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

MITSUBISHI ELECTRIC

MELFA

Industrial Robots

Specifications Manual

RV-1A/RV-2AJ Series

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

MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION

Safety Precautions

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

		CAUTION	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
		CAUTION	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
		WARNING	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	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

WARNING

CAUTION

CAUTION

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

		CAUTION	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 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.)

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

WARNING

CAUTION

WARNING

CAUTION

CAUTION

CAUTION

CAUTION

WARNING

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.

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 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.

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

Rear side of controller

Earth leakage breaker

(NV)

Cover

Terminal

Cover

Terminal cover

Protective earth terminal

(PE)

■ 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.
		Error in writing correction.
2002-06-03	BFP-A8050-E	RV-1AC-SB, RV-2AJC-SB was added.
		Error in writing correction.
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
		Page
1 General configuration ....................................................................................................................................................................		1-1
1.1 Structural equipment .............................................................................................................................................................		1-1
1.1.1 Standard structural equipment ..................................................................................................................................		1-1
1.1.2 Shipping special specifications ...................................................................................................................................		1-1
1.1.3 Options .................................................................................................................................................................................		1-1
1.1.4 Maintenance parts ...........................................................................................................................................................		1-1
1.2	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
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

i

			Page
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 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 / ..............................................................................	4-87
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

ii

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

Vertical five-axis

RV-1A:General environment

multiple-jointed type

RV-1AC-SB:Clean specification

RV-2AJ:General environment

RV-2AJC-SB:Clean specification

or

Machine cable fixed type 5m

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.

Solenoid valve set <sink type>

1 set: 1E-VD01

2 set: 1E-VD02

<source type>

1 set: 1E-VD01E2 set: 1E-VD02E

With installation bolts.

Note) Not clean specification

Hand output cable

1E-GR35S

parts

manufactured

1A-HC20

Hand input cable

customer-

Hand curl tube

hand

1 set, 2pc. 1E-ST0402C

2 set, 4pc. 1E-ST0404C

Pneumatic

Fig.1-1 Structural equipment (Robot arm)

Pneumatic hand set

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

The set consists of the following parts.

Pneumatic hand	1A-HP01/1A-HP01E
Solenoid valve set (1 pc.) 1E-VD01/1E-VD01E
Curl cable	1A-GHCD/1A-GHCD
Hand curl tube	1A-ST0402C/1A-ST0402C
Pneumatic hand I/F	2A-RZ365/2A-RZ375
Hand adapter	1A-HA01/1A-HA01

With installation bolts.

Note) Not clean specification

Motorized hand set 4A-HM01
Motorized hand							1A-HM01
Curl cable							1A-GHCD
Motorized hand I/F							2A-RZ364
Hand adapter							1A-HA01

Withinstallation bolts.

Note) Not clean specification

Hand adapter1A-HA01

With installation bolts.

Caution

Standard configuration

equipment

Special shipping

specifications Option

Prepared by customer

1-2 Contents of the structural equipment

1General configuration

1.3 Controller

The devices shown below can be installed on the controller.

Controller

CR1-571

Teaching pendant(T/B)

Controller protection box

R28TB

CR1-MB

Pneumatic I/F

Parallel I/O unit

External I/O cable

2A-RZ365 (Sink)

2A-RZ361 (Sink)

2A-CBL05(5m)

2A-RZ375 (Source)

2A-RZ371 (Source)

2A-CBL15(15m)

PLC(Programmable

Logic Controller)

External device

Prepared by customer

Expansion option box

Extended serial I/F

CC-LINK I/F

ETHERNET I/F

Additional axis I/F

CR1-EB3

2A-RZ581E

2A-HR575E

2A-HR533E

2A-RZ541E

Personal computer

Personal computer

cable

Prepared

RS-MAXY-CBL

by customer

RS-AT-RCBL

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)

Caution

Standard configuration equipment

Special shipping

specifications Option

Prepared by customer

Fig.1-2 Structural equipment(Controller)

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	Classific	Descripsion
				ation
	Extended machine cables	1A-10CBL-1	For fixing	□	10
		1A-15CBL-1	(Two sets for power and signal)	□	15
		1A-05LCBL-1		□	5m
			For flexed
		1A-10LCBL-1		□	10
			(Two sets for power and signal)
		1A-15LCBL-1		□	15
	Pneumatic hand set	4A-HP01	Pneumatic hand, Solenoid valve set	○	The pneumatic hand and required parts are pre-
			(1 pc.), Curl tube(1 pc.), Pneumatic		pared in a set.(sink type)
		4A-HP01E	hand I/F, Hand adapter, Installation	○	The pneumatic hand and required parts are pre-
			bolts
					pared in a set.(source type)
	Motorized hand set	4A-HM01	Motorized hand, Hand curl cable,		The motorized hand and required parts are pre-
			Motorized hand I/F, Hand adapter,	○
			Installation bolts		pared in a set.
	Solenoid valve set	1E-VD01	1 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-	○	The cable is connected to the hand output con-
			nector. One terminal is not treated.		nector by the customer.
	Hand input cable	1A-HC20	Length 200mm with robot side con-	○	The cable is connected to the sensor by the cus-
			nector. One terminal is not treated.		tomer.
	Hand curl tube	1E-ST0402C	For solenoid valve 1set.:Φ4x2	○
					Curl type air tube
		1E-ST0404C	For solenoid valve 2set.:Φ4x4	○
	Hand adapter	1A-HA01		○	For RV-M1 hand installation flange conversion.
	Teaching pendant	R28TB	Cable length 7m	○	With 3-position deadman switch/ IP 65
	Pneumatic hand interface	2A-RZ365	DO: 8 point (Sink type) *1)	○	It is necessary when the hand output signal of the
					robot arm is used. (Integrated in the controller.)
		2A-RZ375	DO: 8 point (Source type) *1)	○	*1)In RV-1A/2AJ type, even four points are
					effective.
	Parallel I/O interface	2A-RZ361	DO: 32 point (Sink type)/	○	The unit for expansion the external input/output.
			DI : 32 point (Sink type)		Electrical isolated Type
					(100mA/Point)
		2A-RZ371	DO: 32 point (Source type)/	○
			DI : 32 point (Source type)
	External I/O cable	2A-CBL05	5m	○	Use to connect the external peripheral device to
					the parallel input/output unit
		2A-CBL15	15m	○
	Personal computer cable	RS-MAXY-CBL	RS-232C cable 3m for PC-AT com-	○	Use RS-AT-RCBL for the connection from the
			patible model		expansion option box.
		RS-AT-RCBL		○
	Personal computer	3A-01C-WINE	CD-ROM	○	MS-Windows95/98/NT4.0
	Support software				(With the simulation function)
	Personal computer	3A-02C-WINE	CD-ROM	○	MS-Windows95/98/NT4.0
	Support software mini				(Without the simulation function)
	Expansion option box	CR1-EB3	Up to three option cards can be	○	Install on the side of the controller
			mounted
	Extended serial interface	2A-RZ581E	RS-232C x 1	○	CR-EB3 is need.
			RS-232C or RS-422 x 1
	CC-Link interface	2A-HR575E	Local station (The local station	○	for MELSEC PLC with CC-Link connection. CR-
			alone is supported.)		EB3 is need.
	ETHERNET interface	2A-HR533E	ETHERNET x 1	○	CR-EB3 is need.
	Additional axis interface	2A-RZ541E	SSC x 1	○	MR-J2 servoAmplifer Unit connection. CR-EB3 is
			Up to 8 axises can be added		need.
					The controller protection box is used to protect
	Controller protection box	CR1-MB	IP54	□	the controller from an oil mist or other operating
					environment. Note2)

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.

1-4 Contents of the Option equipment and special specification

2Robot arm

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-1A		RV-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			0
		Upper arm			250
Arm length		Fore arm			160
		Elbow shift			90			0
		Wrist length			72
		J1				300(-150 to +150)
		J2				180(-60 to +120)
Operating		J3	Degree	95(+60 to +155)			230(-110 to +120)
range
		J4		320(-160 to +160)
		J5				180(-90 to +90)
		J6				400(-200 to +200)
		J1			180
		J2			90
Speed of		J3	Degree/		135
motion			s
		J4			180
		J5			180
		J6			210
Maximum resultant velocity			mm/s	Approx. 2200			Approx. 2100
Load		MaximumNote1)	kg		1.5			2
		Rating			1			1.5
Pose repeatability Note2)					± 0.02
Ambient temperature						0 to 40
Mass			kg	Approx. 19			Approx. 17
Allowable		J4			1.44
			N m
		J5			1.44			2.16
moment load
		J6			0.73			1.10
Allowable		J4		2.16x10-2
		J5	kg 2	2.16x10-2			3.24x10-2
inertia
		J6		5.62x10-3			8.43x10-3
Arm reachable radius			mm		418			410
(front p-axis center point)
Tool wiring Note3)				Four input signals (Hand section),			Four output signals (Base section),
						Motorized hand output (Hand section)
Tool pneumatic pipes				Φ4x4 (Base to hand		Φ4x3 (Base to hand	Φ4x4 (Base to hand		Φ4x3 (Base to hand
				section)		section)	section)		section)
Supply pressure			MPa		0.5 ± 10%
Protection specificationNote4)				IP30			IP30
Degree of cleanlinessNote5)						100(0.3μm)			100(0.3μm)
Paint color						Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)

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.

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	(X, Y, Z)

	Min.	Max.	Measuring conditions
			Load ................................................................	A load equal to the rated
				load at the mass capacity
	Double of	pose repeatability		reference point
			The number of repitition and speed	100 times at 100% speed
	Distance		Measuring instrument ..............................	Non-contact displace-
				ment meter
	accuracy

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

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

with the flange posture facing downword

150 136

		0.3kg				106
			0.5kg			100
						75
			1.0kg
						50
					1.5
					kg
300	250	200	150	100	72	0
						50
						75	Rotation center for J6 axis
						100
						106
						136	Rotation center for J5 axis
						150
	268	207	147	97

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

Maximum load capacity

with the flange posture facing downword

						150
						129
		0.5kg				100
			1.0kg			91
						75
				1.5kg
						56
					2kg
300	250	200	150	100	72	0
						56
						75	Rotation center for J6 axis
						91
						100
						129	Rotation center for J5 axis
						150

254 180 147 110

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

Robot arm

2.2.3Protection 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	IEC Standards	Applicable field	Remarks
	specifications	value
	General-purpose envi-	IP30	General assembly
	ronment specifications		Slightly dusty environment

CAUTION Use the controller protection box (CR1-MB) optional to protect the controller from the environment when the controller will be used in the environment such as the oil mist shown in the Table 2-3. Refer to the section Page 59, "(3) Controller protection box" for details on the controller protection box.

InformationThe 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

Robot arm

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

	Clean	Type	Degree of	Internal suction	Remarks
	specifications		cleanliness
	Type SB	RV-1AC-SB	100(0.3μm)	Internal suction with vaccum generating valve.	A vacuum generating
		RV-2AJC-SB			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

Robot arm

2.3 Names of each part of the robot

Fore arm
J5-axis	Note)	Elbow block
J4-axis
J6-axis		J3-axis
Mechanical interface		Upper arm
(Hand installation flange surface)
Shoulder
			J2-axis

J1-axis

Base

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

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

2-10 Names of each part of the robot

Robot arm

2.4 Outside dimensions Operating range diagram

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

point path

Operating range at section of X-X

Flange downward limit line(dotted line)

X

(Front)

Flange downward singular point path

Solenoid valve (optional)
installation position	point path

X

Machine cable (Connect to the controller)

150 or more	Approx. 70

(Back projects)

pose

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

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

Outside dimensions Operating range diagram 2-11

Robot arm

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

point path

Operating range at section of X-X

Flange downward

P

limit line(dotted line)

X

X

(Front)

point path

Solenoid valve (optional) installation position

Machine cable		Back side limitations
(Connect to
the controller)		(Two dotted line)
150 or more	Approx. 70

pose

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

Robot arm

(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

40H8,φ depth6.5	4
	φ
	20H7,
	depth

View from A

Detail of Mechanical interface (ISO9409-1)

Front

*

6.3a

4-φ9 hole

(Installation bolts for M8×35)

Installation reference surface

6.3a

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

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	(3) 1 to 4 : Secondary piping
1 2 3 4	couplings (φ4)
	Note) This parts dosn't exist for 5-axis type
	Note) Solenoid valve set(optional)
	installation section
	a)
(1) Hand input signal or
motorized hand
connectors
	b)

9 8 7 6 5 4 3 2 1

		Secondary piping	GR1 to GR4 : Connect to the b)
		pneumatic hoses(φ4)	Hand output connector
	Hand connector pin assignment
		Note2)

Primary piping pneumatic hoses(φ6*1)

Hand input signal and Note2) motorized hand

cables

Secondary piping hoses (φ4*4)

CN2	CN1
Magnification	Machine cable connector
	(Power supply)
GR1 GR2 GR3 GR4	Machine cable connector
Note1)When using the hand output signal, it is necessary
to use the optional pneumatic hand interface	(Signals)

(2A-RZ365/2A-RZ375)	1 2 3 4
Note2)The user must prepare the φ4 and φ6		(2)GR1 to GR4:Connect to the b)
pneumatic hoses for connecting to the solenoid	AIR IN	Hand output connector

	valve set.			Number of connector
				for hand output.			(4) AIR IN 1 to 4:Connect to the a)
				Number of coupling for hand.
							Secondary piping air coupling(φ4)
Connector and pneumatic coupling
			Robot side(Robot arm side)		Counter side (customer-prepared)
No	Name	Qty.						Manufacturer
			Connectors,
				Connector pins	Connector	Connector pins
			couplings
(1)	Connector	1	SMP-09V-BC	BHF-001GI-0.8BS	SMP-09V-B	BYM-001T-0.6		Japan solderless ter-
								minal MFG. Co.,LTD
(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

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

2-14 Tooling

Robot arm

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

Number of coupling for hand AIR OUT

1 2 3 4 (3) 1 to 3 : Secondary piping couplings (φ4)

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

Note3) Solenoid valve set

(optional, not clean secification) installation section

a)

(1) Hand input signal or motorized hand connectors

	9 8 7 6 5 4 3 2 1	Internal suction φ4
		Secondary piping
		pneumatic hoses(φ4)
	Hand connector pin assignment
		Note2)

Hand input signal and motorized hand cables

Not use

Secondary piping hoses

b)

GR1 to GR4 : Connect to the b)

Hand output connector

Primary piping pneumatic hoses(φ6*1)

Note2)

Exhaustφ6 Note3

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.

						Compressed airφ6 Note3)
				CN2	CN1	Vacuum solenoid valve Note4)
						For suctionφ4 Note5)
	Magnification					Machine cable connector
						(Power supply)
	GR1 GR2 GR3 GR4					Machine cable connector
						(Signals)
	1	2	3	4	(2)GR1 to GR4:Connect to the b)
					Hand output connector
		AIR IN

	Number of connector	Coupling for internal suction
	for hand output.
	Number of coupling for hand.	(4) AIR IN 1 to 4:Connect to the a)
		Secondary piping air coupling(φ4)

Connector and pneumatic coupling

				Robot side(Robot arm side)		Counter side (customer-prepared)
	No	Name	Qty.					Manufacturer
				Connectors,
					Connector pins	Connector	Connector pins
				couplings
	(1)	Connector	1	SMP-09V-BC	BHF-001GI-0.8BS	SMP-09V-B	BYM-001T-0.6	Japan solderless ter-
								minal MFG. Co.,LTD
	(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

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

Tooling 2-15

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).

2.5.3Internal 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(0.2mm2) x 2 : 4 cables) The cable terminals have connector bridges for four hand outputs. The connector names are GR1 to GR4.

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

Robot arm

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)

<Sink type>

1

2

3

4

5

6

7

8

9

During use of motorized

hand I/F(optional)

1

2

3 4 5 6 7 8 9

During use of pneumatic

hand I/F(optional)

1

2

3

4

5

6

7

8

9

During use of pneumatic hand I/F.

	<Hand check 1>		White
			Black
	<Hand check 2>
			White
	<Hand check 3>
			Black
	<Hand check 4>
			White
	<+24V>
			Black
	<0V(COM)>
		White	*1
	<DC+>	Black	*1
	<DC->

Note1 *1 is dedicated for the motorized hand.

It is valid when the motorized hand interface is installed.

General-purpose input No.

900

901

902

903 Robot controller

<Hand check 1>
						GR1
<Hand check 1>			900				White
		General-purpose output
	Hand 1		+24V				Black
						GR2
<+24V>	ON/OFF		901				White
		General-purpose output
<0V(COM)>			+24V				Black
			902			GR3	White
		General-purpose output
	Hand 2		+24V				Black
						GR4
	ON/OFF	General-purpose output	903				White
							Black
			+24V

φ4 quick coupling bridge(1 to 4)

AIR OUT1	φ4 hose(4 hoses)
AIR OUT2
AIR OUT3
AIR OUT4

		Solenoid valve
φ quick		section
coupling
AIR IN1	Solenoid valve
AIR IN2	installation	Solenoid valve
AIR IN3	section	manifold
AIR IN4	(optional)

Connect to the

primary air supply

(φ6 hose)

Wrist section

Shoulder section Base section

*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

Robot arm

<Source type>

1

2

3

4

5

6

7

8

9

During use of motorized

hand I/F(optional)

		During use of
		pneumatic
		hand I/F.
		<Hand check 1>		White
	1
				Black
	2	<Hand check 2>
				White
	3	<Hand check 3>
				Black
	4	<Hand check 4>
				White
	5	<+24V(COM)>
				Black
	6	<0V>
			White	*1
	7	<DC+>
			Black	*1
	8	<DC->
	9

Note1 *1 is dedicated for the motorized hand.

It is valid when the motorized hand interface is installed.

General-purpose input No.

900

901

902

903Robot controller

	1		<Hand check 1>
	2									GR1
			<Hand check 1>				900				White
	3					General-purpose output
					Hand 1		24G				Black
	4									GR2
					ON/OFF						White
5				<+24V(COM)>		General-purpose output	901
							24G				Black
6		<0V>
										GR3
7							902				White
						General-purpose output
8					Hand 2		24G				Black
										GR4
9					ON/OFF	General-purpose output	903				White
											Black
							24G

During use of pneumatic

hand I/F(optional)

	Solenoid valve
φ4 quick coupling bridge(1 to 4)	section
	φ quick
	coupling

AIR OUT1	φ4 hose(4 hoses)
AIR OUT2
AIR OUT3
AIR OUT4

AIR IN1	Solenoid valve
AIR IN2	installation	Solenoid valve
AIR IN3	section	manifold
AIR IN4	(optional)

Connect to the

primary air supply

(φ6 hose)

Wrist section

Shoulder section Base section

*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

Robot arm

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

<Sink type>

	During use of
	pneumatic
	hand I/F.				General		-	purpose
					input No.
	<Hand check 1>		White		900
1
			Black
2	<Hand check 2>				901
			White
3	<Hand check 3>				902
			Black
4	<Hand check 4>				903						Robot
			White
5	<+24V>
			Black								controller
6	<0V(COM)>
		White
7	<Not use>
8	<Not use>	Black
9

		900			GR1	White
	General-purpose output
Hand 1		+24V				Black
					GR2
ON/OFF		901				White
	General-purpose output
		+24V				Black
		902			GR3	White
	General-purpose output
Hand 2		+24V				Black
					GR4
ON/OFF	General-purpose output	903				White
						Black
		+24V

				Solenoid valve
	φ4 quick coupling bridge(1 to 4)	φ quick		section
		coupling
AIR OUT1	φ4 hose(4 hoses)	AIR IN1	Solenoid valve	Solenoid valve
AIR OUT2		AIR IN2	installation
		AIR IN3		manifold
AIR OUT3			section
		AIR IN4	(optional)	Connect to the

primary air supply

Internal suction

Vacuum solenoid valve

(φ6 hose)

Wrist section	Shoulder section Base section	*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

Robot arm

<Source type>

	During use of
	pneumatic
	hand I/F.				General		-	purpose
					input No.
	<Hand check 1>		White		900
1
			Black
2	<Hand check 2>				901
			White
3	<Hand check 3>				902
			Black
4	<Hand check 4>				903						Robot
			White
5	<24V(COM)>
			Black								controller
6	<0V>
		White
7	<Not use>
8	<Not use>	Black
9

		900			GR1	White
	General-purpose output
Hand 1		24G				Black
					GR2
ON/OFF General-purpose output		901				White
						Black
		24G
		902			GR3	White
	General-purpose output
Hand 2		24G				Black
					GR4
ON/OFF	General-purpose output	903				White
						Black
		24G

	Solenoid valve
φ4 quick coupling bridge(1 to 4)	section
	φ quick
	coupling

AIR OUT1	φ4 hose(4 hoses)
AIR OUT2
AIR OUT3

Internal suction

AIR IN1	Solenoid valve
AIR IN2	installation	Solenoid valve
AIR IN3	section	manifold
AIR IN4	(optional)	Connect to the

primary air supply

Vacuum solenoid valve (φ6 hose)

Wrist section	Shoulder section Base section	*Refer to Fig. 2-14 for air supply cir-
		cuit example.

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

2-20 Tooling

Robot arm

2.5.6 Electrical specifications of hand input/output

Table 2-6 Electrical specifications of input circuit

Item

Specifications

Internal circuit

Type

DC input

<Sink type>

No. of input points

4

24V

Insulation method

Photo-coupler insulation

24V

Rated input voltage

12VDC/24VDC

Rated input current

Approx. 3mA/approx. 7mA

820

HCn*

Working voltage range

DC10.2 to 26.4V(ripple rate within 5%)

3.3K

ON voltage/ON current

8VDC or more/2mA or more

0V(COM)

OFF voltage/OFF current

4VDC or less/1mA or less

Input resistance

Approx. 3.3kΩ

<Source type>

Response time

OFF-ON

10ms or less(DC24V)

24V

ON-OFF

10ms or less(DC24V)

24V(COM)

3.3K

HCn*

820

0V

* HCn HC1 HC4

Table 2-7 Electrical specifications of output circuit

Item

Specification

Internal circuit

Type

Transistor output

<Sink type>

No. of output points

4

24V

Insulation method

Photo coupler insulation

Internal power supply

Rated load voltage

DC24V

Rated load voltage range

DC21.6 to 26.4VDC

GRn*

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)

Fuse

ON-OFF

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

1.6A

Fuse rating

1.6A (each one common) Cannot be exchanged

0V

<Source type>

Fuse 24V

GRn*

0V

* GRn GR1 GR4

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

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.

							Pressure switch
								To the solenoid valve
								primary air supply port
Pneumatic source								0.5MPa ±10%
0.7MPa less		Filter			Regurater

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

2-22