○

1E-ST0404C For solenoid valve 2set.:Φ4x4 ○ Hand adapter 1A-HA01○ Teaching pendant R28TB Cable length 7m ○ With 3-position deadman switch/ IP 65 Pneumatic hand interface

Parallel I/O interface

External I/O cable 2A-CBL05 5m ○ Use to connect the external peripheral device to

Personal computer cable

Personal computer Support software

Personal computer Support software mini

Expansion option box CR1-EB3 Up to three option cards can be

Extended serial interface

CC-Link interface 2A-HR575E Local station (The local station

ETHERNET interface 2A-HR533E ETHERNET x 1○CR-EB3 is need. Additional axis interface 2A-RZ541ESSC x 1

Controller protection box CR1-MB IP54 □

2A-RZ365

2A-RZ375

2A-RZ361

2A-RZ371

2A-CBL15 15m ○

RS-MAXY-CBL

RS-AT-RCBL ○

3A-01C-WINE CD-ROM ○

3A-02C-WINE CD-ROM ○

2A-RZ581E

For fixing (Two sets for power and signal)

For flexed (Two sets for power and signal)

Pneumatic hand, Solenoid valve set (1 pc.), Curl tube(1 pc.), Pneumatic hand I/F, Hand adapter, Installation bolts

Motorized hand, Hand curl cable, Motorized hand I/F, Hand adapter, Installation bolts

nector. One terminal is not treated.

DO: 8 point (Sink type)

DO: 8 point (Source type)

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

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

RS-232C cable 3m for PC-AT com patible model

mounted RS-232C x 1

RS-232C or RS-422 x 1

alone is supported.)

Up to 8 axises can be added

*1)

Note1) In the classification column, ○ refers to an option,and □ to a Sipping special specifications. Note2) Use this option to protect the controller from the oil mist when the controller will be installed in the environ

ment such as the oil mist.

Classific

ation

□10ｍ

□ 5m

The pneumatic hand and required parts are pre

○

pared in a set.(sink type)

The pneumatic hand and required parts are pre

○

pared in a set.(source type)

The motorized hand and required parts are pre

○

pared in a set.

The cable is connected to the hand output con

○

nector by the customer.

The cable is connected to the sensor by the cus

○

tomer.

Curl type air tube For RV-M1 hand installation flange conversion.

It is necessary when the hand output signal of the

○

robot arm is used. (Integrated in the controller.) *1)In RV-1A/2AJ type, even four points are

○

effective. The unit for expansion the external input/output.

○

Electrical isolated Type (100mA/Point)

○

the parallel input/output unit

Use RS-AT-RCBL for the connection from the

○

expansion option box.

MS-Windows95/98/NT4.0 (With the simulation function)

MS-Windows95/98/NT4.0 (Without the simulation function)

○ Install on the side of the controller

CR-EB3 is need.

○

for MELSEC PLC with CC-Link connection. CR-

○

EB3 is need.

MR-J2 servoAmplifer Unit connection. CR-EB3 is

○

need. The controller protection box is used to protect

the controller from an oil mist or other operating environment.

Descripsion

Note2)

1-4

Contents of the Option equipment and special specification

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-1ARV-1AC-SB RV-2AJ RV-2AJC-SB Degree of freedom 6 5 Installation posture On floor, hanging On floor On floor, hanging On floor Structure Vertical, multiple-joint type Drive system ACservo motor (J1 toJ3:50W with brake, J4,J6:15W no brake, J5:15Wwith brake) Position detection method Absolute encoder

Shoulder shift Upper arm 250

Arm length

Operating range

Speed of motion

Maximum resultant velocity mm/s Approx. 2200 Approx. 2100

Load

Pose repeatability Ambient temperature ℃ 0 to 40 Mass kg Approx. 19 Approx. 17

Allowable moment load

Allowable inertia

Arm reachable radius (front p-axis center point)

Tool wiring

Tool pneumatic pipes

Supply pressure MPa 0.5 ±10% Protection specification Degree of cleanliness Paint color Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)

Fore arm 160 Elbow shift 90 0 Wrist length 72 J1 J2 180(-60 to +120) J3 　 95(+60 to +155) 230(-110 to +120) J4 320(-160 to +160) － J5 180(-90 to +90) J6 400(-200 to +200) J1 J2 90 J3 135 J4 180 － J5 180 J6 210

Maximum Rating 11.5

J4 J5 1.44 2.16 J6 0.73 1.10 J4 J5 2.16x10 J6 5.62x10

Note3)

Note1)

Note2)

Note4)

Note5)

ｍｍ

Degree

Degree/

ｍｍ ± 0.02

N ･ m

kg ･ｍ

mm 418410

Φ4x4 (Base to hand

Four input signals (Hand section), Four output signals (Base section),

section)

IP30 － IP30 －

－100(0.3μm) －100(0.3μm)

1.5 2

1.44 －

-2

2.16x10

-2

-3

Motorized hand output (Hand section)

Φ4x3 (Base to hand

section)

Note1)The maximum load capacity is the mass with the flange posture facing downword at the ±10 degree

limit.

Note2)The pose repeatability details are given in Page 6, "2.2.1 Pose repeatability and distance accuracy" Note3)When using the 4-point hand output, the pneumatic hand interface (option) is required.

Note4)The protection specification details are given in Page 8, "2.2.3 Protection specifications and working

environment" .

Note5)The down flow (0.3m/s or more) in the clean room and the internal suction by using attached vacuum

generating valve are necessary conditions for the cleanliness.

300(-150 to +150)

180

Φ4x4 (Base to hand

section)

－

-2

3.24x10

-3

8.43x10

Φ4x3 (Base to hand

section)

2Robot arm

Standard specifications

2-5

2 Robot arm

2.2 Definition of specifications

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

2.2.1 Pose repeatability and distance accuracy

This robot, the pose repeatability and distance accuracy are defined and calculated in Table 2-2.

(1) The pose accuracy in terms of coordinates (XYZ) for the standard point which is obtained repeatedly under

the same conditions and motions when the robot is on an operating course.

(2) The standard point is the intersection between the J6 axis and the flange surface for tooling installation.

Table 2-2 ： Specified accuracy

Item Specified conditionds

Pose repeatability The value equal to the average of the maximum value and the minimum value of the group of

attained poses, with (+) or (-) added.

Distance accuracy The distance from the teaching point to the point that is equal to the average of the maximum

value and the minimum value of the group of attained poses.

Group of attained poses

Programmed pose

Min.

(X, Y, Z)

Max.

Measuring conditions

Load ................................................................A load equal to the rated

load at the mass capacity

Double of pose repeatability

Distance accuracy

The number of repitition and speed ..100 times at 100% speed

Measuring instrument ..............................Non-contact displace

reference point

ment meter

Fig.2-1：Specified accuracy

[Caution] The pose accuracy given in the specifications is the accuracy measured under the same conditions. It

does not include the effect of the robot working environment or conditions. Thus, even when used on the same path, the repeatability according to the presence of a workpiece, or the repeatability when the temperature changes will cause arm slack or expansion, so the accuracy will drop slightly. This also applies to when the teaching speed and actual speed are different or when the coordinates set with val ues.

2-6

Definition of specifications

２ Robot arm

2.2.2 Rated load (mass capacity)

The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions. When designing the tooling or when selecting a robot, consider the fol lowing issues.

(1) The tooling should have the value less or equal than the smaller of the tolerable inertia and the tolerable

moment found in Page 5, "Table 2-1： Tab Standard specifications of robot".

(2) Fig. 2-2 and Fig. 2-3shows the distribution dimensions for the center of gravity in the case where the vol

ume of the load is relatively small. Use this figure as a reference when designing the tooling.

(3) When the load is not mass, but force, you should design the tooling so that it does not exceed the value for

allowable moment described in Page 5, "Table 2-1： Tab Standard specifications of robot".

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

Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/decel eration, 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. Conse quently, accuracy cannot be guaranteed for the entire tooling area. Since accuracy is based on the cen ter point of the mechanical interface surface, position accuracy can diminish as you go away from the flange surface, or vibration can result, with tooling that is not rigid or that is long.

Maximum load capacity

Maximum load capacity Maximum load capacity with the flange posture facing downword

with the flange posture facing downword

with the flange posture facing downwordwith the flange posture facing downword

150

150150 136

136

136136

0.3kg

300

300300

0.3kg0.3kg

200

200200

250

250250

268

268 207

268268

207 147

207207

0.5kg

0.5kg0.5kg

1.0kg

1.0kg1.0kg

150

150150

147 97

147147

100

100100

1.5

1.51.5

kgkg

7272

9797

106

106106 100

100

100100

7575

5050

0000150

5050

Rotation center for J6 axis

7575

100

100100 106

106

106106

136

136136 150

150

150150

Rotation center for J6 axis Rotation center for J6 axis

Rotation center for J5 axis

Rotation center for J5 axis Rotation center for J5 axis

Fig.2-2 ： Position of center of gravity for loads (for loads with comparatively small volume) ： RV-1A/1AC-SB

Maximum load capacity

Maximum load capacity Maximum load capacity with the flange posture facing downword

with the flange posture facing downword

with the flange posture facing downwordwith the flange posture facing downword

150

150150

129

129129

0.5kg

0.5kg0.5kg

1.0kg

1.0kg1.0kg

1.5kg

1.5kg1.5kg

2kg

2kg2kg

100

100100

9191

7575 56

5656

110

110110

7272

0000

5656

7575 91

9191

100

100100

129

129129

150

150150

Rotation center for J6 axis

Rotation center for J6 axis Rotation center for J6 axis

Rotation center for J5 axis

Rotation center for J5 axis Rotation center for J5 axis

300

300300

250

250 200

200 150

250250

200200

254

254 180

254254

150 100

150150

180 147

147 110

180180

147147

100

100100

Fig.2-3 ： Position of center of gravity for loads (for loads with comparatively small volume) ： RV-2AJ/2AJC-SB

Definition of specifications

2-7

２ Robot arm

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

The robot arm has protection specifications that comply with the IEC Standards. The protection specifications and applicable fields are shown in Table 2-3.

Table 2-3 ： Protection specifications and applicable fields

Protection

specifications

General-purpose envi ronment specifications

CAUTION

IEC Standards

value

IP30 General assembly

Slightly dusty environment

Use the controller protection box (CR1-MB) optional to protect the controller from

Applicable field Remarks

the environment when the controller will be used in the environment such as the oil mist shown in the Table 2-3. Refer to the section Page 59, "(3) Controller protection

box" for details on the controller protection box.

【Information】・ The IEC IP30

IP30 refers to a protective structure with which the tip of a solid object, such as a tool or wire, having a diameter or thickness exceeding 2.5mm cannot enter. No particular protection is provided against the entry of water.

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

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

2) In surroundings where water, oil, and chips fall directly on the robot.

3) Mist atmosphere exceeding the specification.

2-8

Definition of specifications

2.2.4 Clean specifications (1) Types of clean specifications

The clean specifications of robot arm shown in Table 2-4. Please confirm the delivery date, because both are special specifications. Table 2-4 ： Clean specifications

２ Robot arm

Clean

specifications

Type SB RV-1AC-SB

Type

RV-2AJC-SB

Degree of

cleanliness

100(0.3μm) Internal suction with vaccum generating valve. A vacuum generating

Internal suction Remarks

valve (refer to Table 2-

5) is enclosed.

Table 2-5 ： Specifications of vacuum generation valve

Type Maker Air pressure

MEDT 10 Koganei 0.2 to 0.6 MPa

■ Precautions for use

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

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

2) In the case of clean specification robot, the base side hoses are four and fore arm side hoses are three.

Prepare the hose of Φ4 x 2.5 and connect this joint to the appended vacuum generating valve or the vac uum pump prepared by the customer. * If the appended vacuum generating valve is used, connect the rear joint of the robot to the joint on the

"VACUUM" side of the vacuum generating valve. Moreover, in order to prevent the exhaust of the vacuum generating valve from impairing the cleanness, install the vacuum generating valve on the downstream side of the down flow or attach the filter to the exhaust section as possible. Recommended filter: Exhaust filter EF300-02, Koganei Corporation

* If any vacuum pump is prepared by the customer, assure on the vacuum side flow rate 50 liters/min.(ANR)

or more .

Definition of specifications

2-9

２ Robot arm

2.3 Names of each part of the robot

Fore arm

J5-axis

－

＋

J6-axis

Mechanical interface

(Hand installation flange surface)

－

＋

－

Shoulder

Note)

J4-axis

－

J1-axis

Elbow block

＋

Upper arm

＋

－

J3-axis

＋

J2-axis

Base

Fig.2-4 ： Names of each part of the robot

2-10

Names of each part of the robot

Note)J4-axis dosen't exist for 5-axis type.

2.4 Outside dimensions ・ Operating range diagram

(1) RV-1A/1AC-SB

Ｐ point path

２ Robot arm

Operating range at section of X-X

Flange downward limit line(dotted line)

Machine cable (Connect to the controller)

(Front)

Flange downward

Solenoid valve (optional) installation position

singular point path

Ｐ point path

150 or more

(Back projects)

Note 1) Refer to Fig. 2-7 for the hand installation flange section and installation base section dimensions.

Approx. 70

pose

Fig.2-5 ： Outside dimensions for RV-1A/1AC-SB

Outside dimensions ・ Operating range diagram

2-11

２ Robot arm

(2) RV-2AJ/2AJC-SB

Ｐ point path

(Front)

Solenoid valve (optional) installation position

Operating range at section of X-X

Flange downward limit line(dotted line)

Ｐ point path

Machine cable (Connect to the controller)

150 or more

Back side limitations (Two dotted line)

Approx. 70

Note 1) Refer to Fig. 2-7 for the hand installation flange section and installation base section dimensions.

Fig.2-6 ： Outside dimensions for RV-2AJ/2AJC-SB

2-12

Outside dimensions ・ Operating range diagram

pose

(3) Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB

φ5H7, depth 8

reference hole

(

4-M5 screw,depth 8

4-M3 screw, depth 6

View from A

)

φ20H7,

φ40H8,

depth 4

depth 6.5

Detail of Mechanical interface

(ISO9409-1 )

２ Robot arm

Front

6.3a

Installation reference surface

6.3a

4-φ9 hole (Installation bolts for M8×35)

View from B : Installation dimension details

・The contact section shown with shading on the robot installation surface must be finished to 6.3a. ・The section marked with * must be contacted against the installation surface to ensure the robot rigidity

Fig.2-7 ： Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB

Outside dimensions ・ Operating range diagram

2-13

２ Robot arm

2.5 Tooling

2.5.1 Wiring and piping for hand

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

(1) RV-1A/2AJ (General environment)

Number of coupling for hand

AIR OUT 1 2 3 4

(1) Hand input signal or motorized hand connectors

(3) 1 to 4 : Secondary piping couplings (φ4)

Note) This parts dosn't exist for 5-axis type

Note)

Solenoid valve set(optional) installation section

9 8 7 6 5 4 3 2 1

ＣＯＮ１Ｈ

Hand connector pin assignment

Hand input signal and motorized hand cables

Secondary piping hoses (φ4*4)

Note1)When using the hand output signal, it is necessary to use the optional pneumatic hand interface (2A-RZ365/2A-RZ375) Note2)The user must prepare the φ4 and φ6 　　　　 pneumatic hoses for connecting to the solenoid valve set.

Secondary piping pneumatic hoses(φ4) Note2)

Magnification

GR1 GR2 GR3 GR4

Number of connector for hand output. Number of coupling for hand.

1 234

AIR IN

Connector and pneumatic coupling

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

No Name Qty.

(1) Connector 1 SMP-09V-BC BHF-001GI-0.8BS SMP-09V-B BYM-001T-0.6 Japan solderless ter

(2) Connector 4 SMP-02V-BC BHF-001GI-0.8BS SMR-02V-B BYM-001T-0.6

(3) Coupling 4 TSH4-M5M －－－Koganei

(4) Coupling 4 UKBL4 －－－

Connectors,

couplings

Connector pins Connector Connector pins

GR1 to GR4 : Connect to the b) Hand output connector

Primary piping pneumatic hoses(φ6*1) Note2)

CN2 CN1

Machine cable connector (Power supply)

Machine cable connector (Signals)

(2)GR1 to GR4:Connect to the b) Hand output connector

(4) AIR IN 1 to 4:Connect to the a) Secondary piping air coupling(φ4)

Manufacturer

minal MFG. Co.,LTD

Fig.2-8 ： Wiring and piping for hand (RV-1A/2AJ)

2-14

Tooling

(2) RV-1AC-SB/2AJC-SB (Clean specification)

Number of coupling for hand

AIR OUT 1 2 3 4

(1) Hand input signal or motorized hand connectors

Not use

(3) 1 to 3 : Secondary piping couplings (φ4)

Note) This parts dosn't exist for 5-axis type

Note3) Solenoid valve set (optional, not clean secification) installation section

２ Robot arm

9 8 7 6 5 4 3 2 1

Hand connector pin assignment

（φ4x4: One of those is used for internal suction）

Note1)When using the hand output signal, it is necessary to use the optional pneumatic hand interface. (2A-RZ365/2A-RZ375) Note2)The user must prepare the φ4 and φ6 　　　　 pneumatic hoses for connecting to the solenoid valve set. Note3)The φ 6 pneumatic hose (for exhaust and compressed air) and φ 4 pneumatic hose (for suction) must be prepared by the user. Note4)The vacuum solenoid valve must be fixed by the user. Note5)Suction is possible by connecting the vacuum pump which is prepared by the user. In this case, select a flow rate of 50 liters/min. as a guideline.

ＣＯＮ１Ｈ

Hand input signal and motorized hand cables

（Not use）

Secondary piping hoses

Internal suction （φ4）

Secondary piping pneumatic hoses(φ4) Note2)

Magnification

Number of connector for hand output. Number of coupling for hand.

GR1 GR2 GR3 GR4

1 234

AIR IN

GR1 to GR4 : Connect to the b) Hand output connector

Primary piping pneumatic hoses(φ6*1) Note2)

CN2 CN1

Machine cable connector (Power supply)

Machine cable connector (Signals)

(2)GR1 to GR4:Connect to the b) Hand output connector

Coupling for internal suction

(4) AIR IN 1 to 4:Connect to the a) Secondary piping air coupling(φ4)

Vacuum solenoid valve　Note4)

For suctionφ4 Note5)

Exhaustφ6　Note3）

Compressed airφ6 Note3)

Connector and pneumatic coupling

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

No Name Qty.

(1) Connector 1 SMP-09V-BC BHF-001GI-0.8BS SMP-09V-B BYM-001T-0.6 Japan solderless ter

(2) Connector 4 SMP-02V-BC BHF-001GI-0.8BS SMR-02V-B BYM-001T-0.6

(3) Coupling 3 TSH4-M5M －－－Koganei

(4) Coupling 4 UKBL4 －－－

Connectors,

couplings

Connector pins Connector Connector pins

Manufacturer

minal MFG. Co.,LTD

Fig.2-9 ： Wiring and piping for hand (RV-1AC-SB/2AJC-SB)

Tooling

2-15

２ Robot arm

2.5.2 Internal air piping

(1) The robot has four φ4 x 2.5 urethane hoses from the pneumatic entrance on the base section to the foure

arm side.They are three in the case of clean specification.

(2) The hose end section has four coupling bridges for a φ4 hose on both the base and forearm side. In the case

of clean specification robot, the base side hoses are four and fore arm side hoses are three.

(3) The robot can have up to two pneumatic valve sets on the side of base (optional). (4) Refer to Page 31, "Solenoid valve set" for details on the electronic valve set (optional).

2.5.3 Internal wiring for the pneumatic hand output cable

(1) The hand output cable extends from the connector of the base section to the side of the base section.

(AWG#24(0.2mm connector names are GR1 to GR4.

) x 2 : 4 cables) The cable terminals have connector bridges for four hand outputs. The

2.5.4 Internal wiring for the hand check input cable

(1) The hand check input cable is wired to four points on the forearm side from the base.

2-16

Tooling

2.5.5 Wiring and piping system diagram for hand

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

(1) RV-1A/2AJ (General environment)

２ Robot arm

During use of motorized hand I/F(optional)

During use of pneumatic hand I/F(optional)

1 2 3 4 5 6 7 8

1 2

3 4

<+24V>

<0V(COM)>

6 7 8 9

<+24V>

<0V(COM)>

<DC+>

<DC->

Note1）

During use of pneumatic hand I/F.

White Black

*1 *1

*1 is dedicated for the motorized hand. It is valid when the motorized hand interface is installed.

General-purpose output

Hand 1 ON/OFF

Hand 2 ON/OFF

General-purpose output

White Black White Black White Black

General-purpose input No.

900 901 902 903

900

+24V

901

+24V

902

+24V

903

+24V

GR1

１２

GR2

１２

GR3

１２

GR4

１２

White Black

Robot controller

Solenoid valve section

Solenoid valve manifold

Connect to the primary air supply

(φ6 hose)

AIR OUT1 AIR OUT2 AIR OUT3 AIR OUT4

φ4 quick coupling bridge(1 to 4)

φ4 hose(4 hoses)

Wrist section

Shoulder section

Base section

φ４ quick coupling

AIR IN1 AIR IN2 AIR IN3 AIR IN4

Solenoid valve installation section (optional)

*Refer to Fig. 2-14 for air supply cir

cuit example.

Fig.2-10 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)

Tooling

2-17

２ Robot arm

During use of motorized hand I/F(optional)

During use of pneumatic hand I/F(optional)

1 2 3 4 5 6 7 8

1 2

3 4

<+24V(COM)>

<0V>

6 7 8 9

<+24V(COM)>

<0V>

<DC+>

<DC->

Note1）

During use of pneumatic hand I/F.

White Black

*1 *1

*1 is dedicated for the motorized hand. It is valid when the motorized hand interface is installed.

General-purpose output

Hand 1 ON/OFF

Hand 2 ON/OFF

General-purpose output

White Black White Black White Black

General-purpose input No.

900 901 902 903

900 24G

901 24G

902 24G

903 24G

GR1

１２

GR2

１２

GR3

１２

GR4

１２

White Black

Robot controller

Solenoid valve section

Solenoid valve manifold

Connect to the primary air supply

(φ6 hose)

AIR OUT1 AIR OUT2 AIR OUT3 AIR OUT4

φ4 quick coupling bridge(1 to 4)

φ4 hose(4 hoses)

Wrist section

Shoulder section

Base section

φ４ quick coupling

AIR IN1 AIR IN2 AIR IN3 AIR IN4

Solenoid valve installation section (optional)

*Refer to Fig. 2-14 for air supply cir

cuit example.

Fig.2-11 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)

2-18

Tooling

(2) RV-1AC-SB/2AJC-SB (Clean specification)

A A A

２ Robot arm

During use of pneumatic hand I/F.

<+24V>

<0V(COM)>

8 9

White Black

Hand 1 ON/OFF

Hand 2 ON/OFF

White Black White Black White Black

General-purpose output

General-purpose input No.

900 901 902 903

900

+24V

901

+24V

902

+24V

903

+24V

GR1

１２

GR2

１２

GR3

１２

GR4

１２

White Black

Robot controller

Solenoid valve section

Solenoid valve manifold

Connect to the primary air supply

(φ6 hose)

IR OUT1 IR OUT2 IR OUT3

φ4 quick coupling bridge(1 to 4)

φ4 hose(4 hoses)

Internal suction

Wrist section

Shoulder section

Base section

φ４ quick coupling

AIR IN1 AIR IN2 AIR IN3

AIR IN4

Vacuum solenoid valve

Solenoid valve installation section (optional)

*Refer to Fig. 2-14 for air supply cir

cuit example.

Fig.2-12 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)

Tooling

2-19

２ Robot arm

A A A

During use of pneumatic hand I/F.

<24V(COM)>

<0V>

White Black

Hand 1 ON/OFF

Hand 2 ON/OFF

White Black White Black White Black

General-purpose output

General-purpose input No.

900 901 902 903

900

24G

901

24G

902

24G

903

24G

GR1

１２

GR2

１２

GR3

１２

GR4

１２

White Black

Robot controller

Solenoid valve section

Solenoid valve manifold

Connect to the primary air supply

(φ6 hose)

IR OUT1 IR OUT2 IR OUT3

φ4 quick coupling bridge(1 to 4)

φ4 hose(4 hoses)

Internal suction

Wrist section

Shoulder section

Base section

φ４ quick coupling

AIR IN1 AIR IN2

AIR IN3 AIR IN4

Vacuum solenoid valve

*Refer to Fig. 2-14 for air supply cir

Solenoid valve installation section (optional)

cuit example.

Fig.2-13 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Source type)

2-20

Tooling

2.5.6 Electrical specifications of hand input/output

3.3K

820

24V

HCn

24V(COM)

24V

（Internal power supply）

GRn

Fuse

1.6A

Fuse

1.6A

GRn

24V

Table 2-6 ： Electrical specifications of input circuit

Item Specifications Internal circuit

Type DC input

No. of input points 4

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)

820

3.3K

24V

HCn

0V(COM)

２ Robot arm

Table 2-7 ： Electrical specifications of output circuit

Item Specification Internal circuit

Type Transistor output

No. of output points 4

Insulation method Photo coupler insulation

Rated load voltage DC24V Rated load voltage range DC21.6 to 26.4VDC Max. current load 0.1A/ 1 point (100%) Current leak with power OFF 0.1mA or less

Maximum voltage drop with power ON DC0.9V(TYP.)

Response time 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

* HCn ＝ HC1～HC4

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

* GRn ＝ GR1～GR4

Tooling

2-21

2 Robot arm

2.5.7 Air supply circuit example for the hand

Fig. 2-14 shows an example of pneumatic supply circuitry for the hand.

(1) Place diodes parallel to the solenoid coil. (2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be

damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-14 and use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pressure clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes dam aged.

Pneumatic source

0.7MPa less

Filter

Regurater

Fig.2-14 ： Air supply circuit example for the hand

Pressure switch

To the solenoid valve primary air supply port

（0.5MPa

±10%）

2-22

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

■ What are Sipping special specifications?

Shipping special specifications are changed at the time of shipment from the factory. Consequently, customer need to confirm the delivery date. To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.

■ How to order (1) Confirm beforehand when the Factory special specifications can be shipped, because they may not be

immediately available.

(2) Order before the factory shipping date. (3) Specified method …… Specify the part name, model, and robot model type.

２ Robot arm

Shipping special specifications, options, and maintenance parts

2-23

２ Robot arm

(1) Machine cable extension

■ Order type ：●Fixed type(10m) :1A-10CBL-1

● Fixed type(15m) :1A-15CBL-1

● Flexed type(5m) :1A-05LCBL-1

● Flexed type(10m) :1A-10LCBL-1

● Flexed type(15m) :1A-15LCBL-1

■ Outline

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

■ Configuration Table 2-8 ： Configuration equipments and types

Part name Type

Motor signal cable (for fixed type) 1E- □□ CBL(S)-N 1 cable － 10m, or 15m each

Motor power cable (for fixed type) 1A- □□ CBL(P)-11 cable － 10m, or 15m each

Motor signal cable (for flexed type) 1E- □□ LCBL(S)-N － 1 cable 5m, 10m, or 15m each

Motor power cable (for flexed type) 1A- □□ LCBL(P)-1－ 1 cable 5m, 10m, or 15m each

Nylon clamp NK-18N － 2 pcs.

Nylon clamp NK-14N － 2 pcs.

Silicon rubber － 4 pcs.

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

Qty.

Fixed Flexed

Remarks

■ Specifications The specifications for the fixed type cables are the same as those for standard cables. Shows usage conditions for flexed type cables in Table 2-9.

Table 2-9 ： Conditions for the flexed type cables

Item Specifications

Minimum flexed radius 100R or more

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

Maximum movement speed 2000mm/s or less

Warranty life (no.) 7.5 million times

Environmental proof Oil-proof specification sheath

Cable configuration Motor power cable Φ6.5x10

Motor signal cable Φ7x6 and Φ1.7x1

(for silicon grease, cable sliding lubricant type)

[Caution] The warranty life may greatly differ according to the usage state (items related to Table 2-9 and to the

amount of silicon grease applied in the cable conduit.

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

2-24

Shipping special specifications, options, and maintenance parts

■ Cable configuration The configuration of the flexible cable is shown in Table 2-10. Refer to this table when selecting the cable bare.

Table 2-10 ： Cable configuration

Item

No. of cores

Finish dimensions

No.of cables used 6 cables

No. in total 7 cables 10 cables

AWG#24(0.2mm

Approx.

Motor signal cable

1E- □□ LCBL(S)-N

) -4P AWG#18(0.75mm2)AWG#18(0.75mm2) -3C

φ7mm

Approx.

cable

φ1.7mm

Motor power cable

1A- □□ LCBL(P)-1

φ6.5mm

cables

Approx.

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

■ Fixing the flexible cable

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

shown in Fig. 2-15, and fix with the nylon clamp to protect the cable from external stress.

２ Robot arm

300～400mm

Nylon clamp

NK-14N

Nylon clamp

NK-18N

Nylon clamp

Fig.2-15 ： Fixing the flexible cable

300～400mm

1A-□□LCBL(P)-1

1E-□□LCBL(S)-N

Nylon clamp

NK-14N

Nylon clamp

NK-18N

Silicon rubber

Shipping special specifications, options, and maintenance parts

2-25

２ Robot arm

2.7 Options

■ What are options?

There are a variety of options for the robot designed to make the setting up process easier for customer needs. customer installation is required for the options. Options come in two types: "set options" and "single options".

1. Set options ...................................... A combination of single options and parts that together, from a set for serving

some purpose.

2. Single options ................................. That are configured from the fewest number of required units of a part.

Please choose customer's purpose additionally.

■ Precautions for optional of motorized hand, pneumatic hand and solenoid valve (1) About clean specification robot

The motorized hand, solenoid valve set and pneumatic hand can be installed, but its cleanliness is not under war ranty.

(2) About customer manufactured hand

Though the motorized hand can't be manufactured by customer, the pneumatic hand can be manufactured.

Put the precaution together in the following.

Item

Pneumatic hand set

Motorized hand set

Solenoid valve set

Pneumatic hand This can be manufactured by customer

Motorized hand This cannot be manufactured by customer

General environment specification

RV-1A/2AJ

Installation possible

But the cleanliness cannot be guaranteed.

Clean specification

RV-1AC-SB/2AJC-SB

Installation possible

2-26

Options

)

(1) Motorized hand set

■ Order type ： 4A-HM01

■ Outline ・ Motorized hand and the required parts come in a set. ・ As air is not required, the hand can be used in laboratories. ・ The gripping force can be adjusted. ・ The life is 10,000,000 times at a 50% load. The 50% load refers to when the max. load

mass in Table 2-12 are all within 50%.

■ Configuration

Table 2-11 ： Configuration equipment

Part name Type Qty. Remarks

Motorized hand 1A-HM011 pc.

Hand curl cable 1A-GHCD 1 pc.

Motorized hand I/F 2A-RZ364 1 pc.

Installation bolt (with hole) M3 × 84 bolts

M3 ×122 bolts

Hand adapter 1A-HA011 pc. The adapter for installing the motorized hand to the

robot's mechanical interface.

２ Robot arm

■ Specifications

Table 2-12 ：

Drive method DC servo motor

Grip force 4.9 ～ 68.6N

Life 1,000,000 times cycle 100% load.

Repetition accuracy 0.03mm

Ambient temperature 0 to 40 ℃

Ambient humidity 45 to 85%

Atomosphere With no of oil mist, chip, powder dust.

Operation confirmation sensors None

Mass 0.59kg Including the adapter.

Maximum load per fin ger

Motorized

hand specifications

Item Spacifications Remarks

（Each side grip is2.45 ～ 34.3N）

10,000,000 times cycle 50% load.

Radial 300N

Mpo moment 6.2N ・ m

Mro moment 10.8N ・ m

Myo moment 6.0N ・ m

RadialRadial

Radial

When installing the finger attachment, avoid shock or excessive moment to the tips.

Others

LpLp

Mpo

MpoMpo

FpFp

(=Lp*Fp)

(=Lp*Fp)(=Lp*Fp)

FrFr

Mro

MroMro

(=Lr*Fr)

(=Lr*Fr)(=Lr*Fr)

LrLr

The stroke cannot be adjusted. Prepare the finger procured by the customer.

LyLy

FyFy

Myo

MyoMyo

(=Ly*Fy)

(=Ly*Fy

(=Ly*Fy)(=Ly*Fy

Options

2-27

２ Robot arm

Motorized hand body

Adapter

1A-HA01

2-M3x12

(Hexagon socket bolt)

Approx. 70

4*2-M3

4-M3x8

(Hexagon socket bolt)

(From finger center)

4-Φ3.4 hole (90 degree division)PCD70

(Φ6.5x4 spot facing on the reverse side)

Hand body

Hand curl cable

Connector

160±10

Curl cable for bending

Fig.2-16 ： Motorized hand outside dimensional drawing

(150)

φ11

40±10

Curl cable Type 1A-GHCD

Connector

[Wiring system diagram]

Yellow

For pneumatic

hand

DC+

DCReserve Reserve Reserve

Purple

Brown

Blue

Red

Black

8 3 4 9

6 5 4 3

2-28

Options

)

(2) Pneumatic hand set

■ Order type: 4A-HP01 (Sink type) 4A-HP01E (Source type)

■ Outline

・ Pneumatic hand and the required parts come in a set. ・ The hand has a life of 10 million cycles. ・ There is a sensor at the open/close end.

■ Configuration

Table 2-13 ： Configuration equipment

Part name Type

4A-HP01 4A-HP01E

Pneumatic hand 1A-HP011 pc. -

1A-HP01E-1 pc.

Hand curl tube (1 set: 2pc.) 1A-ST0402C 1 pc. 1 pc. Refer to the section on Page 35, "(6) Hand curl tube".

Curl cable 1A-GHCD 1 pc. 1 pc.

Pneumatic hand interface 2A-RZ365 1 pc. -

2A-RZ375 - 1 pc.

Solenoid valve set (1 set) 1E-VD011 pc. -

1E-VD01E-1 pc.

Installation bolt (with hole) M3 x 8 4 bolts 4 bolts

M3 x 12 4 bolts 4 bolts

Adapter 1A-HA011 pc. 1 pc. The adapter for installing the pneumatic hand to the robot's

■ Specifications

Table 2-14 ： Pneumatic hand specifications

Item Spacifications Remarks

Operating fluid Clean air

Operating pressure range 0.04 to 0.7MPa

Operating temperature range 0 to 40 ℃

Open/close stroke

Life 10 million cycles or more

Operating method Double action

Mass 0.45kg Includes the adapter

Open/close confirmation sensor Open edge and close edge

Pneumatic coupling size Φ4 (quick coupling) Connection hose diameter: Φ4

Maximum load per finger Radial 700N

Mpo moment 6.2N ・ m

Mro moment 10.8N ・ m

Myo moment 6.0N ・ m

Qty.

Pneumatic hand body.

Refer to the section on Page 57, "(2) Pneumatic hand inter

face".

Refer to the section on Page 31, "(3) Solenoid valve set".

mechanical interface.

When installing the finger attachment, avoid shock or excessive moment to the tips.

Remarks

２ Robot arm

LpLp

RadialRadial

Radial

Mpo

MpoMpo

FpFp

(=Lp*Fp)

(=Lp*Fp)(=Lp*Fp)

FrFr

Mro

MroMro

(=Lr*Fr)

(=Lr*Fr)(=Lr*Fr)

LrLr

LyLy

Myo

MyoMyo

FyFy

(=Ly*Fy)

(=Ly*Fy

(=Ly*Fy)(=Ly*Fy

Options

2-29

２ Robot arm

Pneumatic hand body

Adapter

Type:1A-HA01

4-M3x8

(Hexagon socket bolt)

Approx. 70

4-Φ3.4 hole (90 degree division)PCD70

(Φ6.5x4 spot facing on the reverse side)

(Hexagon socket bolt)

4-M3x12

Hand curl cable

Connector

160±10

Curl cable for bending

Hand body

5 8

24.5

(From finger center)

φ11

[Wiring system diagram] <Sink type>

2 5 6 7 8 3 4 9

Yellow

Purple Brown Blue Red Black

6 5 4 3

(150)

40±10

Curl cable

Connector

For motorized hand

HC1(open) HC2(close)

+24V

0V(COM)

Reserve Reserve Reserve

Type 1A-GHCD

HC1(open) HC2(close)

+24V(COM)

For motorized hand

Reserve Reserve Reserve

Yellow

Purple

Brown

Blue

Red

Black

8 3 4 9

6 5 4 3

Gripping force N

0.1 0.2

Pneumatic pressure MPa

Indication of gripping force and maximum length of finger attachment

Fig.2-17 ： Pneumatic hand outside dimensional drawing

2-30

Options

0.3

0.4

0.5

0.6

0.7

Attachment maximum length L cm

(3) Solenoid valve set

■ Order type: One set: 1E-VD01(Sink type)/1E-VD01E(Source type) Two sets: 1E-VD02(Sink type)/1E-VD02E(Source type)

■ Outline

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

Part name Type

Solenoid valve set (1 set) 1E-VD01/

1E-VD01E

Solenoid valve set (2 sets) 1E-VD02/

1E-VD02E

■ Specifications

Table 2-16 ： Valve specifications

Item Specifications

Number of positions 2

Port 5

Valve function Double solenoid

Operating fluid Clean air

Operating method Pilot type

Effective sectional area (CV value) 1.5mm(0.08)

Oiling Unnecessary

Operating pressure range 0.2 to 0.7MPa

Guaranteed proof of pressure 1.0MPa or more

Response time 12msec or less

Max. operating frequency 5c/s

Ambient temperature -5 to 50 ℃

Qty.

One set Two sets

1 pc. －

－1 pc.

Connecting the Page 34, "(5) Hand output cable". M3x25 Two screws (Installation screws)

1E-VD01/VD02 are the sink type. 1E-VD01E/VD02E are the source type.

２ Robot arm

Remark

Table 2-17 ： Solenoid specifications

Item Specifications

Method Built-in fly-wheel diodes with surge protection

Operation voltage DC24V ±10%

Current value 40mA

Insulation B type

Insulation resistance 100MΩ or more

Surge protection Fly-wheel diode

Options

2-31

２ Robot arm

(1)

(12)

(3)

2- φ 3.3

GR3

GR1

GR2

GR4

SOL1A

SOL1B

SOL2A

SOL2B

28.4

36.4

(1)(4) (2)

(20)

or less

(5)

(6)

(45)

(10)(11)

Part

no.

(1) Solenoid valve 1 2 (2) Manifold block 11 (3) Quick coupling 2 4 φ4 (4) Block plate 1 0 (5) Quick coupling 11φ6

(6) Silencer 11 (10) Connector 2 4 SMR-09V-B (11) Contact 4 8 SYM-001T-0.6 (12) Installation screw 2 2 M3x25

Part name 1 sets 2 sets Specifications

35.6

(82)

(28) (24)(30)

or less

Black

SOL1A

SOL1B

SOL2A

SOL2B

Fig.2-18 ： Outline dimensional drawing

2-32

Options

Red Black

Red Black Red

Black Red

General purposes output 900

General purposes output 901

General purposes output 902

General purposes output 903

Connector name

　Hand1ON

+24V

Hand1OFF

+24V

Hand2ON +24V

Hand2OFF

+24V

GR1

GR1GR1

GR2

GR2GR2

GR3

GR3GR3

GR4

GR4GR4

SOL1A

SOL1B

SOL2A

SOL2B

Black Red

Black Red Black Red

Black Red

General purposes output 900

General purposes output 901

General purposes output 902

General purposes output 903

Connector name

　Hand1ON

24G

Hand1OFF

24G

Hand2ON 24G

Hand2OFF 24G

GR1

GR1GR1

GR2

GR2GR2

GR3

GR3GR3

GR4

GR4GR4

(4) Hand input cable

■ Order type: 1A-HC20

■ Outline

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

■ Configuration Table 2-18 ： Configuration equipment

Part name Type Qty. Remarks

Hand input cable 1A-HC20 1 cable

２ Robot arm

■ Specifications

Table 2-19 ： Specifications

Item Specifications Remarks

Size x cable core

Total length 370mm (Including the curl section, which is 150mmlong）

AWG#24(0.2mm

) x 8 cores

(1)

φ11

±10

150

±10

160

(Yellow) (Purple) (Green) (White) (Brown) (Blue) (Red) (Black)

SMR-09V-N

Sink type type

HC1

HC2

HC3

HC4

+24V

0V(COM)

Reserve

Reserve Reserve

Source

HC1 HC2 HC3 HC4 +24V(COM) 0V Reserve Reserve

Fig.2-19 ： Outside dimensional drawing and pin assignment

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

Options

2-33

２ Robot arm

(5) Hand output cable

■ Order type: 1E-GR35S

■ Outline

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

■ Configuration Table 2-20 ： Configuration equipment

Part name Type Qty. Remarks

Hand output cable 1E-GR35S 1 cable

■ Specifications Table 2-21：Specifications

Item Specifications Remarks

Size x Cable core

Total length 350mm

AWG#22(0.3mm

) x 2 cores x 4 sets (total 8 cores)

One side connector and one side cable connection

350

＊

・ Configuration

Part no. Part name Qty. Specifications

( 1 ) Connector 4 SMR-02V-B

( 2 ) Contact 8 BYM-001T-0.6

( 3 ) Twisted cable 4 AWG#22(0.3mm

＊

) x 2 cores

＊

(3)

(1)(2)

* End cable connection

Connector

general-purpose

White

Black

White

Black

White

Black

White

Black

output 900

general-purpose output 901

general-purpose output 902

general-purpose output 903

1 2

GR1

GR2

GR3

GR4

Sink

type

Hand 1 ON +24V

Hand 1 OFF +24V

Hand 2 ON +24V

Hand 2 OFF +24V

Source

type

Hand 1 ON +24G

Hand 1 OFF +24G

Hand 2 ON +24G

Hand 2 OFF +24G

2-34

Fig.2-20 ： Outline dimensional drawing and pin assignment

Options

(6) Hand curl tube

■ Order type: One set (2 pcs.) : 1E-ST0402C

Two sets (4 pcs.) : 1E-ST0404C

■ Outline

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

■ Configuration Table 2-22 ： Configuration equipment

Part name Type Qty. Remarks

Hans curl tube (One set: 2 pcs.) 1E-ST0402C 1 pc. For single-hand: Φ4 tube, 2pcs.

Hans curl tube (Two set: 4 pcs.) 1E-ST0404C 1 pc. For double hand: Φ4 tube, 4pcs.

２ Robot arm

■ Specifications

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

Table 2-23 ： Specifications

Item Specifications

Material Urethane

Size Outside diameter: Φ4 x Inside diameter: Φ2.5

250

(Tooling side)

180

(Robot side)

200

φ28 (One set),

φ36 (Two sets)

Fig.2-21：Outline dimensional drawing

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

Options

2-35

２ Robot arm

(7) Hand adapter

■ Order type ： 1A-HA01

■ Outline

This is installed on the robot arm's mechanical interface. The conventional model RV-M1 and the mechanical interface are compatible. This is also included with the optional motorized hand set and pneumatic hand set.

■ Configuration Table 2-24 ： Configuration equipment

Part name Type Qty. Remarks

Adapter BU164D693H011 pc.

Installation bolt (with hole) M3 x 8 4 pc.

■ Specifications Table 2-25 ： Specifications

Item Specifications

Mass 0.07kg

Material Aluminum alloy

Fig.2-22 ： Outline dimensional drawing

4-M3 screw hole

(4-constant pitch)

*For installation

4-3.4 reamer through

Φ6.5 counterbore depth 4

(4-constant pitch)

Cross-section A-A

2-36

Options

２ Robot arm

2.8 Maintenance parts

The consumable parts used in the robot arm are shown in Table 2-26. Purchase these parts from the designated maker or dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-26 ： Consumable part list

No.

Part name Type Qty. Usage place Supplier

1 Lithium battery A6BAT 5 In the shoulder cover

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

Mitsubishi Electric

Maintenance parts

2-37

3Controller

3 Controller

3.1 Standard specifications

3.1.1 Standard specifications

Table 3-1：Standard specifications of controller

Item Unit Specification Remarks

Type CR1-571 Number of control axis Simultaneously 6(Maximum) CPU 64 bit RISC, and DSP Memory

capacity

Robot language MELFA-BASIC Ⅳ

Teaching method Pose teaching method ,MDI method External

input and output

Interface RS-232C port

Power source

Outline dimensions mm 212(W)x290(D)x151(H) Excluding protrusions Mass kg Approx. 8 Construction Self-contained floor type, Opened type

Operating temperature range deg. 0 to 40 Ambient humidity %RH 45 to 85 Without dew drops Grounding Ω100 or less

Paint color Light gray Munsell 7.65Y7.64/0.73

Note1) It is the value when seven maximums expand (224/224) the Parallel I/O unit.

Note2) It is when an pneumatic hand interface (2A-RZ365 or 2A-RZ375) is installed. Note that the pneumatic

Note3) 1-phase,AC180 to 253. This specification is changed for CE-Marking model. Note4) The power capacity (0.7kVA) is the maximum rating value for normal operation. The power capacity does

Note5) The controller (CR1-571) of this robot is a general environment specification. If the robot is used in an oil

Note6) The robot must be grounded by the customer.

Programmed positions and No. of steps

Number of programs 88

input and output point 16/16

Dedicated input/output point Assigned with general-purpose input/output "STOP" 1 point is fixed

Hand open/close input/output

Emergency stop input/output point 1 Single emergency line Door switch input point 1 Single door switch line

RS-422 port 1 Dedicated for T/B

Hand dedicated slot slot 1

Expansion slot slot 0 3 slot expansion is possible when

Robot input/output link channel 1

Input voltage range V 1-phase, AC90 to132

Power capacity KVA 0.7

point step

MOVEMASTER COMMAND

point Input 4 point/Output 0 point

1-phase, AC180 to 253

2,500 5,000

Max. 240/240

Up to output points can be added as an option

For expansion such as the personal cpmputer, Vision sensor

Dedicated for pneumatic hand inter face

using expansion option box. Used for general-purpose input/out

put (Max. 240/240)

Note3)

Does not include rush current

Note5)

IP20

D class grounding earth

Note1)

Note2)

(2A-RZ361 or 2A-RZ371:Input 32 points / Output 32 points.)

hand interface has 8 output points, but the robot arm side has 4 points.

not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The power consumption in the specific operation pattern with the RV-1A/2AJ is approx. 0.2kw.

mist environment, use the optional controller protection box (CR1-MB) to protect the controller from the oil mist environment. (Refer to Page 8, "2.2.3 Protection specifications and working environment") Install to the place not to influence the cleanliness when using in the clean environment. (Refer toPage 9,

"2.2.4 Clean specifications")

Note6)

Note4)

3-38

Standard specifications

3.1.2 Protection specifications and operating supply

A protection method complying with the IEC Standard IP20 （Opened type） is adopted for the controller.

IEC's IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.

Refer to the section Page 91, "5.2 Working environment" for details on the working environment.

If the robot is used in an oil mist environment, use the optional contorller protection box

CAUTION

(CR1-MB) to protect the controller from the oil mist environment. Refer to the section Page 59, "(3) Controller protection box"for details on the controller protection box.

3Controller

Standard specifications

3-39

3Controller

3.2 Names of each part

11)

14)

STATUS NUMBER

MODE

TEACH

AUTO (Op.)

AUTO (Ext.)

SVO OFF ST OP

7) 4) 15) 5)

SVO ON

CHANG DISP

START

DOWN

RESET

END

EMG.STOP

REMOVE T/B

Front operation panel

12) 10) 13) 3)

Fig.3-1：Names of controller parts

1) POWER switch ..................................... This turns the control power ON/OFF.

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) T/B remove switch ............................This is used to connect/disconnect the T/B without turning OFF the controller's control

power.

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

gram No." → "Line No.".

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

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

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

11) STATUS NUMBER

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

12) T/B connection connector ......... This is a dedicated connector for connecting the T/B.

13) Personal computer

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

14) MODE key switch ............................. This changes the robot's operation mode.

AUTO (Op.) .................................. Only operations from the controller are valid. Operations for which the operation mode

must be at the external device or T/B are not possible.

TEACH........................................... When the T/B is valid, only operations from the T/B are valid. Operations for which the

operation mode must be at the external device or controller are not possible.

AUTO (Ext.) ................................. Only operations from the external device are valid. Operations for which the operation

mode must be at the T/B or controller are not possible.

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

Note)

3-40

Names of each part

CAUTION

3Controller

Note) The servo will turn OFF when the controller's [MODE] switch is changed.

Note that axes not provided with brakes could drop with their own weight.

(6)

(7)

(5)

(1)

(2)

(4)

(3)

Fig.3-2 ： Names of each controller part (Rear side)

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

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

(3)Power supply terminals. (4)Fuse box. (5)External input/output signal connector. (6)Network cable connector for parallel I/O unit expansion. (7)Emergency stop switch and door switch terminals.

Names of each part

3-41

3Controller

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

(170 or more)

(40)

STATUS NUMBER

MODE

TEACH

AUTO (Op.)

AUTO (Ext.)

CHANG DISP

SVO ON

START

SVO OFF STOP

DOWN

RESET

END

290 (13)(38)

49 200

EMG.STOP

151 (15)

REMOVE T/B

150(31)(31)

(2.5) 212

Fig.3-3 ： Outside dimensions of controller

3-42

Outside dimensions/Installation dimensions

(2.5)

3.3.2 Installation dimensions

3Controller

STATUS NUMBER

AUTO

(Op.)

170 or more

DOWN

RESET

EMG.STOP

REMOVE T/B

END

CHANG DISP

SVO ON

MODE

TEACH

AUTO

(Ext.)

SVO OFF

START

STOP

Fig.3-4 ： Installation of controller

Outside dimensions/Installation dimensions

3-43

3Controller

3.4 External input/output

3.4.1 Types

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

status display.

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

peripheral device control.

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

can program. (The hand output is an option. The Page 57, "(2) Pneu

matic hand interface" is required.)

Class Name

Input Output

Standard Emergency stop 11Terminal block

Standard Door switch 1

Standard Parallel input/output Occupies 16 general-purpose points/(6)

dedicated points in general-purpose

No. of input/output points

Occupies 16 general-purpose points/(4) dedicated points in general-purpose

Connection

format

Connector

3.4.2 Explanation

The parallel input/output unit uses connector bridging. Purchase the "External I/O cable" for connection with external devices.

The hand output is an option. Refer to Page 57, "(2) Pneumatic hand interface" for details

The parallel input/output unit can be expanded outside of the controller. The expansion parallel input/output unit is connected with the control unit in the controller using a robot I/O link cable. Parallel input and output units can be expand as an option to seven maximums. With allows up to input 240 points and output 240 points of maximums can be used including 16 points input and 16 points output of standard.

Refer to Page 64, "(5) Parallel I/O unit" for details on the parallel input/output unit.

3-44

External input/output

3.5 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "CR1/ CR2/CR4/CR7/CR8 Controller Detailed explanations of functions and operations" in the product for the other functions . Each parameter indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No. If the number of dedicated inputs and general-purpose input points used exceeds the standard No. of input/output points, install the parallel input /output unit (1st to 7th sta tion: option).

Table 3-2 ： Dedicated input/output list

Parameter

name

TEACHMD None Teaching mode out

ATTOPMD None Automatic mode out

ATEXTMD None Remote mode output

AUTOENA Automatic opera

START Start input signal Starts all slots.

STOP Stop input signal Stops all slots.

SLOTINIT Slot initialization

ERRRESET Error reset input

CYCLE Cycle stop input

SRVOFF Servo ON enabled

SRVON Servo ON input

IOENA Operation rights

MELOCK Machine lock input

SAFEPOS Evasion point

OUTRESET General-purpose

EMGERR

S1START ： S32START

S1STOP ： S32STOP

PRGSEL Program selection

OVRDSEL Override selection

Name Function Level Name Function

tion enabled input signal

input signal

signal

input signal

signal

input signal

signal

return input signal

output signal reset

Start input Starts each slot. Ｅ In operation output

Stop input Stops each slot. Ｌ In wait output

input signal

Input

Disables automatic operation when inactive, and enables automatic operation when active.

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

input for stop inputs related to safety.

Resets the wait state, and initial izes all slots.

Resets the error state.

Carries out cycle stop.

Sets all mechanisms to servo ON enabled.

Turns the servo ON for all mecha nisms.

Requests the operation rights for the external signal control.

Sets/resets the machine lock state for all mechanisms.

Requests the evasion point return operation.

Resets the general-purpose output signal.

None

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

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

Note1)

put signal

signal

Automatic operation

Ｌ

enabled output signal

Operating output sig

Ｅ

nal

Wait output signal Outputs that the slot is temporarily

Ｌ

Program selection

enabled output signal

Error occurring out

put signal

In cycle stop opera

tion output signal

Servo ON enabled

Ｌ

output signal

In servo ON output

Ｅ

signal

Operation rights out

Ｅ

put signal

In machine lock out

Ｅ

put signal

In evasion point

Ｅ

return output signal

Ｅ None

Emergency stop out put signal

Ｅ None

Output

Outputs that the teaching mode is entered.

Outputs that the automatic mode is entered.

Outputs that the remote mode is entered.

Outputs the automatic operation enabled state.

Outputs that the slot is operating.

stopped.

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

Outputs that an error has occurred.

Outputs that the cycle stop is operat ing.

Outputs the servo ON enabled state. (Echo back)

Outputs the servo ON state.

Outputs the operation rights valid state for the external signal control.

Outputs the machine lock state.

Outputs that the evasion point return is taking place.

Outputs that an emergency stop has occurred.

Outputs the operating state for each slot.

Outputs that each slot is temporarily stopped.

3Controller

Dedicated input/output

3-45

3Controller

Parameter

name

IODATA

Note2)

PRGOUT Program No. out

LINEOUT Line No. output

OVRDOUT Override value out

ERROUT Error No. output

JOGENA Jog valid input sig

JOGM Jog mode input 2-

JOG+ Jog feed + side for

JOG- Jog feed - side for

HNDERR1

： HNDERR5

AIRERR1

： AIRERR5

USER

Note3)

AREA

Name Function Level Name Function

Numeric value input (start No., end No.)

put request

request

put request

request

nal

bit

8-axes

Mechanism 1 hand error input signal ： Mechanism 5 hand error input signal

Mechanism 1 pneu matic pressure error input signal ： Mechanism 5 pneu matic pressure error input signal

Input

Used to designate the program No., override value., mechanism value.

Requests output of the program No. Ｅ

Requests output of the line No.

Requests the override output.

Requests the error No. output.

Validates jog operation with the external signals

Designates the jog mode.

Requests the + side jog operation. Ｌ None

Requests the - side jog operation. Ｌ None

Requests the hand error occur rence.

Request the pneumatic pressure error occurrence.

None

Note1)

Numeric value output

Ｌ

(start No., end No.)

Program No. output signal

Ｅ Line No. output signal

Override value out put signal

Ｅ

Error No. output sig

Ｅ

nal

Jog valid output sig

Ｅ

nal

Jog mode output 2-

Ｌ

bit

Mechanism 1 hand

error output signal

Ｌ

： Mechanism 5 hand error output signal

Mechanism 1 pneu matic pressure error output signal.

Ｌ

： Mechanism 5 pneu matic pressure error output signal.

User-designated area 8-points

Used to output the program No., over ride value., mechanism No.

Outputs that the program No. is being output to the numeric value output sig nal.

Outputs that the line No. is being out put to the numeric value output signal.

Outputs that the override value is being output to the numeric value output sig nal.

Outputs that the error No. is being out put to the numeric value output signal.

Outputs that the jog operation with external signals is valid.

Outputs the current jog mode.

Outputs that a hand error is occurring.

Outputs that a pneumatic pressure error is occurring.

Outputs that the robot is in the userdesignated area.

Output

Note1) The level indicates the signal level.

L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the

signal is OFF.

E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state,

and the function maintains the original state even when the signal then turns OFF. Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No. Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

3-46

Dedicated input/output

3.6 Emergency stop input/output

This signal is input from the "emergency stop input" terminal in the controller.

Table 3-3 ： Dedicated input terminals in controller

Class Name Details

Input Emergency stop Applies the emergency stop (Single emergency line.) Input Door switch The servo turns OFF. Output Emergency stop This output indicates that the emergency stop input or the door switch input is turned on.

3.6.1 Connection of the external emergency stop

The external emergency stop input and door switch input are short-circuited with a short cable at shipment as shown in Fig. 3-5. Connect the external emergency stop switch and door switch with the following procedure.

1) Prepare the "emergency stop switch" and "door switch".

2) Remove the two short pieces 1 and 2.

3) Securely connect the external emergency stop's contacts across "1)-2), and the door switch's contacts

across 3)-4)" on the terminal block.

24V

Emergency stop output

RA3

RA1

RA2

RG (24G)

Note1)

Emergency stop input

Door switch input

Short piece 1

Short piece 2

Composition of external emergency stop and door switch

3Controller

DOOR Switch

EMG. STOP

24V

System emergency stop line (Prepared by customer)

RA2

Wire insert

Controller rear side

Wire fixing screw

RG (24G)

Example of wiring for external emergency stop and door switch

Output the system emergency stop output when either following the switch or the signal is turned on.

Note1)

・Emergency stop switch of the controller ・Emergency stop switch or deadman switch of the T/B ・External emergency stop input ・External door input

Terminal block array of external emergency stop

Fig.3-5 ： Connection of the external emergency stop

[Note] Refer to Page 90, "5.1.7 Examples of safety measures" together, and carry out wiring to the emergency stop.

Emergency stop input/output

3-47

3Controller

3.6.2 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur. Follow the wiring example shown in Fig. 3-5, and wire so that the contact closes when the door is closed. Details of this function according to the robot status are shown below.

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

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

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

moved using the teaching pendant.

① Auto executing

Safeguard

TEACH

AUTO

(Op.)

② Teaching

TEACH

AUTO

(Op.)

AUTO

(Ext.)

AUTO

(Ext.)

Open

Safeguard

STOP!!

Robot arm (Example)

Turns OFF the servo

Teaching

Robot arm

pendant

(Example)

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

Fig.3-6 ： Door switch function

3-48

Emergency stop input/output

3.7 Parallel input/output unit

・ A parallel input/output card is mounted as a standard in the controller's control unit. ・ The external input/output circuit specifications are shown in Table 3-4 and Table 3-5. ・ The correspondence of the external input/output connector pin No. and the colors of the connected "external

input/output cable" wires (separate option) is as shown in Page 51, "Table 3-6"and Table 3-7. Refer to Page

72, "(6) External I/O cable" for details of external I/O cable.

・ Pin Nos. described as both general-purpose signal and dedicated signal can be shared. ・ The other dedicated input/output signals that are not assigned can be assigned to required general-purpose

input/output pins when creating the program.

・ If the standard inputs and outputs are insufficient, install the parallel input/output unit connection option out

side the controller.

Table 3-4 ： Electrical specifications of input circuit

Item Specifications Internal circuit

Type DC input No. of input points 16

Insulation method Photo-coupler insulation Rated input voltage 12VDC/24VDC

Rated input current Approx. 3mA/approx. 7mA Working voltage range 10.2VDC to 26.4VDC(ripple rate within 5%)

ON voltage/ON current 8VDC or more/2mA or more OFF voltage/OFF current 4VDC or less/1mA or less Input resistance Approx. 3.3kΩ

Response time

Common method 8 points per common

External wire connection method

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

Connector

820

3.3K

820

3.3K

24V/12V

(COM)

Input

3Controller

Table 3-5 ： Electrical specifications of output circuit

Item Specifications Internal circuit

Type Transistor output No. of output points 16

Insulation method Photo-coupler insulation Rated load voltage DC12V/DC24V Rated load voltage range DC10.2 ～ 30V(peak voltage 30VDC) Max. load current 0.1A/point (100％) Leakage current at OFF 0.1mA or less

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

OFF-ON

Response time

ON-OFF

Fuse rating Fuse 3.2A (one per common) Replacement not pos

Common method 4 points per common (common terminal: 4 points)

External wire connection method

External power supply

Voltage DC12/24V(DC10.2 ～ 30V)

Current

2ms or less (hardware response time)

2ms or less (Resistance load) (hardware response time)

sible

Connector

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

0V(COM)

(24/12V)

Outline

Fuse

(0V)

Fuse (24/12V)

Outline

(0V)

Parallel input/output unit

3-49

3Controller

Parallel I/O interface

（Output）

Fuse

(Input)

3.3K

60mA

(24/12V)

Output

… …

Output

(0V)

External power supply

(COM)

Input

… …

Input

24V

AX41C (Mitsubishi programmable controller)

＋24V

COM

24G

AY51C (Mitsubishi programmable controller)

CTL＋

24V

COM

CTLG

External power supply

24G

Fig.3-7 ： Connection with a Mitsubishi PLC (Example of sink type)

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

(Output)

AX81C

60mA

Fuse

(24/12V)

Output

… …

Output

24V

＋

24V

COM

(Input)

(0V)

External power supply

24G

CTL

＋

24V

Input

3.3K

… …

Input

(COM)

24V

CTLG

24G

AY81C

External

ower suppl

Fig.3-8 ： Connection with a Mitsubishi PLC (Example of source type)

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

3-50

Parallel input/output unit

3Controller

Table 3-6 ： Standard parallel I/O interface CN100pin No. and signal assignment list <Sink type> (2A-CBL

Line color

No.

1 Orange/Red A FG 26 Orange/Blue A FG 2 Gray/Red A 0V:For pins 4-7 27 Gray/Blue A 0V:For pins 29-32 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 Running 29 Yellow/Blue A General-purpose output 4 5 Pink/Red A General-purpose output 1 Servo on 30 Pink/Blue A General-purpose output 5 6 Orange/Red B General-purpose output 2 Error 31 Orange/Blue B General-purpose output 6 7 Gray/Red B General-purpose output 3 Operation rights 32 Gray/Blue B General-purpose output 7 8 White/Red B 0V:For pins 10-13 33 White/Blue B 0V:For pins 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

15 Pink/Red C General-purpose input 0 16 Orange/Red D General-purpose input 1 Servo off 41 Orange/Blue D General-purpose input 9

17 Gray/Red D General-purpose input 2 Error reset 42 Gray/Blue D General-purpose input 10 18 White/Red D General-purpose input 3 Start 43 White/Blue D General-purpose input 11 19 Yellow/Red D General-purpose input 4 Servo on 44 Yellow/Blue D General-purpose input 12

20 Pink/Red D General-purpose input 5 Operation rights 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

General-purpose Dedicated/power supply, common General-purpose

Function name

COM0:For pins 15-22

Stop(All slot)

Note2)

Note1)

Line color

No.

39 Yellow/Blue C

40 Pink/Blue C General-purpose input 8

Function name

Dedicated/power supply,

COM1:For pins 40-47

common

Note1)Sink type:24V/12V(COM), Source type:0V(COM) Note2)The assignment of the dedicated input signal "STOP" is fixed.

□□

Note1)

)

Table 3-7 ： Standard parallel I/O interface CN100pin No. and signal assignment list <Source type> (2A-CBL

Line color

No.

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, 10-13 28 White/Blue A 12V/24V:For pins 29-32, 35-38 4 Yellow/Red A General-purpose output 0 Running 29 Yellow/Blue A General-purpose output 4 5 Pink/Red A General-purpose output 1 Servo on 30 Pink/Blue A General-purpose output 5 6 Orange/Red B General-purpose output 2 Error 31 Orange/Blue B General-purpose output 6 7 Gray/Red B General-purpose output 3 Operation rights 32 Gray/Blue B General-purpose output 7 8 White/Red B Reserved 33 White/Blue B Reserved 9 Yellow/Red B Reserved 34 Yellow/Blue B Reserved

13 White/Red C General-purpose output

14 Yellow/Red C 15 Pink/Red C General-purpose input 0 16 Orange/Red D General-purpose input 1 Servo off 41 Orange/Blue D General-purpose input 9

General-purpose Dedicated/power supply, common General-purpose

Function name

COM0:For pins 15-22

Stop(All slot)

Note2)

Note1)

Line color

No.

37 Gray/Blue C General-purpose output 14

38 White/Blue C General-purpose output 15

39 Yellow/Blue C

40 Pink/Blue C General-purpose input 8

Function name

Dedicated/power supply,

common

COM1:For pins 40-47

□□

Note1)

Note1)Sink type:24V/12V(COM), Source type:0V(COM) Note2)The assignment of the dedicated input signal "STOP" is fixed.

)

Parallel input/output unit

3-51

3Controller

・The signals assigned as dedicated inputs can be used as general-purpose inputs during program execution. Note

that for safety proposes, these should not be shared with the general-purpose inputs other than for numeric value inputs. The signals assigned as dedicated outputs cannot be used in the program. An alarm will occur dur ing operation if used.

Connector pin layout

＜CN100＞

Output 0 to 15 Input 0 to 15

C o n t r o l l e r b a c k s i d e

*The I/O card in the control unit is equal to the PIO unit of the option. (Input 32/Output 32 points)

Fig.3-9 ： Parallel input/output unit (in the control unit) connection and pin layout

3-52

Parallel input/output unit

3.8 Options

■ What are options?

There are a variety of options for the robot designed to make the setting up process easier for user needs. User installation is required for the options. Options come in two types: "set options" and "single options".

1． Set options......................................A combination of single options and parts that together, form a set for serving

some purpose.

2． Single options.................................That are configured from the fewest number of required units of a part.

Please choose user's purpose additionally.

3Controller

Options

3-53

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(1) Teaching pendant (T/B)

■ Order type: R28TB :Cable length 7m

■ Outline

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

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

If there are several robots, one teaching pendant can be used by connecting it to the respective robot.

■ Configuration Table 3-8 ： Configuration device

Part name Type Qty. Remarks

Teaching pendant R28TB One pc. Cable length is 7m. Hand strap is attached.

■ Specifications Table 3-9 ： Specifications

Items Specifications Remarks

Outline dimensions 95(W) x 236(H) x 34(D) (refer to outline drawing)

Body color Light gray (reference Munsell color: 7.65Y7.64/0.73)

Mass Approx. 0.5kg (only arm, excluding cable)

Connection method Connection with controller and round connector (30-pin)

Interface RS-422

Display method LCD method: 16 characters x 4 lines, LCD illumination: with backlight

Operation section 28 keys

Protection specifications IP65

Note2) The manual operation section of the teaching pendant has a protection method that complies with the IEC

Standards IP65 (protection type).

[Reference] The IEC Standards IP65 refers to installing the test device in the testing room, and suspending talc pow

der, which passes through a nominal dimension 75 μm mesh sieve, as specified with JISZ8001 (standard sieve). This powder is continuously suspended around the device at a rate of 2kg per 1m3 volume of the testing room. The air in the testing device is discharged at a discharge rate less than 60-times the volume per hour. When the air is discharged at 80-times the test device capacity, the talc powder does not accu mulate inside the test device even after eight hours.

Note1)

Note2)

Note1) <3-position deadman switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Deadman switch". The 3-position deadman switch has three statuses. The following modes are entered according to the switch state.

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

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

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

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

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

3-54

Options

Hand strap

Contrast adjusting switch

Display LCD

R28TB

Enable/Disable switch

DISABLE

ENABLE

3Controller

TOOL

JOINT

XYZ

STOP

$" :

( )？

# % !

＊

55 70

203

Hand strap

SVO ON

STEP

MOVE

FORWD

BACKWD

COND

POS

ERROR RESET

＋

－

CHAR

－

＋

(J1)

ADD

－

＋

(J2)

－

(J3)

－

(J4)

－

(J5)

－

(J6)

↑

(J2)

RPL

＋

↓

(J3)

DEL

＋

←

(J4)

HAND

＋

→

(J5)

INP

＋

EXE

(J6)

153

EMG.STOP

Emergency stop switch

Teaching pendant

Operation keys

Dead man switch

Cable (with connection connector)

Fig.3-10 ： Outside dimensions of teaching pendant

■ Installation method

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

Options

3-55

3Controller

■ Key layout and main functions

19)

Back

10)

18)

11)

12)

DISABLE

R28TB

R28TBR28TB

DISABLEDISABLE

TOOL

JOINT

XYZ

－－－－

(J1)

(J1)(J1)

－－－－

(J2)

(J2)(J2)

－－－－

(J3)

(J3)(J3)

－－－－

(J4)

(J4)(J4)

－－－－

(J5)

(J5)(J5)

－－－－

(J6)

(J6)(J6)

XYZXYZ

MENUMENU

STOP

(J1)

(J1)(J1)

(J2)

(J2)(J2)

(J3)

(J3)(J3)

(J4)

(J4)(J4)

(J5)

(J5)(J5)

(J6)

(J6)(J6)

＋＋＋＋

(J1)

＋＋＋＋

(J2)

＋＋＋＋

(J3)

＋＋＋＋

(J4)

＋＋＋＋

(J5)

＋＋＋＋

(J6)

# % !

# % ! # % !

X X

Y Y

Z Z

A A

B B

C C

STOPSTOP

ADD

ADD AD D

RPL

RPL RPL

DEL

DEL DEL

HAND

HAND HAND

↑↑↑↑

↓↓↓↓

←←←←

→→→→

INP

INP INP

EXE

EXEEX E

$" :

$" : $" :

X X

Y Y

Z Z

A A

B B

C C

TOOLTOOL

JOINTJOINT

(

( ))))？？？？

= =

( (

＊＊＊＊///

SVO ON

SVO ONSV O ON

STEP

STEP STEP

MOVE

MOVEMOVE

＋＋＋＋

FORWD

FORWDFORWD

－－－－

BACKWD

BACKWDBACKWD

COND

CONDCOND

POS

POS POS

CHAR

CHARCH AR

ERROR

ERROR ERROR

RESET

RESETRESET

ENABLE

ENABLEENABLE

EMG.STOP

EMG.STOPEMG.STOP

13)

14)

15)

16)

17)

1) : Emergency stop switch...................The robot servo turns OFF and the operation stops immediately.

2) : T/B enable/disable

　 changeover switch............................This switch changes the T/B key operation between enable and dis

able.

3) : LCD display panel .............................The robot status and various menus are displayed.

4) : <TOOL, JOINT, XYZ> key .............This selects the jog mode (JOINT, XYZ, 3-AXIS XYZ, CYLINDER,

TOOL).

5) : <MENU> key........................................This returns the display screen to the menu screen.

6) : <STOP> key ........................................This stops the program and decelerates the robot to a stop.

7) : <STEP/MOVE> key..........................Jog operation is carried out when this key is pressed simultaneously

with the jog operation key. This also turns the Servo ON and carries out step jump.

8) : <( ＋ FORWD> key............................This carries out step feed and increases the override.

9) : <( － BACKWD> key.........................This carries out step return (return along operation path) and

decreases the override.

10) : <COND> key .....................................This sets the program.

11) : <ERROR RESET> key...................This resets the error, and releases the software limit.

12) : Jog operation key ...........................This operates the robot according to the jog mode. When inputting

numeric values, this inputs each numeric value.

13) : <ADD/ ↑ > key ...............................This additionally registers the position data. It also moves the cursor

upward.

14) : <RPL/ ↓ > key................................This corrects the position data. It also moves the cursor downward.

15) : <DEL/ ← > key................................This deletes the position data. It also moves the cursor to the left.

16) : <HAND/ → > key............................This opens and closes the hand. It also moves the cursor to the right.

17) : <INP/EXE> key................................This inputs the program, and carries out step feed/return.

18) : <POS CHAR> key...........................This changes the edit screen, and changes between numbers and

alphabetic characters.

19) : Deadman switch ..............................When the [Enable/Disable] switch "2)" is enabled, and this key is

released or pressed with force, the servo will turn OFF, and the oper ating robot will stop immediately.

Fig.3-11 ： Teaching pendant key layout and main functions

3-56

Options

(2) Pneumatic hand interface

24V

（Internal power supply）

GRn

Fuse

1.6A

■ Order type: 2A-RZ365(Sink type)

2A-RZ375(Source type)

■ Outline

This interface is required to use the robot arm's hand output signals.

・ Up to eight hand output points can be used with this interface. ・ The eight hand input points can be used without this interface. ・ When using more than eight hand input/output points, install the "Parallel I/O

unit". Refer to Page 64, "Parallel I/O unit" for detail.

■ Configuration Table 3-10 ： Configuration device

Part name Type Qty. Remarks

Pneumatic hand interface 2A-RZ365/

2A-RZ375

Output 8 point expansion. 2A-RZ365 is the sink type.

1pc.

2A-RZ375 is the source type.

3Controller

■ Specifications Table 3-11 ： Specifications

Item Specification Internal circuit

Type Transistor output

No. of output points

Insulation method Photo coupler insulation

Rated load voltage DC24V Rated load voltage range DC21.6 to 26.4VDC Max. current load 0.1A/ 1 point (100%) Current leak with power OFF 0.1mA or less

Maximum voltage drop with power ON DC0.9V(TYP.)

Response time OFF-ON 2ms or less (hardware response time)

ON-OFF 2 ms or less (resistance load) (hardware response time)

Fuse rating Fuses 1.6A (each one common) Common method 8 points, 1 common

External cable connection method

Supply voltage DC5V (Supplied from RZ386 or RZ387)

Note1)

Connector (Connected from RZ386 or RZ387)

Note2)

Fuse

1.6A

24V

GRn

Note1)Wiring to the robot side will differ according to the model. The No. of output points that can be used will differ according

Note2)RZ386:The control card mounted on the controller of the sink type.

to the state of the wiring on the robot arm side. Example) RV-1A/2AJ has 4 points.

RZ387:The control card mounted on the controller of the source type.

* GRn ＝ GR1～GR8

Options

3-57

3Controller

■ Installation method This is mounted on the control unit (RZ386 or RZ387 card) in the controller. Securely insert the pneumatic hand interface (2A-RZ365/375) into the CNHNDOUT/CNHND connector on the control unit.

RZ386 or RZ387 card

Control unit

＜RZ386＞

＜RZ387＞

CNHND

CNHNDOUT

2A-RZ365

CNHNDOUT

2A-RZ375

View A

Fig.3-12 ： Installation of pneumatic hand interface

Note)The hand output doesn't work correctly in the case of "RZ386" + "RZ365" or "RZ387" + "RZ375" combi

nation. Choose either of sink type/source type properly, and use it.

3-58

Options

(3) Controller protection box

■ Order type ： ● CR1-MB

■ Outline

The controller protection box is used to protect the CR1-571 controller from an oil mist or other operating environment. Put the controller and the earth leakage breaker, etc. in controller protection box, and use it. Since the front cover of the controller protection box can be removed, it is possible to operate the controller's front panel and to install and remove the T/B.

■ Configuration Table 3-12 ： Configuration device

Part name Type Qty. Remarks

Controller protection box CR1-MB 1 unit

Serial number posting label 1

Protection seal transparent 1 Protection for the serial number posting label.

Cable tie 2

Power supply wiring cable 1 For connecting the power relay terminal and the controller inside the box.

Grounding cable 1 For connecting the FG terminal and the controller inside the box.

External emergency stop box (Controll box)

HW1X-BV401R 1 unit Single emergency line. Install at a location outside the controller protection

box where operation can be performed easily. The outside dimensions is shown in Fig. 3-15.

3Controller

■ Specifications Table 3-13 ： Specifications

Item Unit Specifications Remarks

Outside dimensions mm 414(W) × 492(D) × 202(H) Excluding protrusions

Mass Kg 10

Structure Self-contained floor type IP54

Grounding D class grounding earth

Coating color Light gray Munsell 7.65Y7.64/0.73

(1) The installation of the controller, earth leakage breaker and wiring are constructed by customer. (2) Prepare the 2 power cable and 1 grounding cable (both AWG#14(2mm

) or more).

(3) The emergency stop box does not come with a cable clamp (wiring connector). The cable clamp must be

provided by the customer according to the size of the cable. The following table shows recommended cable clamps for your reference.

Table 3-14 ： Cable clamp for external emergency stop box (recommendation)

Type JIS wiring tube Adaptation cable outside diameter Manufacturer

OA-W1606

OA-W1608 6 ～ 8φ

OA-W1609 7 ～ 9φ

OA-W1611 9 ～ 11φ

OA-W1613 11 ～ 13φ

G1/2

4 ～ 6φ

OHM electric Corp

Options

3-59

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■ Names of each part

<Front>

Chassis cover (Top board)

Window

Front panel

Corner type catch clip

Fig.3-13 ： Names of controller parts

■ The outside dimension and controller layout

<Rear>

Cable cover

Rear panel

Cable cover

(Machine cable for power)

Cable cover

(Machine cable for signal)

Heat exchanger

CR1-571 controller

arrangement place

Window

(52) (52)

(21.5) (21.5)

310

414

Fig.3-14 ： The outside dimension and controller layout

492

306 91.292.2 100

187(15)

3-60

Options

■ The outside dimensions and installation dimensions of emergency stop box

3Controller

Operation switch

TOP

□ 70.0

BOX cover installation screw

TOP

2-φ4.6 (Two M4 installation

screw holes)

58.0

BOX cover

32.0 58.0

42.4

BOX base

*The M4 screw prepared by customer

Panel installation dimension

Fig.3-15 ： The outside dimensions and installation dimensions of emergency stop box

φ23.0 conduit (Knockout)

■ Installation dimensions

150mm or more

Note)

150mm or more

Note)

Note) Keep the space of 150mm or more for opening and closing the corner type catch clip.

Fig.3-16 ： Installation of controller

Options

3-61

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(4) Expansion option box

■ Order type ： ● CR1-EB3

■ Outline

By installing this expansion option box to the side of the CR1-571 controller, the expansion serial interface, CC-Link interface and Ethernet interface can be used. Up to three option cards can be mounted.

■ Configuration Table 3-15 ： Configuration device

Part name Type Qty. Remarks

Expansion option box

Installation screw

CR1-EB3 1

With rubber foot

■ Specifications Table 3-16 ： Specifications

Item Unit Specifications Remarks

Number of slot slot 3 RT-Bus 1, 2, 3

Power supply method Power supply is supplied from controller by

the RT-Bus coupling(+5V/SG)

Current value A Max. 3 Max. 1A/slot

Ambient temperature deg. 0 to 40

Ambient humidity %RH 45 to 85 Without dew drops

Grounding D class grounding earth Grounding from external terminal

Structure Self-contained floor type opened structure

Outside dimensions mm 85(W) x 290(D) x 165(H)

Mass kg Approx. 3

Note1)

Note1) Self-contained floor type, under the condition combined with the body.

3-62

Options

Installation of expansion option box

3Controller

Expansion option box

151

（15）

Rear side cable outlet

CR1-571 controller

299.7

87.5

Installation screw

Four positions

（38）

Positioning latch Positioning latch

290

（13）

Layout of expansion option box

Plates with rails (Two positions)

Fan

Fig.3-17 ： Outside dimensions and layout

Slot１

Slot２

Slot３

Installation screw(Four positions)

The example which an option card was mounted to.

Controller connection connector

Positioning latch

Grounding terminal(M4)

■ Installation method Remove the side plate of the CR1-571 controller, connect the connectors, and fix to the controller with the four fixing screws in the expansion option box. The option cards mounted in the slot are fixed with the plates with rails. The cables required for the option card are lead out from the cable outlet on the rear side.

Options

3-63

3Controller

(5) Parallel I/O unit

■ Order type: 2A-RZ361(Sink type)

2A-RZ371(Source type)

■ Outline

This is used to expand the external inputs and outputs. ・ The connection cable is not included. Prepare the optional external input/output

cable (2A-CBL05 or 2A-CBL15).

■ Configuration

Table 3-17 ： Configuration device

Part name Type Qty. Remarks

Parallel I/O unit

Robot I/O link connection connector

Power connection connector

Terminator R-TM 1150Ω(1/4W)

2A-RZ361/ 2A-RZ371

NETcable-1 2 sets

DCcable-2 1 sets

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

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

■ Specifications

1) Up to eight stations can be connected to this unit. (One station occupies one unit.)

One unit is built into the controller as a standard, so up to seven units can be installed as expansions.

2) The power supply (24V) must be prepared by the customer and connected with the power connection cable (DCcable-2) A separate 24V power supply is required for the input/output circuit wiring.

The detailed specifications of the input/output circuit are the same as the parallel input/output unit mounted as a standard. Refer to Page 49, "3.7 Parallel input/output unit" for details.

Table 3-18 ： Electrical specifications of input circuits

Item Specification 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 to 26.4V(Ripple factor should be less than 5%.)

ON voltage/ON current 8VDC or more/ 2mA or more OFF voltage/ OFF current 4VDC or less/ 1mA or less Input resistance Approx. 3.3kΩ Response time OFF-ON 10ms or less (24VDC)

ON-OFF 10ms or less (24VDC)

Common method 8 point 1 common

External cable connection method Connector

820

820

3.3K

24V/12V

(COM)

Input

3-64

Options

0V(COM)

Table 3-19 ： Electrical specifications for the output circuits

Item Specification Internal circuit

Type Transistor output

No. of output points 32

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

OFF-ON

Response time

ON-OFF

Fuse rating Fuse 3.2A (one per common) Replacement not possible

Common method 4 points per common (common terminal: 4 points)

External wire connection method

External power supply

Voltage DC12/24V(DC10.2 ～ 30V)

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

2ms or less (hardware response time)

2ms or less (Resistance load) (hardware response time)

Connector

(24/12V)

Outline

Fuse

(0V)

Fuse (24/12V)

Outline

(0V)

3Controller

NETcable-1 (Network cable)

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

１ TXRXH TXRXH １

２ TXRXL TXRXL ２

３ SG(GND) SG(GND) ３

Note 2)

DCcable-2 (Power cable)

Pin No. DCIN

１ 24V ＋

２ 24G(RG) －

３ FG(PE)

24V Power

Note 1)

Connected the frame ground or protect ground

R-TM (Terminator)

Pin No. RIO1/2 150Ω

１ TXRXH

２ TXRXL

３ SG(GND)

List of parts and manufacturer

Type Connector type Contact type Resistant Manufacturer

NETcable-11-178288-3 (2) 175218-3 (6) － AMP DCcable-2 2-178288-3 (1) 175218-3 (3) － AMP R-TM 1-178288-3 (1) 175218-3 (2) 150Ω(1/4W) (1) Equivalent to KOA.

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

AWG#22(0.3mm

) or more.

Fig.3-18 ： Spacifications for the connection cable

Options

3-65

3Controller

■ Installation method

The expansion parallel input/output unit is installed outside of the controller. Connect with the network connec tion cable (NETcable-1) from the RIO1 connector in the rear of the controller.(Terminator is connected at the time of shipment)

RIO1 connector

(40)

Wiring space

upside

(175)

128

<2A-RZ361>

100

Heat radiation space

54 6

Control panel installation dimensions

150

2-Ｍ５ screw

156

168

downside

Fig.3-19 ： Installing the parallel input/output unit

3-66

Options

Radiation/wiring space

Installation dimensions of 2A-RZ361

(The controller outside installation.）

RIO1 connector

3Controller

Controller back side

Station No. setting 1 . . . 6

Note)

NETcable-1 cable

RIO1 connector

＜CN100＞

DCcable-2 cable

Parallel I/O unit

DCIN connector

Front

1 . . . 6

＜CN300＞

RIO2 connector

RIO1 connector

Station No. setting 7

Note)

NETcable-1 cable

＜CN100＞

RIO1 connector

DCcable-2 cable

Parallel I/O unit 7

DCIN connector

＜CN300＞

RIO2 connector

R-TM terminator

RIO2 connector

DCIN connector

I/O unit the bottom Connecta layout

Connect the NET cable-1 to the RIO1 connector on the back of the controller. Each unit is

connected to from a daisy chain.

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

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

Always connect the shield to FG. The unit could malfunction because of noise if the shield cable is not used.

Fig.3-20 ： Connection method of expansion parallel input/output unit

Options

3-67

3Controller

■ Parallel I/O interface (First expansion unit) Table 3-20 ： Connector CN100pin No. and signal assignment list (2A-CBL

Line color

No.

1 Orange/Red A FG 26 Orange/Blue A FG 2 Gray/Red A 0V:For pins 4-7 27 Gray/Blue A 0V:For pins 29-32 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 32 29 Yellow/Blue A General-purpose output 36 5 Pink/Red A General-purpose output 33 30 Pink/Blue A General-purpose output 37 6 Orange/Red B General-purpose output 34 31 Orange/Blue B General-purpose output 38 7 Gray/Red B General-purpose output 35 32 Gray/Blue B General-purpose output 39 8 White/Red B 0V:For pins 10-13 33 White/Blue B 0V:For pins 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 40 35 Pink/Blue B General-purpose output 44 11 Orange/Red C General-purpose output 41 36 Orange/Blue C General-purpose output 45 12 Gray/Red C General-purpose output 42 37 Gray/Blue C General-purpose output 46 13 White/Red C General-purpose output 43 38 White/Blue C General-purpose output 47 14 Yellow/Red C COM0:For pins 15-22 15 Pink/Red C General-purpose input 32 40 Pink/Blue C General-purpose input 40 16 Orange/Red D General-purpose input 33 41 Orange/Blue D General-purpose input 41 17 Gray/Red D General-purpose input 34 42 Gray/Blue D General-purpose input 42 18 White/Red D General-purpose input 35 43 White/Blue D General-purpose input 43 19 Yellow/Red D General-purpose input 36 44 Yellow/Blue D General-purpose input 44

20 Pink/Red D General-purpose input 37 45 Pink/Blue D General-purpose input 45 21 Orange/Red E General-purpose input 38 46 Orange/Blue E General-purpose input 46 22 Gray/Red E General-purpose input 39 47 Gray/Blue E General-purpose input 47 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

General-purpose

Function name

Dedicated/power supply,

common

Pin No.

Note1)

39 Yellow/Blue C COM1:For pins 40-47

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

Line color

)

□□

General-purpose

Function name

Dedicated/power supply,

common

Note1)

Table 3-21：Connector CN300pin No. and signal assignment list (2A-CBL

Line color

No.

1 Orange/Red A FG 26 Orange/Blue A FG 2 Gray/Red A 0V:For pins 4-7 27 Gray/Blue A 0V:For pins 29-32 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 48 29 Yellow/Blue A General-purpose output 52 5 Pink/Red A General-purpose output 49 30 Pink/Blue A General-purpose output 53 6 Orange/Red B General-purpose output 50 31 Orange/Blue B General-purpose output 54 7 Gray/Red B General-purpose output 51 32 Gray/Blue B General-purpose output 55 8 White/Red B 0V:For pins 10-13 33 White/Blue B 0V:For pins 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 56 35 Pink/Blue B General-purpose output 60 11 Orange/Red C General-purpose output 57 36 Orange/Blue C General-purpose output 61 12 Gray/Red C General-purpose output 58 37 Gray/Blue C General-purpose output 62 13 White/Red C General-purpose output 59 38 White/Blue C General-purpose output 63 14 Yellow/Red C 15 Pink/Red C General-purpose input 48 40 Pink/Blue C General-purpose input 56 16 Orange/Red D General-purpose input 49 41 Orange/Blue D General-purpose input 57 17 Gray/Red D General-purpose input 50 42 Gray/Blue D General-purpose input 58 18 White/Red D General-purpose input 51 43 White/Blue D General-purpose input 59 19 Yellow/Red D General-purpose input 52 44 Yellow/Blue D General-purpose input 60

20 Pink/Red D General-purpose input 53 45 Pink/Blue D General-purpose input 61 21 Orange/Red E General-purpose input 54 46 Orange/Blue E General-purpose input 62 22 Gray/Red E General-purpose input 55 47 Gray/Blue E General-purpose input 63 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

General-purpose

Function name

Dedicated/power supply,

common

COM0:For pins 15-22

Line color

No.

Note1)

39 Yellow/Blue C COM1:For pins 40-47

)

□□

General-purpose

Function name

Dedicated/power supply,

common

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

Note1)

3-68

Options

3Controller

Channel No. setting

TXD

LED display

＜CN100＞

Input 32 to 47 Output 32 to 47

*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit

(Occupies one channel)

Fig.3-21：Parallel input/output unit <2A-RZ361/2A-RZ371:First expansion> connection and pin layout

CAUTION

(Set channel No. to 1.)

[*1] For the 1st expansion unit, set the channel No. to "1". The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.

[*1]

＜CN300＞

Input 48 to 63 Output 48 to 63

Options

3-69

3Controller

■ Parallel I/O interface (Second expansion unit) Table 3-22 ： Connector CN100pin No. and signal assignment list (2A-CBL

Line color

No.

1 Orange/Red A FG 26 Orange/Blue A FG 2 Gray/Red A 0V:For pins 4-7 27 Gray/Blue A 0V:For pins 29-32 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 64 29 Yellow/Blue A General-purpose output 68 5 Pink/Red A General-purpose output 65 30 Pink/Blue A General-purpose output 69 6 Orange/Red B General-purpose output 66 31 Orange/Blue B General-purpose output 70 7 Gray/Red B General-purpose output 67 32 Gray/Blue B General-purpose output 71 8 White/Red B 0V:For pins 10-13 33 White/Blue B 0V:For pins 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 72 35 Pink/Blue B General-purpose output 76 11 Orange/Red C General-purpose output 73 36 Orange/Blue C General-purpose output 77 12 Gray/Red C General-purpose output 74 37 Gray/Blue C General-purpose output 78 13 White/Red C General-purpose output 75 38 White/Blue C General-purpose output 79 14 Yellow/Red C 15 Pink/Red C General-purpose input 64 40 Pink/Blue C General-purpose input 72 16 Orange/Red D General-purpose input 65 41 Orange/Blue D General-purpose input 73 17 Gray/Red D General-purpose input 66 42 Gray/Blue D General-purpose input 74 18 White/Red D General-purpose input 67 43 White/Blue D General-purpose input 75 19 Yellow/Red D General-purpose input 68 44 Yellow/Blue D General-purpose input 76

20 Pink/Red D General-purpose input 69 45 Pink/Blue D General-purpose input 77 21 Orange/Red E General-purpose input 70 46 Orange/Blue E General-purpose input 78 22 Gray/Red E General-purpose input 71 47 Gray/Blue E General-purpose input 79 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

General-purpose

Function name

Dedicated/power supply,

COM0:For pins 15-22

common

Pin No.

Note1)

39 Yellow/Blue C COM1:For pins 40-47

Line color

)

□□

General-purpose

Function name

Dedicated/power supply,

common

Note1)

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

Table 3-23 ： Connector CN300pin No. and signal assignment list (2A-CBL

Line color

No.

1 Orange/Red A FG 26 Orange/Blue A FG 2 Gray/Red A 0V:For pins 4-7 27 Gray/Blue A 0V:For pins 29-32 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 80 29 Yellow/Blue A General-purpose output 84 5 Pink/Red A General-purpose output 81 30 Pink/Blue A General-purpose output 85 6 Orange/Red B General-purpose output 82 31 Orange/Blue B General-purpose output 86 7 Gray/Red B General-purpose output 83 32 Gray/Blue B General-purpose output 87 8 White/Red B 0V:For pins 10-13 33 White/Blue B 0V:For pins 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 88 35 Pink/Blue B General-purpose output 92 11 Orange/Red C General-purpose output 89 36 Orange/Blue C General-purpose output 93 12 Gray/Red C General-purpose output 90 37 Gray/Blue C General-purpose output 94 13 White/Red C General-purpose output 91 38 White/Blue C General-purpose output 95 14 Yellow/Red C 15 Pink/Red C General-purpose input 80 40 Pink/Blue C General-purpose input 88 16 Orange/Red D General-purpose input 81 41 Orange/Blue D General-purpose input 89 17 Gray/Red D General-purpose input 82 42 Gray/Blue D General-purpose input 90 18 White/Red D General-purpose input 83 43 White/Blue D General-purpose input 91 19 Yellow/Red D General-purpose input 84 44 Yellow/Blue D General-purpose input 92

20 Pink/Red D General-purpose input 85 45 Pink/Blue D General-purpose input 93 21 Orange/Red E General-purpose input 86 46 Orange/Blue E General-purpose input 94 22 Gray/Red E General-purpose input 87 47 Gray/Blue E General-purpose input 95 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

General-purpose

Function name

Dedicated/power supply,

COM0:For pins 15-22

common

Line color

No.

Note1)

39 Yellow/Blue C COM1:For pins 40-47

)

□□

General-purpose

Function name

Dedicated/power supply,

common

Note1)

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

3-70

Options

3Controller

Channel No. setting

TXD

LED display

＜CN100＞

Input 64 to 79 Output 64 to 79

*The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit

(Occupies one Channel)

Fig.3-22 ： Parallel input/output unit <2A-RZ361/2A-RZ371:Second expansion unit> connection and pin layout

(Set channel No. to 2.)

[*1]

＜CN300＞

Input 80 to 95 Output 80 to 95

CAUTION

[*1] For the 2nd expansion unit, set the channel No. to "2". The channel No. of 8 to F is used for the maker test. If any value of 8 to F is set, it may be dangerous since the robot unexpectedly moves. Don't set any value of 8 to F.

Options

3-71

3Controller

(6) External I/O cable

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

■ Outline

This is the dedicated cable used to connect an external peripheral device to the 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 3-24 ： Configuration device

Part name Type Qty. Remarks

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

■ Specifications Table 3-25 ： Specifications

Items Specifications

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

Total length 5m or 15m

■ Connector pin numbers and cable colors Table 3-26 ： Connector pin numbers and cable colors

Cable colors

no.

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

5Pink/Red A15 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

no.

Cable colors

no.

Cable colors

Pin no.

Cable colors

no.

Cable colors

3-72

Options

■ 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 3-26Connector pin numbers and cable colors" when making the connections.

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

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

3Controller

ype of dot mark

A type

B type

C type

D type

E type

1.5

Dot pattern

Type of dot mark

Dot pattern

F type

18.5

G type

18.5

H type

I type

18.5

7.5

18.5

7.5

J type

Continuous

5000

Continuous

51.816

76.74

64.53

2.159

13.54

16.2

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

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

Fig.3-23 ： Connections and outside dimensions

9.27

35.7

……DDK

Note1)

……DDK

ressure connection type)......DDK

Maker

Options

3-73

3Controller

(7) Personal computer cable

■ Order type: ● For PC/AT ： RS-MAXY-CBL

RS-AT-RCBL (For expansion option box(CR1-EB3).)

■ Outline

This is the RS-232C interface cable used for connecting the controller with a personal computer. The personal computer on hand may be usable with the above interface cable. Confirm the connection specifications when placing an order. Personal computer cables for the PC/AT compatible model is available. The cable for the NEC PC9821 (half-pitch 14-pin) must be manufactured by the customer. Use "RS-AT-RCBL" when you use expansion serial I/F with the expansion option box.

■ Configuration Table 3-27 ： Configuration device

Part name Type Qty. Remarks

Personal computer cable (for PC/AT) RS-MAXY-CBL 1pc.

RS-AT-RCBL 1pc. 3m, D-SUB 9 pin

3m, D-SUB 9 pin

For expansion serial I/F at expansion option box(CR1-EB3).

Note1)The personal computer cable is the same as that for use with "Movemaster M1/M2/E/EN series".

Note1)

■ Specifications

（1） For PC/AT

Controller side

(Signal name, pin No.)

(FG) 1 (SD) 2 (RD) 3 (RS) 4 (CS) 5 (DR) 6 (ER)20 (SG) 7

（2） For PC98

Controller side

(Signal name, pin No.)

(FG) 1 (SD) 2 (RD) 3 (RS) 4 (CS) 5 (DR) 6 (ER)20 (SG) 7

Fig.3-24 ： Personal computer cabe connection

RS-MAXY-CBL

RS-AT-RCBL

Personal computer side

(Signal name, pin No.)

1 (CD) 2 (RD) 3 (SD) 4 (DTR) 6 (DSR) 8 (CTS) 7 (RTS) 5 (GND)

Personal computer side 25 pin connector

(Signal name, pin No.)

1 (FG) 2 (SD) 3 (RD) 4 (RS) 5 (CS) 6 (DR) 20 (ER) 7 (SG)

3-74

Options

RS-MAXY-CBL

3Controller

Robot side

Type:17JE-23250(D8A6) (DDK)

RS-AT-RCBL

1515

25 14

Robot side

Type:17JE-23250-02(D18A1) (DDK)

Fig.3-25 ： Personal computer cabe connector

P/C side

113

Options

3-75

3Controller

(8) Personal computer support software/Personal computer support software mini

■ Order type ：●Personal computer support software *For windows CD-ROM : 3A-01C-WINE

● Personal computer support software mini

*For windows CD-ROM : 3A-02C-WINE

■ Outline

This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support (creation and editing of programs), start up support (execution, control and debugging of program), and maintenance (remote maintenance.) The "personal computer support software" which supports these function fully, and the "personal computer support software mini" which does not have the simulation function are available. Select according to the required application.

■ Configuration

Table 3-28 ： Product configuration

Part name Type Medium Remarks

Personal computer support software 3A-01C-WINE CD-ROM One operation manual included

Personal computer support software mini 3A-02C-WINE CD-ROM One operation manual included

■ Features

(1) Simple operation with guidance method and menu method

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

(2) Increased work efficiency with ample support functions

The work efficiency is greatly improved with the multi-window method that carries out multiple steps and 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 trouble and determine measures to be taken can be shortened.

3-76

Options

■ Functions Table 3-29 ： Functions

Function

Compatible model ○○Personal computer running Microsoft Windows 95/98/NT 4.0

Program editing functions

Simulation func

Note3)

tion

Monitor func tions

Maintenance function

Remote mainte nance function ○○

Editing functions

Control func tions

Debugging func tions

Functional existence

○○

○×

○○

Note1)

Details

・ MELFA BASIC IV language compatible ・ Multiple editing screen simultaneously display ・ Command input, comment writing ・ Position data editing ・ File operation (writing to controller, floppy disk, personal computer) ・ Search and replace function (using characters, line Nos., labels) ・ Copy, cut, paste, insert (per character, line), undo (per command

statement, position conversion)

・ Line No. automatic generation, renumbering ・ Batch syntax check ・ Command template ・ Position conversion batch editing ・ Position variable template ・ Print, print preview

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

son, name change, protect)

・ Direct editing of program in controller ・Confirmation of robot program operation (step execution, direct exe

cution)

・ Tact time measurement

・ Off-line simulation of robot program operation using CG (computer

graphics)

・ Tact time calculation

・ Robot operation monitor (robot operation state, stop signal, error

monitor, program monitor (execution program, variables), general-pur pose input/output signals (forced output possible), dedicated input/ output signals, operation confirmation (operation range, current posi tion, hand, etc.) ・ Operation monitor (working time statistics, production information, robot version)

・ Servo monitor (position, speed, current, load, power)

・ Parameter setting ・ Batch, divided backup

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

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

Personal computer support software mini （3A-01C-WINE）

Personal computer support software （3A-02C-WINE）

Note2)

3Controller

Note1)The functions included with the personal computer support software and the personal computer support

software mini are shown below. ○ : Function provided × : Function not provided

Note2)When using the "personal computer support software mini", connect with the controller and measure. Note3)A simulation function is available only with "MELFA-BASIC Ⅳ ".

Options

3-77

3Controller

3.9 Maintenance parts

The consumable parts used in the controller are shown in Table 3-30. Purchase these parts from your dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from your dealer.

Table 3-30 ： Contloller consumable parts list

No. Part name Type Qty. Usage place Manufacturer

1 Lithium battery ER6 BKO-NC2157H011RZ182 card Mitsubishi Electric

3-78

Maintenance parts

4 Software

4.1 List of commands

The robot language to use can choose "MELFA-BASIC Ⅳ " (default setting) or "MOVEMASTER language

(MOVEMASTER commands)" by changing the parameter.

Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions.

The available new functions in MELFA-BASIC IV are given in Table 4-1.

Table 4-1：The available new functions in MELFA-BASIC IV

Class Command example Function

Robot Status Variable P_TOOL keep current tool length

M_SPD keep current speed (linear/circular interpolation)

Built-in functions ABS Produces the absolute value

VAL Converts a character string into a numeric value

ATN Calculates the arc tangent

STR$ Converts the numeric expression value into a decimal character string

ZONE Check current position area

Operation function P1=P1*P2 Relative calculation of position data

M1=M1*M2 Multiplication of numerical variable

P1.X=10 Operation of the position element data

Conditional branching SELECT CASE More than one condition branch

ON GOSUB Condition branch by the value

WHILE WEND Repeat with condition

Optimum acceleration/ deceleration control

Float control (compliance in the XYZ coordinate system)

Parallel execution (Multitask)

Conveyor trucking [Special specification]

LOADSET Load condition setting

OADL valid/invalid setting for the optimum acceleration/deceleration

CMP POS Compliance control

CMPG Force control

XRUN, XSTP, XRST, XLOAD

TRKON, TRKOFF Valid/invalid of the trucking

TRBASE Setting the base coordinate for the trucking

Parallel executions of another task, the stops, the resets, and, the loads

4Software

(1) The procedure of robot language selection

Table 4-2 ： Robot language parameter

Parameter

name

Robot language RLNG Integer 1

Note 1) "MELFA-BASIC Ⅳ " is default setting. Note 2) Refer to the separate manual "Explanation of MOVEMASTER COMMANDS"(BFP-A8056) for details of

"MOVEMASTER COMMAND".

No. of arrays

No. of characters

Details explanation

Select the robot language to use

1 : MELFA-BASIC Ⅳ 0 : MOVEMASTER COMMAND

List of commands

Factory

setting

4-79

4Software

(2) MELFA-BASIC Ⅳ

commands

Table 4-3 ： List of MELFA-BASIC IV commands

Type Class Function Input format (example)

Joint interpolation Moves to the designated position with joint interpolation. MOV P1 Linear interpolation Moves to the designated position with linear interpolation. MVS P1

Circular interpola tion

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

Operation Adds a process unconditionally to the operation. WTH

Position and operation control

Position control Designates the base conversion data. BASE P1

Float control The robot arm rigidity is lowered and softened. (XYZ coordinate system) CMP POS ,00000011

Pallet Defines the pallet. DEF PLT 1,P1,P2,P3,P4,5,3,1

Branching Branches unconditionally to the designated place. GOTO 120

Moves along a designated arc (start point → passing point → start point (end point)) with 3-dimensional circular interpolation (360 degrees).

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

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

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

(0.1% unit).

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

Designates the speed for linear and circular interpolation with a numerical value (0.1mm/s unit).

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

Automatically adjusts the acceleration/deceleration according to the param eter setting value.

ets the hand and work conditions for automatic adjustment of the accelera tion/deceleration.

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.

Designates the tool conversion data. TOOL P1

The robot arm rigidity is lowered and softened. (JOINT coordinate system) CMP JNT ,00000011 The robot arm rigidity is lowered and softened. (TOOL coordinate system) CMP TOOL ,00000011

The robot arm rigidity is returned to the normal state. CMP OFF

The robot arm rigidity is designated. CMPG

Operates the pallet grid point position. PLT 1,M1

Branches according to the designated conditions. IF IN1=1 THEN GOTO 100

Repeats until the designated end conditions are satisfied. FOR M1=1 to 10

MVC P1,P2,P1

MVR P1,P2,P3

MVR2 P1,P9,P3

MVR3 P1,P9,P3

OVRD 100

JOVRD 100

SPD 123.5

ACCEL 50,80

OADL 1,5,20

LOADSET 1,1

TORQ 4,60

1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

ELSE GOTO 20

Program control

4-80

List of commands

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

WEND

Branches corresponding to the designated expression value. ON M1 GOTO 100,200,300

4Software

Type Class Function Input format (example)

Branching Executes program block corresponding to the designated expression value.. SELECT

Moves the program process to the next line. SKIP

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 IN1=1 GOTO 100

Enables/disables the interrupt. ACT 1=1

Program control

Wait Designates the wait time, and the output signal pulse output time. (0.01s unit) DLY 0.5

Stop Stops the program execution. HLT

End Ends the program execution. END

Hand open Opens the designated hand. HOPEN

Hand

Hand close Closes the designated hand. HCLOSE Assignment Defines the input/output variables. DEF IO PORT1=BIT,0 Input Retrieves the general-purpose input signal. M1=IN 1

Output Calls out the general-purpose output signal.

Input/output

Mechanism desig nation

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

Parallel execution

Definition Defines the integer type or real number type variable. DEF INT KAISUU

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

Others

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

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

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

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

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

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

Acquires the mechanism with the designated mechanism No. GETM 1 Releases the mechanism with the designated mechanism No. RELM 1

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.

Defines the character string variable. DEF CHAR MESSAGE

efines the layout variable. (Up to 3-dimensional possible) DIM PDATA(2,3)

Defines the joint variable. DEF JNT TAIHI

Defines the position variable. DEF POS TORU

Defines the function. DEF FNTASU(A,B)=A+B

between programs, etc.

Closes a file. CLOSE #1 Inputs data from a file. INPUT# 1,M1 Outputs data to a file. PRINT# 1,M1

CASE 1

CASE 2

END SELECT

ON COM(1) GOSUB 100

ERROR 9000

OUT 1=0

XRST 3

CLR １

List of commands

4-81

4Software

(3) MOVEMASTER commands

Table 4-4 ： List of MOVEMASTER command

Type Class Function Input format (example)

Joint inter polation

Linear interpola tion

Circular interpola tion

Speed des ignation

Position and operation control

Position control

Pallet Defines the pallet. PA 1,5,3

Moves to the designated position variable with joint interpolation. MO 1 Moves to the designated position with joint interpolation. MP 100,200,125.3,0,90 Moves to a position obtained by adding two position variables. MA 1,2 Turns the joint by the specified angle from the current position. MJ 10,20,0,0,0,0 Moves the axis by the designated amount from the current position. DJ 1,15 Moves by the specified distance from current position. DW 100,80,0

Moves to the next position in number from current position. IP

Moves to the previous position in number from current position. DP

Moves to a position separated by the designated distance (+/- direction) in the Z axis direc tion of the tool coordinates from the designated position variable's position.

Moves to the origin in the axis order designated in the parameters. NT

Moves to the user specified origin position. OG Moves to the designated position variable with linear interpolation. MS 1

Moves by the specified distance from current position. DS 10,20,0

Continuously moves the position variable with linear interpolation between the two designated position variables.

Moves to a position separated by the designated distance (+/- direction) in the Z axis direc tion of the tool coordinates from the designated position variable position.

Moves along a designated arc (start point → transient point → end point) with three-dimen

sional circular interpolation.

Moves with circular interpolation with the position data of two MRA commands designated previously or subsequently.

Establishes program over-ride。 (0.1% unit) OVR 100

Designate the speed level and acceleration/deceleration rate for various interpolation opera tions.

Designate the speed, time constant, acceleration/deceleration rate and CNT setting validity for linear and circular interpolation.

It establishes die length to hand nose from hand installation. TL 128 Designates the tool matrix. TLM 0,0,128,0,0,0 Waits for in position till all axis ring inward pulse appointing. PW 10 Adds ± 360 degrees to current R axis joint position and rewrites current position. JRC +1 Memorizes current position as the position number. HE 1

Memorizes current position as the origin. HO Sets the designated coordinate value (x, y, z, a, b, c) in the designated position variable. PD 1,100,200,300,0,90,0 Deletes the position variable between two designated position variables. PC 1,20 Changes the pose of the robot at position。 CF 1,R,A,F

Operates the designated pallet No. grid point position, and substitutes into the corresponding position variable.

MT 1,-50

MC 10,20

MTS 1,-50

MR 1,2,3

MRA 4

SP 25,H

SD 123.5,50,50,0

PT 1

4-82

List of commands

4Software

Type Class Function Input format (example)

Branching Jump to line number. GT 120

Jump to line number if internal register value/strings equals specified value/strings. EQ 20,120

EQ "OK",120

Jump to line number if internal register value/strings does not equal specified value/strings. NE 20,120

Jump to line number if internal register value/strings is greater than specified value/strings. LG 20,120

Jump to line number if internal register value/strings is smaller than specified value/strings. SM 20,120

Program control

Subroutine Executes the subroutine of the line designated in the designated program. GS 3,10

Interrupt Validates the interrupt by the bit designated by the external input terminal, and designated

Wait Stops the operation for the designated time. (0.1 sec unit) TI 50 Select Selects the program. N 1 Start Executes the program between the designated line numbers. RN 10,50

Program control

Stop Halts the program. HLT

End Ends the program. ED

Open Opens the specified hand. GO

Close Closes the specified hand. GC

Hand

Setting Sets the motorized hand's gripping force and open/close time. GP 40,30,50

Input Gets signal from external input. ID

Output Outputs data to external output signal. OD 20

Input/output

addition Adds the designated value to the internal register value. ADD 10

Subtraction Subtracts the designated value from the designated register value. SUB 10

Multiplica tion

Division Divides the internal register value by the designated value. DIV 10

AND Logical AND of the internal register value and specified value. AN 7

OR Logical OR of the internal register value and specified value. OR 3

XOR Logical exclusive OR of the internal register value and specified value. XO 2

Operation/Substitution

Substitution

Exchange Exchanges the coordinate values of two designated position variables. PX 1,2

Jump to line number by internal register bit status. TB +5,100 Jump to line number by external input signal bit status. TBD +5,100

Repeats the loop specified by command NX. RC 8

Specifies the range of a loop in a program by command RC. NX

Returns from the subroutine. (The return line No. can be designated.) RT

the branching method and branching line at the interrupt. Disables interrupt by the bit of external input signal. DA 16

Sets the hand open/close state when the "PD" command is executed. GF 1

Outputs the counter value to external output signal. OC 1 Sets the output signal bit status. OB +16

Adds 1 to the designated number's counter. IC 5

Adds the coordinate values of the designated position variable to the coordinate values of the designated position variable.

Subtracts one from the designated number's counter. DC 5

Multiples the designated value to the internal register value.

Substitutes the designated value (character string) in the designated counter. SC 1,10

Substitutes the designated position variable coordinate value in the designated position vari able.

Substitutes the internal register value (character string) in the designated number's counter. CL 1 Sets the designated number's counter value (character string) in the internal register. CP 1

NE "NG",120

LG "NG",120

SM "NG",120

RT 200

EA +16,100,1

SF 1,2

MUL 2

SC $1,"OK"

PL 1,2

List of commands

4-83

4Software

Type Class Function Input format (example)

RS-232C read

Other

Clear Deletes the program between the designated line numbers. DL 10,90

File Opens the file. OPEN 1,1

Reset Resets the error, or program line number. RS

Comment Describes a comment. '

Reads the selected program No. or designated program information. QN 1 Reads the program of specified line number. LR 10 Reads the program of specified step number. STR 10 Reads the coordinate value of specified position number. PR 1 Reads the value/strings of specified counter number. CR 1 Reads the hand input signal, internal register value and the 16-bit width data from the desig

nated external output signal bit. Reads the current error No. or error history. ER 10

Reads the coordinate value of current position. WH

Reads the value of current tool length. WT

Reads the current tool matrix. WTM

Reads the name of system software version. VR

Reads the value of specified parameter. PMR "HANDINIT"

Deletes the selected program and position variables. NW

Reads the data from the file. INP 1,2,0

Sends the value to the file. PRN 2 Sets the contents of the designated parameter. PMW 1,0,1,0,1,0,1,0

DR 16

4-84

List of commands

4.2 List of parameters

(1) List of parameters

show the main parameter in the Table 4-5.

Table 4-5 ： List of parameters

Parameter Details

4Software

Standard tool coordinates. MEXTL Set the default value for the tool data.

Standard base coordinates MEXBS Set the relation of the world coordinate system and robot coordinate system.

XYZ operation range MEPAR Designate the overrun limit value for the world coordinate system.

JOINT operation range MEJAR Set the overrun limit value for each joint axis.

Free plane limit This is the overrun limit set with the free plane.

SFC1P : SFC8P

SFC1ME : SFC8ME

SFC1AT : SFC8AT

User-defined area An area (cube) defined with two XYZ coordinate points can be designated and that area set as

AREA1P1 : AREA8P1

AREA1P2 : AREA8P2

AREA1ME : AREA8ME

AREA1AT : AREA8AT

Automatic return setting RETPATH Set to restart the program after returning to the interrupt position when resuming operation

Buzzer ON/OFF BZR Designate whether to the turn buzzer ON or OFF.

Automatic operation speed. SPI Designate the initial level for the automatic operation speed.

Automatic operation override EOV Designate the initial override for automatic operation.

Jog setting JOGJSP Designate the joint jog and step operation speed.

JOGPSP Designate the linear jog and step operation speed.

Jog speed limit value JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No.

Unit: mm or deg.

Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of the plane as the outside operation range (error). The following three types of parameters are used.

Eight types of free plane limits can be set in SFC1P to SFC8P. There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.

Designate which mechanism to use eight types of set free plane limits. The mechanism No. to use is set with 1 to 8.

Set the validity of the eight types of set free plane limits. (Valid/invalid = 1/0)

the outside operation range. Furthermore, a signal can be output when the axis enters that area. Up to eight types of area can be designated.

Designated the 1st point of the area. There are eight elements, set in the order of x, y, z, a, b, c, L1, L2. (L1 and L2 are the additional axes.)

Designated the 2nd point of the area. There are eight elements, set in the order of x, y, z, a, b, c, L1, L2. (L1 and L2 are the additional axes.)

Designate which mechanism to use the eight types of set area. The mechanism No. to use is set with 1 to 8

Designate the area check type. (Invalid/zone/interference = 0/1/2) Zone: The dedicated output signal USRAREA turns ON. Interference: An error occurs..

after an interruption.

(External override, program override)

(Set dimension H/L amount, max. override.)

(Single/double = S/D) Set the signal No. after the hand type. Example) D900

List of parameters

4-85

4Software

Parameter Details

Stop input B contact desig nation

User-designated origin USERORG Designate the user-designated origin position.

Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will

Communication setting CBAU232 Set the baud rate.

Slot table SLT

No. of multi-tasks TASKMAX Designate the No. of programs to be executed simultaneously.

Robot language setting RLNG Select the robot language ("MELFA-BASIC Ⅳ "/"MOVEMASTER COMMAND")

Select the function of singular point adjacent alarm

Display language. 表示言語

Note1)

INB Change the dedicated input (stop) between the A contact and B contact.

be entered when not set.

CLEN232 Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

Make settings (program name, operation type, order of priority, etc.) for each slot during slot : SLT32

MESNGLSW Designate the valid/invalid of the singular point adjacent alarm.

LNG Change the language to display on the LCD display of teaching pendant.

initialization.

（Invalid/Valid ＝ 0/1）

When this parameter is set up "VALID", this warning sound is buzzing even if parameter:

BZR (buzzer ON/OFF) is set up "OFF".

ティーチングボックスの表示LCD などに表示する言語を切り替えます。

Note1)The procedure of Language as shown in "(2) Change the display language / 表示言語の切り替え ". 注1) 表示言語切り替え方法の詳細を "(2) Change the display language / 表示言語の切り替え " に示します。

4-86

List of parameters

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

The language to display on the LCD display of teaching pendant can be changed by "the display language parameter". (Japanese or English) Show the details of the parameter in the Table 4-5. Refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on changing the parameter. The parameter is set up based on the order specifications before shipment. Order to dealer when the instruction manual of the other language is necessity. More, the caution seals that stuck on the robot arm and the controller are made based on the language of the order specification. Use it carefully when selecting the other language.

表示言語設定パラメータによって、ティーチングボックスの表示 LCD などに表示する言語を切り替える

ことができます。（日本語、または英語） Table 4-5 にそのパラメータの詳細を示します。パラメータの変更方法は、別冊の「取扱説明書／機能と操作の詳細解説」を参照願います。なお、出荷時はご注文仕様に基づき弊社で設定いたします。別の言語の取扱説明書をご希望の場合はご用命願います。また、ロボット本体とコントローラに貼り付けてある注意シールは、ご注文仕様に基づいた言語で製作いたします。本パラメータを変更して言語を切り替えてご使用の場合はご注意願います。

Table 4-5 ： Display language parameter / 表示言語設定パラメータ

4Software

Parameter

パラメータ

Display lan

表示言語設定

guage

Parameter

name

パラメータ名

LNG Character string 1

No. of arrays

No. of characters

配列数文字数

文字列１

Details explanation

内容説明

Set up the display language.

"JPN" ： Japanese "ENG" ： English

The following language is changed.

(1)The display LCD of teaching pendant. (2) Personal computer support software.

*alarm message of the robot. *Parameter explanation list.

(3)Alarm message that read from the robot with external

communication. (Standard RS232C, Extended serial I/ F, Ethernet I/F)

表示言語を設定します。

"JPN" ：日本語表示 "ENG" ：英語表示

以下に示す表示言語が変更されます。

(1) ティーチングボックスの表示 LCD (2) パソコンサポートソフトウェア

・ロボットのアラームメッセージ・パラメータ説明リスト

(3) 外部通信でロボットから読み出したアラームメッ

セージ（標準 RS232C、増設シリアルインタ

フェース、イーサネットインタフェース）

Default

setting

出荷時

設定

List of parameters

4-87

5Safety

5 Safety

5.1 Safety

Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation Rules". Always follow these rules when using the robot to ensure safety.

5.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in Table 5-1 and the stop functions shown in Table 5-2 for safe use.

Table 5-1：Self-diagnosis stop functions

No. Function Details Remarks

1 Overload protection func

tion

2 Overcurrent diagnosis

function

3 Encoder disconnection

diagnosis function

4 Deflection over diagnosis

function

5 AC power voltage drop

diagnosis function

6 CPU error detection func

tion

7 Overrun

prevention function

Software limit detection

Mechanical stopper

Activates when the total servo current time exceeds the specified value.

Activates when an overcurrent flows to the motor circuit.

Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and

Activates when an error occurs between the com mand value and actual position, and the error exceeds the specified amount.

Activates when the AC power voltage drops below the specified value.

Activates when an error occurs in the CPU. The drive circuit is shut off. The robot stops, and

This is the limit provided by the software to enable operation only in the operation range.

This is the mechanical stopper provided outside the software.

The drive circuit is shut off. The robot stops, and an alarm displays.

an alarm displays.

The drive circuit is shut off. The robot stops, and an alarm displays.

an alarm displays.

The drive circuit is shut off. The robot stops, and an alarm displays.

The robot mechanically stops, and function 1 or 2 activates.

Table 5-2 ： List of stop functions

Stop

function

Emergency

stop

Stop ◯ ◯ ◯

Operation

panel

◯ ◯ ◯

Teaching

pendant

External

input

Details

This is the stop with the highest degree of emergency. The servo power is shut off, and the mechanical brakes (all axes) activate to stop the robot. To recover, reset the alarm, and turn the servo ON with the servo ON command.

This is a stop operation with a high degree of emergency. The robot immediately decelerates and stops. Note that the servo power is not shut off. Use this when using the collision evasion sensor, etc.

5.1.2 External input/output signals that can be used for safety protection measures

Table 5-3 ： External input/output signals that can be used for safety protection measures

Signal Command Functions Usage method

External emer gency stop

Stop STOP The program execution is stopped, and the

Input

Servo OFF SRVOFF The servo power can be shut off. The robot is stopped when a peripheral device

Automatic opera tion enable

In servo ON SRVON The servo power ON/OFF state is output. The servo power ON/OFF state is shown and

Waiting STOP Outputs that the robot is temporarily stopped. The temporary stop state is shown and alerted

Output

In alarm ERRRESET Outputs when an alarm occurs in the robot. The alarm state is shown and alerted with the dis

［Caution］ The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emer

(Input signal) This servo power is shut off, and the robot

stops immediately.

robot stops. The servo power is not shut off.

AUTOENA Disables automatic operation when inactive. Door switch on safety protection fence

Externally installed emergency stop switch. Door switch on safety protection fence. Stopping at high-level error occurrence.

The robot is stopped when a peripheral device fault occurs. The servo power is not shut off.

fault occurs. The servo power is not shut off.

alerted with the display lamps.

with the display lamps.

play lamps.

gency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to

"Fig. 5-1 Example of safety measures"for details.

5-88

Safety

5.1.3 Precautions for using robot

The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below.

(1) Robot installation

・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the

robot.

・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.) ・ Install the controller where the entire robot operation can be viewed. ・ Install display lamps, etc., to indicate the robot's operation state. ・ Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator

・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space. ・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures

・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies. ・ Create hand signals to be followed when several operators are working together. ・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is

in the robot's motion space so that other operators will not operate the operation panel (controller, control panel).

(4) Training

・ Train the operators about the operations, maintenance and safety required for the robot work. ・ Only trained and registered operators must operate the robot.

Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com mittee, etc., is recommended for safety training.

5Safety

(5) Daily inspection and periodic inspection

・ lways inspect the robot before starting daily operations and confirm that there are no abnormalities. ・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and

perform periodic inspections.

・ Make records when periodic inspections and repairs have been done, and store the records for three or more

years.

5.1.4 Safety measures for automatic operation

(1) Install safety fences so that operators will not enter the operation area during operation and indicate that

automatic operation is in progress with lamps, etc.

(2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the

operator follows the signals.

5.1.5 Safety measures for teaching

Observe the following measures when teaching, etc., in the robot's operation range.

(1) Specify and follow items such as procedures related to teaching work, etc. (2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper

ation can be restarted. (3) Take measures with the robot start switch, etc., to indicate that teaching work is being done. (4) Always inspect that stop functions such as the emergency stop device before starting the work. (5) Immediately stop the work when trouble occurs, and correct the trouble. (6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs. (7) The teaching operator must have completed special training regarding safety. (Training regarding industrial

robots and work methods, etc.) (8) Create signals to be used when several operators are working together.

5.1.6 Safety measures for maintenance and inspections, etc.

Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the start switch when performing inspections, repairs, adjustments, cleaning or oiling. If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations.

(1) Specify and follow items such as procedures related to maintenance work, etc. (2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper

ation can be restarted. (3) Take measures with the robot start switch, etc., to indicate that work is being done. (4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs. (5) The operator must have completed special training regarding safety. (Training regarding industrial robots and

work methods, etc.) (6) Create signals to be used when several operators are working together.

Safety

5-89

5Safety

5.1.7 Examples of safety measures

Emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as shown below for safety measures

<Customer-prepared wiring> <Robot controller system>

MC1

＋

To servo main circuit power

Door switch

External emergency stop

S/W-EMG

RA3

24V

RA1

RA2

External emergency stop output

RA4

T/B remove

switch

RA1

RA2

RA1

RA2

Door switch

input

RA3

External emergency stop input

Operation panel emergency stop

Teaching pendant emergency stop

Teaching pendant deadman switch

Software emergency stop

MC1

Teaching pendan deadman switch

[Caution] Some information has been omitted for explanation proposes, so some parts may differ.

Fig.5-1：Example of safety measures

(1) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door

switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is

opened) when the door is open. (2) Use a b contact manual-return type operator emergency stop switch. (3) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and

major faults (faults that cause the entire system to stop immediately, and that require care in restoration),

and wire accordingly.

[Caution] The emergency stop input(terminal block) on the user wiring in the controller can be used for safety

measures as shown in Fig. 5-1. Note that there are limits to the No. of switch contacts, capacity and cable length, so refer to the following and install.

・ Switch contact capacity....... Use a contact that operates with a switch contact capacity of approx.

1mA to 100mA/24V.

・ Cable length ............................... The length of the wire between the switch and terminal block must be

max. 15m or less.

[Reference] The specifications of the RA1 and RA2 coil shown in Fig. 5-1 are as follow.

・ Rated voltage ............................ DC24V 　±10％

・ Rated excitation current ...... 12.5mA 　±10％（at25 deg.）

* Note that these specifications are subject to change without prior notice for modification purposes.

5-90

Safety

5.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures.

(1) Power supply

・ Where the voltage fluctuation will exceed the input voltage range. ・ Where a momentary power failure exceeding 20ms may occur. ・ Where the power capacity cannot be sufficiently secured.

(2) Noise

・ Where a surge voltage exceeding 1000V, 1μs may be applied on the primary voltage. Near large inverters, high

output frequency oscillator, large contactors and welding machines. Static noise may enter the lines when this product is used near radios or televisions. Keep the robot away from these items.

(3) Temperature and humidity

・ Where the atmospheric temperature exceeds 40 degree , lower than 0 degree. ・ Where the relative humidity exceeds 85%, lower than 45%, and where dew may condense. ・ Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

5Safety

(4) Vibration

・ Where excessive vibration or impact may be applied. (Use in an environment of 34m/s

tation and 5m/s

or less during operation.)

or less during transpor

(5) Installation environment

・ Where strong electric fields or magnetic fields are generated. ・ Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.)

5.3 Precautions for handling

(1) This robot has brakes J1 to J3 and J5 axes. The precision of the robot may drop, looseness may occur and

the reduction gears may be damaged if the robot is moved with force with the brakes applied.

(2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu

racy may drop due to an excessive backlash, or the backed up data may be destroyed.

(3) Note that depending on the posture, even when within the movement range, the wrist section could interfere

with the base section. Take care to prevent interference during jog.

(4) The robot arm is configured of precision parts such as bearings. Grease is used for lubricating these parts.

When cold starting at low temperatures or starting operation after long-term stoppage, the position accuracy may drop or servo alarms may occur. If these types of phenomena occur, run the robot with row-speed opera tion for a short time.

(5) The robot arm and controller must be grounded with Class D grounding to secure the noise resistance and to

prevent electric shocks.

(6) The items described in these specifications are conditions for carrying out the periodic maintenance and

inspections described in the instruction manual.

(7) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config

uration may break due to the fixed installation specifications. In this case, use the machine cable extension (for flexed)" factory shipment special specifications or options.

(8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc.

Take care to prevent interference with the workpiece or peripheral devices during operation.

(9) The hanging installation jig can be borrowed from the maker. Order to dealer when need. (10) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive

power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

Note1)

Note1)Jog operation refers to operating the robot manually using the teaching pendant.

Working environment

5-91

6Appendix

6 Appendix Appendix 1 ： Specifications discussion material

■ Customer information

Company name Name Address Telephone

■ Purchased mode

Specification Type

Standard specification Clean specification

■ Shipping special specifications (Settings can be made only at time of shipment)

Item

Robot arm Machine cable □ 5m fixed type □10m fixed type □15m fixed type

Controller Controller structure □ Floor type

■ Options (Installable after shipment)

Item Provision, and specifications when provided.

Pneumatic hand set 4A-HP01/4A-HP01E □ Not provided □ 4A-HP01 □ 4A-HP01E

Motorized hand set 4A-HM01□Not provided □ Provided

Solenoid valve set 1E-VD0

Hand input cable 1A-HC20 □ Not provided □ Provided

Robot arm

Hand output cable 1E-GR35S □ Not provided □ Provided

Hand curl tube 1E-ST04 □ C □ Not provided □1 pc. □ 2 pc.

Hand adapter 1A-HA01□Not provided □ Provided

Teaching pendant R28TB □ Not provided □ Provided Pneumatic hand interface 2A-RZ365/2A-RZ375 □ Not provided □ Provided Parallel I/O interface 2A-RZ361/2A-RZ371□Not provided □1pc. □ 2pc. □ 3pc. □ 4pc. □ 5pc. □ 6pc. □ 7pc. External I/O cable 2A-CBL □□ □ Not provided □ 5m-1pc. □ 5m-2pc. □ 5m-3pc.

CC-LINK interface 2A-HR575E □ Not provided □ Provided ETHERNET interface 2A-HR533E □ Not provided □ Provided Extended serial interface 2A-RZ581E □ Not provided □ Provided Additional axis interface 2A-RZ541E □ Not provided □ Provided Personal computer cable RS-MAXY-CBL/

Controller

Personal computer support software

Personal computer support software mini

Expansion option box CR1-EB3 □ Not provided □ Provided Controller protection box CR1-MB □ Not provided □ Provided

Note1) Up to eight units, including the one unit mounted as a standard.

□ RV-1A □ RV-2AJ □ RV-1AC-SB □ RV-2AJC-SB

Standard

specifications

□ 5m flexed type □10m flexed type □15m flexed type

□

1E-VD0

RS-AT-RCBL

3A-01C-WINE

3A-02C-WINE

□ Not provided 1E-VD0 □ : □1 set □ 2 sets

□ Not provided □ RS-MAXY-CBL □ RS-AT-RCBL

□ Not provided □ Windows95/98/NT4.0 CD-ROM

Special shipping specifications

1E-VD0 □ E: □1 set □ 2 sets

□15m-1pc. □15m-2pc. □15m-3pc. 　

■ Maintenance parts (Consumable parts)

Maintenance parts

□ Backup batteries A6BAT ( ) pcs. □ Backup batteries ER6 ( ) pcs. □ Grease ( ) cans

■ Robot selection check list

Work description □ Material handring □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( )

Workpiece mass ( ) ｇ Hand mass ( ) ｇ Atmosphere □ General enveronment □ Clean □ Dust provided □ Other( )

Remarks

Copy this page and use the copy.

Appendix-92

Specifications discussion material

Mitsubishi Electric RV-1A, RV-2AJ Specifications Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1General configuration

1.1 Structural equipment

1.1.1 Standard structural equipment

1.1.2 Shipping special specifications

1.1.3 Options

1.1.4 Maintenance parts

1.2 Contents of the structural equipment

1.2.1 Robot arm

1.3 Controller

1.4 Contents of the Option equipment and special specification

2 Robot arm

2.1 Standard specifications

2.2 Definition of specifications

2.2.1 Pose repeatability and distance accuracy

2.2.2 Rated load (mass capacity)

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

2.2.4 Clean specifications (1) Types of clean specifications

2.3 Names of each part of the robot

2.4 Outside dimensions ・ Operating range diagram

(1) RV-1A/1AC-SB

(2) RV-2AJ/2AJC-SB

(3) Mechanical interface and Installation surface of RV-1A/2AJ, RV-1AC-SB/2AJC-SB

2.5 Tooling

2.5.1 Wiring and piping for hand

(1) RV-1A/2AJ (General environment)

(2) RV-1AC-SB/2AJC-SB (Clean specification)

2.5.2 Internal air piping

2.5.3 Internal wiring for the pneumatic hand output cable

2.5.4 Internal wiring for the hand check input cable

2.5.5 Wiring and piping system diagram for hand

(1) RV-1A/2AJ (General environment)

(2) RV-1AC-SB/2AJC-SB (Clean specification)

2.5.6 Electrical specifications of hand input/output

2.5.7 Air supply circuit example for the hand

2.6 Shipping special specifications, options, and maintenance parts

2.6.1 Shipping special specifications

(1) Machine cable extension

2.7 Options

(1) Motorized hand set

(2) Pneumatic hand set

(3) Solenoid valve set

(4) Hand input cable

(5) Hand output cable

(6) Hand curl tube

(7) Hand adapter

2.8 Maintenance parts

3Controller

3.1 Standard specifications

3.1.1 Standard specifications

3.1.2 Protection specifications and operating supply

3.2 Names of each part

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions

3.3.2 Installation dimensions

3.4 External input/output

3.4.1 Types

3.4.2 Explanation

3.5 Dedicated input/output

3.6 Emergency stop input/output

3.6.1 Connection of the external emergency stop

3.6.2 Door switch function

3.7 Parallel input/output unit

3.8 Options

(1) Teaching pendant (T/B)

(2) Pneumatic hand interface

(3) Controller protection box

(4) Expansion option box

(5) Parallel I/O unit

(6) External I/O cable

(7) Personal computer cable

(8) Personal computer support software/Personal computer support software mini

3.9 Maintenance parts

4 Software

4.1 List of commands

(1) The procedure of robot language selection

(3) MOVEMASTER commands

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