Mitsubishi Electric MELFA 2SDB User Manual Download

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MELFA Robots

Industrial Robot

Standard Specifications Manual

RV-2SD/2SDB

(CR1DA-700 series Controller)

MITSUBISHI ELECTRIC

BFP-A8790
17 06 2010
Version C

INDUSTRIAL AUTOMATION

Summary of Contents for MELFA 2SDB

Page 1: ...MELFA Robots Industrial Robot Standard Specifications Manual RV 2SD 2SDB CR1DA 700 series Controller MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC BFP A8790 17 06 2010 Version C INDUSTRIAL AUTOMATION ...

Page 2: ......

Page 3: ...s 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 t...

Page 4: ...e this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuri...

Page 5: ...the program or parameters the internal information of the robot controller may be damaged Use the USB devices confirmed by manufacturer In other case it might have care difficulty by the effect of temperature noise and so on When using it measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm of the operation by the custom...

Page 6: ...04 BFP A8790 First print 2010 02 12 BFP A8790 A Power capacity was corrected old value 0 2kVA 2010 03 30 BFP A8790 B CE specification of the CR1DA controller was added Specification of RV 2SQB all the axis have brakes was added 2010 06 17 BFP A8790 C Error in writing was corrected ...

Page 7: ...g range diagram 2 12 1 RV 2SD standard specification 2 12 2 RV 2SDB S15 CE marking specification 2 13 3 Operating range Common to the standard CE Marking 2 14 2 5 Tooling 2 15 2 5 1 Wiring and piping for hand 2 15 1 RV 2SD Standard specification 2 15 2 RV 2SDB CE marking specification 2 16 2 5 2 Internal air piping 2 17 2 5 3 Internal wiring for the pneumatic hand output cable 2 17 2 5 4 Internal ...

Page 8: ...le 3 72 5 Parallel I O unit 3 74 6 External I O cable 3 82 7 Personal computer cable 3 84 8 CC Link interface 3 85 9 Extension memory cassette 3 88 10 RT ToolBox2 RT ToolBox2 mini 3 89 11 Instruction Manual bound edition 3 91 3 10 Maintenance parts 3 92 4 Software 4 93 4 1 List of commands 4 93 4 2 List of parameters 4 96 5 Instruction Manual 5 98 5 1 The details of each instruction manuals 5 98 6...

Page 9: ...ranch or dealer Mitsubishi hopes that you will consider these standard specifications and use our robots Note that in this specification document the specifications related to the robot arm is described 2 Robot arm on page 7 the specifications related to the controller 3 Controller on page 34 and software functions and a command list 4 Software on page 93 separately No part of this manual may be r...

Page 10: ...n bolts 5 Earth leakage breaker CR1DA 700 series only 6 Safety manual Instruction manual CD ROM Instruction manual 7 Guarantee card 1 1 2 Special specifications For the special specifications some standard configuration equipments and specifications have to be changed before factory shipping Confirm the delivery date and specify the special specifications at the order 1 1 3 Options User can instal...

Page 11: ...the following differences Brake exist for all axis the controller s outside dimension machine cable The type name of the CE Marking specification etc is shown in Table 1 2 Interpret the description of these type names in this volume as the CE Marking specification Table 1 2 Robot models with CE marking specifications 1 4 Indirect export The display in English is available by setting parameter LNG ...

Page 12: ...ix type 1S CBL 11 Flex type 1S LCBL 11 CE marking specification Fix type 1S CBL 03 Flex type 1S LCBL 03 Note1 refer the length Refer to Table 1 3 for datails Note2 Extend by adding to the arm side of the standard accessory cable for fastening Machine cable Fixed type 5m Stopper for changing the operating range J1 axis 1S DH 11J1 J2 axis 1S DH 11J2 J3 axis 1S DH 11J3 Refer to Page 5 Table 1 3 for t...

Page 13: ...ssette 2D TZ454 Parallel I O unit 2A RZ361 Sink 2A RZ371 Source External I O cable 2D CBL05 5m 2D CBL15 15m PLC Programmable Logic Controller External device Prepared by customer Teaching pendant T B R32TB R56TB Parallel I O interface 2D TZ368 Sink 2D TZ378 Source External I O cable 2A CBL05 5m 2A CBL15 15m Personal computer cable 2D 232CBL03M RS 232 Refer to Table 1 4 for USB cable Controller CR1...

Page 14: ...endant R32TB Cable length 7m With 3 position deadman switch IP65 R32TB 15 Cable length 15m Highly efficient teaching pendant R56TB Cable length 7m R56TB 15 Cable length 15m Pneumatic hand interface 2A RZ365 DO 8 point Sink type It is necessary when the hand output signal of the robot arm is used 2A RZ375 DO 8 point Source type Parallel I O Interface 2D TZ368 DO 32 point Sink type DI 32 point Sink ...

Page 15: ...culty by the effect of temperature noise and so on When using it measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by customer Name Type name Supplier USB cable USB A type USB B type USB2 30 ELECOM CO LTD AU230 BUFFALO KOKUYO SUPPLY INC USB cable USB A type USB mini B type KU AMB530 SANWA SUPPLY INC USB ...

Page 16: ... velocityNote3 Note3 This is the value on the mechanical interface surface when all axes are combined mm sec ４４００ Load MaximumNote4 Note4 The maximum load capacity is the mass with the mechanical interface posture facing down word at the 10 limit kg ３０ Rating ２０ Pose repeatabilityNote5 Note5 The pose repeatability details are given in Page 8 2 2 1 Pose repeatability ｍｍ００２ Ambient temperatu...

Page 17: ...turned OFF or a stop operation is performed halfway 4 Temperature factors 1 When the operating environment temperature changes 2 When accuracy is required before and after a warm up operation 5 Factors due to differences in accuracy definition 1 When accuracy is required between a position set by a numeric value in the robot s internal coor dinate system and a position within the actual space 2 Wh...

Page 18: ...able 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 deceler ation 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 cap...

Page 19: ...The protection standard for approach in the dangerous spot in the tool It indicates the protective structure that the proximity probe 2 5mm in diameter must not advance The IEC IP symbols define the degree of protection against solids and fluids and do not indicate a protective structure against the entry of oil or water Type Protection specifications IEC Standards value Classification Applicable ...

Page 20: ... 2 Names of each part of the robot ベース J1軸ショルダ J2軸 J3軸アッパーアーム J4軸フォアアーム J5軸 J6軸メカニカルインタフェースハンド取付フランジ面エルボウエストリストツイストロール Fore arm J4 axis Twist Wrist J5 axis J6 axis Roll Roll J3 axis Upper arm J2 axis Waist J1 axis Shoulder Mechanical interface Hand installation flange surface Base ...

Page 21: ... 2 3 Outside dimensions standard specification Rz 25 Rz 25 B C ﾒｶﾆｶﾙｲﾝﾀﾌｪｰｽ部詳細裏面図据付寸法詳細 View C depth 6 screw screw depth 6 depth 6 screw screw depth 6 depth 6 screw Grounding screw Minimum depth 8 depth 8 depth 6 depth 6 Installation Installation installation hole View A View B Detail of installation dimension Detail of mechanical interface ...

Page 22: ...Outside dimensions CE marking specification View C depth 6 screw 2 M3 screw depth 6 screw screw depth 6 depth 6 screw Grounding screw Minimum depth 8 screw depth 8 depth 6 Installation Installation installation hole View A View B Detail of installation dimension Detail of mechanical interface depth 6 depth 6 ...

Page 23: ...80 J3 に制限されます P point path Flange downward limit line P point path Control point R point Flange upward limit line Flange downward singular point limit Note The posture of side view The case where the angle of each axis is the following is shown J1 0 degree J2 0 degree J3 90 degree J4 0 degree J5 0 degree J6 0 degree Note Restriction of operating range If the angle of J1 axis is 75 degree J1 70 deg...

Page 24: ...3131 6 1903112 2 1 1827864 6 1827587 2 AMP 2 Connector 4 SMP 02V BC BHF 001GI 0 8BS SMR 02V B BYM 001T 0 6 Japan solderless terminal MFG Co LTD 3 Coupling 4 KJS04 M3 SMC Co LTD 4 Coupling 4 UKB4 Koganei 3 1 to 4 Secondary piping couplings φ4 1 Hand input signal connectors Solenoid valve set optional installation section Secondary piping hoses φ4 4 GR1 to GR4 Connect to the b Hand output connector ...

Page 25: ...I 0 8BS SMR 02V B BYM 001T 0 6 Japan solderless terminal MFG Co LTD 3 Coupling 4 KJS04 M3 SMC Co LTD 4 Coupling 4 UKB4 Koganei 1 Hand input signal connectors Secondary piping hoses φ4 4 GR1 to GR4 Connect to the b Hand output connector Primary piping pneumatic hoses φ6 1 Note2 Magnification Number of connector for hand output Note1 When using the hand output signal it is necessary to use the optio...

Page 26: ... When the controller uses the optional pneumatic hand interface 2A RZ365 2A RZ375 the hand output signal works as the pneumatic hand cable 2 The hand output cable extends from the connector of the base section to the back side of the base section AWG 24 0 2mm2 x 2 8 cables The cable terminals have connector bridges for four hand outputs The connector names are GR1 to GR4 2 5 4 Internal wiring for ...

Page 27: ... １４ AIR OUT1 AIR OUT2 AIR OUT3 AIR OUT4 リスト部ベース部 900 24V 901 24V 902 24V 903 24V GR1 GR2 GR3 GR4 １２１２１２１２ B3 1次エアー供給口へ接続汎用入力900 汎用入力901 汎用入力902 汎用入力903 B4 B5 B6 予約 φ４クイック継手渡し１４予約 Refer to Fig 2 10 for air supply circuit example Hand check 1 Hand check 2 Hand check 3 Hand check 4 General purpose input No 900 901 902 903 General purpose input No Robot controller φ4 quick coupling brid...

Page 28: ...1 24GND 902 24GND 903 24GND GR1 GR2 GR3 GR4 １２１２１２１２ B3 1次エアー供給口へ接続汎用入力900 汎用入力901 汎用入力902 汎用入力903 B4 B5 B6 予約 φ４クイック継手渡し１４予約 Refer to Fig 2 10 for air supply circuit example Hand check 1 Hand check 2 Hand check 3 Hand check 4 General purpose input No 900 901 902 903 General purpose input No Robot controller φ4 quick coupling bridge 1 to 4 φ4 quick coupling bridge 1 to 4 φ4 hose 4 hos...

Page 29: ...r more OFF voltage OFF current 4VDC or less 1mA or less Input resistance Approx 3 3kΩ Response time OFF ON 10ms or less DC24V ON OFF 10ms or less DC24V Item Specification Internal circuit Type Transistor output Sink type Source type GRn GR1 GR8 No of output points 8 Insulation method Photo coupler insulation Rated load voltage DC24V Rated load voltage range DC21 6 to 26 4VDC Max current load 0 1A ...

Page 30: ...switch to the source of the air as shown in Fig 2 10 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 3 The optional hand and solenoid valve are of an oilless type If they are used don t use any lubricator Fig 2 10 Air supply circuit e...

Page 31: ...mer needs customer installation is required for the options Options come in two types set options and single options 1 Set options A combination of single options and parts that together from a set for serving some purpose 2 Single options That are configured from the fewest number of required units of a part Please choose customer s purpose additionally ...

Page 32: ...t 7 6 10m 10 9 15m 10m or 15m each Motor signal cable 1S CBL S 11 1 cable Motor power cable 1S CBL P 11 1 cable Flexed stan dard specifi cation Set of signal and power cables 1S LCBL 11 1 set 6 2 5m 11 0 10m 15 4 15m 5m 10m or 15m each Motor signal cable 1S LCBL S 11 1 cable Motor power cable 1S LCBL P 11 1 cable Nylon clamp NK 14N 2 pcs for motor signal cable Nylon clamp NK 18N 2 pcs for motor po...

Page 33: ...able 2 5 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 Item Specifications Minimum flexed radius 100R or more Cable bare etc occupation rate 50 or less Maximum movement speed 2000mm s or less Guidance of life count 7 5 million times Environmental proof Oil proof specification sheath for ...

Page 34: ...of cables used 5 cables 1 cable 1 cable 2 cable 8 cable No in total 7 cables 10 cables CN1 CN2 ロボット本体ベース部背面コントローラ背面モータパワーモータ信号 CN2 モータ信号ケーブルモータパワーケーブル CN1 CN2 CN1 接続リング部固定接続リング部固定ラッチ固定用左右ラッチ固定用左右ナイロンクランプ NK 18N ナイロンクランプ NK 14N シリコンゴムナイロンクランプ 300 400mm ﾛﾎﾞｯﾄ本体ｺﾈｸﾀ面ﾄﾞﾗｲﾌﾞﾕﾆｯﾄｺﾈｸﾀ面 300 400mm ナイロンクランプ NK 18N ナイロンクランプ NK 14N Robot controller CR1DA 771 Motor power cable Nylon clamp Nyl...

Page 35: ...over etc so that the connector latch part may not touch easily Robot controller CR1DA 771 Motor power cable Nylon clamp Nylon clamp Nylon clamp Nylon clamp Silicon rubber Motor power Motor signal Robot arm Opposite side of figure Connection latch Motor signal cable Connector surface for the robot arms Extension section Connection latch Connection latch Connection latch Nylon clamp Extended flexibl...

Page 36: ...ngeable angle can be set independently on the side and side 3 The operating range is changed with robot arm settings and parameter settings Refer to the separate Instruction Manual ROBOT ARM SETUP MAINTENANCE or Instruction Manual Detailed Explanation of Functions and Operations for details Part name Type Qty Mass kg Remarks Stopper for changing the operat ing range 1S DH 11J1 2 pcs 0 1 Stopper bl...

Page 37: ...n i e filtered with a mist separator or air filter Failing to do so may lead to malfunctions Table 2 12 Solenoid specifications Part name Type Q ty Remark One set Two sets Solenoid valve set 1 set 1E VD01 1E VD01E 1 pc M3 x 25 two screws installation screws Solenoid valve set 2 sets 1E VD02 1E VD02E 1 pc Item Specifications Number of positions 2 Port 5 Note1 Note1 Couplings of unused solenoid valv...

Page 38: ...rposes output 902 General purposes output 903 1 Hand1ON 2 24G 1 Hand1OFF 2 1 Hand2ON 2 1 Hand2OFF 2 GR1 GR2 GR3 GR4 Connector name SOL1A SOL1B SOL2A SOL2B Black Red Black Red Black Red Black Red Source type 24G 24G 24G General purposes output 900 General purposes output 901 General purposes output 902 General purposes output 903 Part no Part name 1 sets 2 sets Specifications 1 Solenoid valve １２ 2...

Page 39: ... 2 14 Specifications Fig 2 14 Outside dimensional drawing and pin assignment Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand input cable 1S HC30C 11 1 cable 0 2 Item Specifications Remarks Size x cable core AWG 24 0 2mm2 12 One sided connector one sided cable bridging Total length 370mm Including the curl section 15 200 300 200 10 φ25 予約黄キ紫ムラサキ茶チャ青アオ黒クロ CON1H H...

Page 40: ... customer Caution This option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand output cable 1E GR35S 1 cable 0 1 Item Specifications Remarks Size x Cable core AWG 22 0 3mm2 8 cores One side connector and one side cable connection Total length 350mm 末端バラ線渡し 350 3 1 2 1 2 1 2 1 2 1 2 GR1 GR2 GR3 GR4 Co...

Page 41: ... Specifications Table 2 18 Specifications Fig 2 16 Outline dimensional drawing Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hans curl tube One set 2 pcs 1E ST0402C 1 pc 0 1 Φ4 tube 2pcs Hans curl tube Two set 4 pcs 1E ST0404C 1 pc 0 1 Φ4 tube 4pcs Item Specifications Material Urethane Size Outside diameter φ4 x Inside diameter φ2 5 250 ツーリング側 180 200 ロボット側 Tooling side Rob...

Page 42: ...maker s standard parts Thus confirm the part name robot arm and controller serial No and purchase the parts from the dealer Table 2 19 Consumable part list No Part name Type Note1 Note1 Confirm the robot arm serial No and contact the dealer or service branch of Mitsubishi Electric Co for the type Usage place Qty Supplier 1 Grrase SK 1A Reduction gears of each axis As needed Mitsubishi Electric 2 L...

Page 43: ... 1 For T B 1 For customers 10BASE T 100BASE Tx USB port 1 Ver 2 0 Only device function Hand dedicated slot slot 1 Dedicated for pneumatic hand inter face Additional axis interface Channel 1 SSCNET Ⅲ Tracking interface Channel 1 For encoder cable connection Option slot slot 1 For optional interface installation Power source Input voltage range V 1 phase AC180 to 253 Note4 Note4 Please use the contr...

Page 44: ...d the fluids and don t indicated that any special protection has been constructed for the prevention against oil and water Information The IEC IP20 It indicates the protective structure that prevents an iron ball 12 0 0 05 mm diameter which is being pressed with the power of 3 1 kg 10 from going through the opening in the outer sheath of the supplied equipment Refer to the section Page 170 6 2 Wor...

Page 45: ...obot in an emergency state The servo turns OFF CHNGDISP button This changes the details displayed on the display panel in the order of Override Pro gram No Line No END button This stops the program being executed at the last line or END statement SVO ON button This turns ON the servo power The servo turns ON SVO OFF button This turns OFF the servo power The servo turns OFF STATUS NUMBER display pa...

Page 46: ...vice or controller are not pos sible UP DOWN button This scrolls up or down the details displayed on the STATUS NUMBER display panel Interface cover USB interface and battery are mounted RS 232 connector This is an RS 232C specification connector for connecting the personal computer Terminal cover CR1DA 700 series The terminal which connects the primary power cable Filter intake vent The intake ve...

Page 47: ... used Lock plate fixed screw POWER switch Lock plate Padlock prepare by customer The operation method 1 The lock method power supply OFF 1 Turn OFF the power switch 2 Loosen the lock plate fixing screw and make it slide upwards cover the power switch Tighten the fixing screw certainly in that position 3 Install the padlock customer preparation to the hole of the lock plate and lock it The lock is ...

Page 48: ...ith interface cover stops the robot immediately Expansion memory cassette MEMORY CASSETTE With interface cover Install the memory cassette optional Tracking interface CNENC With interface cover Connect the encoder cable if it uses the tracking function Ethernet interface LAN1 Connect the Ethernet cable Please use Ethernet interface by installing the line noise filter and the ferrite core to the Et...

Page 49: ...P With interface cover 1 stops the robot immediately Expansion memory cassette MEMORY CASSETTE With interface cover Install the memory cassette optional Tracking interface CNENC With interface cover 1 Connect the encoder cable if it uses the tracking function Ethernet interface LAN1 Connect the Ethernet cable Please use Ethernet interface by installing the line noise filter and the ferrite core to...

Page 50: ...n of the line noise filter Line noise filter attachments Pass 8 times Robot controller 500mm or less To external equipment Ferrite core attachments Pass twice Note1 100mm or less Note 1 CR1D CR2D The dimension from the connector of the controller CR3D The dimension from the controller chassis Ethernet cable Note1 CR1DA CR2DA The dimension from the connector of the controller CR3D The dimension fro...

Page 51: ...Outside dimensions Installation dimensions 3 42 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions Fig 3 6 Outside dimensions of controller CR1DA 771 CR1DA 771 Standard specification 4 M3 screw ...

Page 52: ...3 43 Outside dimensions Installation dimensions 3 Controller Fig 3 7 Outside dimensions of controller CR1DA 771 S15 CR1DA 771 S15 CE marking specification 4 M3 screw ...

Page 53: ...oller Outside dimensions Installation dimensions 3 44 3 3 2 Installation dimensions Fig 3 8 Installation of controller CR1DA 771 CR1DA 771 Standard specification 170mm以上 20mm 50mm 吸気口 170mm or more Intake vent ...

Page 54: ...3 45 Outside dimensions Installation dimensions 3 Controller Fig 3 9 Installation of controller CR1DA 700 series 170mm以上 20mm 50mm 吸気口 CR1DA 700 series CE marking specification 170mm or more Intake vent ...

Page 55: ...The controller has the openings parts for pulling out the cable as shown in Fig 3 10 Fig 3 10 Cable lead in and dimension of the controller CR1DA 771 CR1DA 771 S15 CR1DA 771 CR1DA 771 S15 Input power supply lead in 15x22 Although the figure is CR1DA 771 CR1DA 771 S15 CE specification is the same ...

Page 56: ...am The hand output is an option The Page 64 2 Pneu matic hand interface is required Table 3 2 Emergency stop Door switch input The wiring for the safe security of the emergency stop etc is shown in on Page 50 3 6 Emergency stop input and output etc and on Page 102 6 1 7 Examples of safety measures The wiring for the safe security of the emergency stop etc is shown after The hand output is an optio...

Page 57: ...e STOP parameter Ｌ Wait output signal Outputs that the slot is temporarily stopped SLOTINIT Program reset input signal Resets the wait state E Program selection enabled output signal Outputs that the slot is in the program selection enabled state ERRRESET Error reset input signal Resets the error state E Error occurring out put signal Outputs that an error has occurred CYCLE Cycle stop input signa...

Page 58: ... the jog mode Ｌ Jog mode output 2 bit Outputs the current jog mode JOG Jog feed side for 8 axes Requests the side jog operation Ｌ None JOG Jog feed side for 8 axes Requests the side jog operation Ｌ None HNDCNTL1 HNDCNTL3 None Mechanism 1 hand output signal status Mechanism 3 hand output signal status Mechanism 1 Outputs the status of general purpose outputs 900 to 907 Mechanism 2 Outputs the statu...

Page 59: ... the shielded cable and installs the ferrite core Install the ferrite core in less than 30cm from the contact button Please be sure to check that each function operates normally for the prevention of malfunction Surely check that the operation of the emergency stop of the robot controller the emergency stop of the teaching pendant the customer s emergency stop etc are normally Be sufficiently care...

Page 60: ...フェライトコア付属品２回通し外部装置からの非常停止入力信号線外部装置への非常停止出力信号線 CR1DA 771 CR1DA 771 S15 Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 12 Within 300mm EMGIN The emergency stop input line from external equipment The emergency stop output line to external equipment Ferrite core attachments Pass twice The figure is CR1DA 771 controller CR1DA 771 S15 is the same ...

Page 61: ...ntacts control output AXMC1 EMGIN pin arrangement AWG 24 18 0 2 0 75mm2 Type 2 1871940 1 EMGIN2 EMGIN1 11A 10A 9A 8A 7A 6A 5A 4A 3A 2A 1A 11B 10B 9B 8B 7B 6B 5B 4B 3B 2B 1B EMGOUT pin arrangement EMGOUT2 EMGOUT1 6A 5A 4A 3A 2A 1A 6B 5B 4B 3B 2B 1B Type 1 1871940 6 Minus driver plug AWG 24 18 0 2 0 75mm2 Electric wire plug The connector connection Customer Short Short Short Short External emergency...

Page 62: ...own in Page 54 Fig 3 13 Connection of the special stop input Table 3 5 Special stop input electric specification Item Specifications Internal circuit Type DC input No of input point 1 Insulation method Phto coupler insulation Rated inpit voltage DC24V Rated input current approx 11mA Working voltage range DC 21 6 26 4V Ripple rate within ５ ON voltage ON current DC 8V or more 2mA or more OFF voltage...

Page 63: ...ase remove the contact capacity seal currently stuck on the connector and connect Minus driver plug area Electric wire plug area AWG 24 18 The connector connection method The electric wire skins covering 7mm In the condition that the minus driver is inserted insert the electric wire and remove the minus driver The electric wire is locked by the connector within 300mm Ferrite core attachments Pass ...

Page 64: ...s servo power can be immediately cut only by switch operation of the enabling deviceNote1 servo off and the safety increases To use the robot safely please be sure to connect the enabling device 1 When door is opening Please do teaching by two person operations One person has T B the other has enabling device Turn on the servo power in the condition that both of switches are pushed Enable switch o...

Page 65: ...s for additional axes inside the controller and shows a connection example con figuration example The magnet contactor control connector for additional axes AXMC1 is designed to accom modate circuit connection with improved safety in Mitsubishi s industrial robot systems connecting additional axes Please implement the appropriate circuit connection by refere to Page 58 3 8 Magnet contactor control...

Page 66: ...コネクタへ CN1Aコネクタへ CN1Bコネクタへ SSCNETⅢケーブル SSCNETⅢケーブル CN1Bコネクタへ OPT フェライトコア CE仕様のみ２回通し Servo amplifier Servo amplifier SSCNET Ⅲ cable SSCNET Ⅲ cable CN1A connector CN1A connector OPT connector CN1B connector CN1B connector Cap Magnetic contact It cannot communicate if connection of CN1A and CN1B is mistaken Ferrite core Only for the CE specification Pass twice The figure is CR1DA 771 CR1DA 771 S15 is...

Page 67: ...itional axis interface Instruction Manual for details on the additional axis function Note1 you use the addition axis function as a user mechanism who became independent of the robot arm please do not connect this output signal Servo on of the user mechanism may be unable Fig 3 16 Example of circuit for addition axes of Magnet contactor control output MC2 NV MC MC1 NV 5B 6B AXMC2 AXMC1 5A 6A 88 EM...

Page 68: ...スドライバ差込口メーカタイコエレクトロニクスアンプ型名 1 1871940 6 EMGOUT1 EMGOUT2 CR1DA 771 CR1DA 771 S15 EMGOUT Reference The connection method of the electric wire is the same as connection of the emergency stop Please refer to Page 50 3 6 1 Connection of the external emergency stop EMGOUT connector Electric wire plug area Minus driver plug area Type 1 1871940 6 Internal circuit Contactor control output for addition a...

Page 69: ...er needs User installation is required for the options Options come in two types set options and single options 1 Set options A combination of single options and parts that together form a set for serving some purpose 2 Single options That are configured from the fewest number of required units of a part Please choose user s purpose additionally ...

Page 70: ...atuses The following modes are entered according to the switch state a Not pressed The robot does not operate b Pressed lightly The robot can be operated and teaching is possible c Pressed with force The robot does not operate Operations such as program editing and status display other than robot operation are possible Safety is secured as the servo power is turned OFF simultaneously with the inpu...

Page 71: ...f teaching pendant Installation method The teaching pendant is connected to the T B connector on the front of the controller Enable Disable switch Emergency stop Enable switch Operetion key Body Cable with connector Back Bottom 63 5 Front LCD 291 9 195 2 133 side 105 5 ...

Page 72: ...decelerates the robot to a stop 9 OVRD OVRD key Change moving speed Speed goes up by OVRD key Speed goes down by OVRD key 10 JOG operation key Move the robot according to jog mode And input the numerical value 11 SERVO key Press this key with holding AA key lightly then servo power will turn on 12 MONITOR key It becomes monitor mode and display the monitor menu 13 JOG key It becomes jog mode and d...

Page 73: ... 8 points expansion 2A RZ375 Source type 0 1 Item Specification Internal circuit Type Transistor output Sink type Source type GRn GR1 GR8 No of output points 8 Insulation method Photo coupler insulation Rated load voltage DC24V Rated load voltage range DC21 6 to 26 4VDC Max current load 0 1A 1 point 100 Current leak with power OFF 0 1mA or less Maximum voltage drop with power ON DC0 9V TYP Note1 N...

Page 74: ...e Instruction Manual Controller setup basic operation and maintenance for details on the installing method Fig 3 20 Installation of the pneumatic hand interface CR1DA 771 CR1DA 771 S15 矢視A CNHNDOUT CNHND エアハンドインタフェース CNHND CNHNDOUT エアハンドインタフェース 2A RZ365 2A RZ375 ハンドインタフェース中継カード 2D TZ315 M4ネジ 2箇所 A Pneumatic hand interface 2A RZ365 RZ375 Pneumatic hand interface Hand interface relay card View A M4x...

Page 75: ...ations 1 The CR1DA 700 series controller can connect this one interface Table 3 12 Electrical specifications of input circuits Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Parallel I O interface 2D TZ368 Either one pc 0 4 Input output 32 points 32 points 2D TZ368 is sink type 2D TZ378 is source type 2D TZ378 0 4 Item Specification Internal circuit Type DC input Sink type S...

Page 76: ...ses together with parallel input and output unit 2A RZ361 2A RZ371 please do not overlap with the station number of the parallel input and output interface Item Specification Internal circuit Type Transistor output Sink type Source type No of output points 32 Insulation method Photo coupler insulation Rated load voltage DC12V DC24V Rated load voltage range DC10 2 30V peak voltage DC30V Max load cu...

Page 77: ...r Parallel I O interface 3 68 Fig 3 21 Parallel I O interface installation position CR1DA 771 CR1DA 771 S15 CR1DA 771 CR1DA 771 S15 SLOT1 コントローラ背面 Controller rear The figure is CR1DA 771 CR1DA 771 S15 is the same ...

Page 78: ...d signal number allocation are shown in Table 3 15 and Table 3 16 Slot numberNote1 Note1 In case of the CR1DA controller the available slot is only SLOT1 Station number Range of the general purpose input and output signal Connector 1 Connector 2 SLOT1 0 Input 0 to 15 Output 0 to 15 Input 16 to 31 Output 16 to 31 SLOT2 1 Input 32 to 47 Output 32 to 47 Input 48 to 63 Output 48 to 63 SLOT3 2 Input 64...

Page 79: ...ck d General purpose output 2 19C Yellow Red d General purpose input 1 19D Yellow Blackc d General purpose output 1 20C Pink Red d General purpose input 0 20D Pink Black d General purpose output 0 Pin No Line color Function name Pin No Line color Function name General purpose power supply common General purpose power supply common 1A Orange Red a 0V For pins 5B 20B 1B Orange Black a 12V 24V For pi...

Page 80: ...y 24 VDC must be prepared by the customer 60mA 24 12V Output Fuse 0V COM QX41 Mitsubishi programmable controller QY41P Mitsubishi programmable controller 24V COM X Y 24V Input Parallel I O interface Output Input 3 3K Output Input External power supply 24G 24GND COM External power supply 24V Sink Source 60mA 24 12V Output Output Fuse 0V COM QX41 24G 24GND 24V COM External power supply X Y 24V 24V O...

Page 81: ...connector 2 are 1A 2A 20A 1B 2B 20B Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks External I O cable 2D CBL 1 pc 0 7 5m 1 84 15m 5m or 15m Items Specifications Number of cables x cable size AWG 28 x 20P 40 pairs Total length 5m 15m Pin no Cable colors Pin no Cable colors Pin no Cable colors Pin no Cable colors 1A C Orange Red a 11A C Orange Red c 1B D Orange Black a 11B D O...

Page 82: ...ctor pin numbers and cable colors when making the connections Fig 3 23 Connections and outside dimensions Eg Pin number color indication １ Orange Red Ａ Type of dot mark see figure below Color of dot mark Color of sheath Line color type a type Pattern of the print mark One dot Two dots Three dots Four dots b type c type d type 1A C 1B D 20A C 20B D or Plug Fujitsu Ltd Connector FCN 361J040 AU Cover...

Page 83: ...th the power connection cable DCcable 2 A separate 24V power supply is required for the input output circuit wiring Table 3 23 Electrical specifications of input circuits Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Parallel I O unit 2A RZ361 Either one pc 0 7 Input output 32 points 32 points 2A RZ361 is the sink type 2A RZ371 is the source type 2A RZ371 0 7 Robot I O link...

Page 84: ...age 12VDC 24VDC Rated load voltage range 10 2 to 30VDC peak voltage 30VDC Max load current 0 1A point 100 Leakage current at OFF 0 1mA or less Max voltage drop at ON 0 9VDC TYP Note1 Note1 The maximum voltage drop value at signal ON Refer to it for the equipment connected to the output cir cuit Response time OFF ON 2ms or less hardware response time ON OFF 2ms or less Resistance load hardware resp...

Page 85: ...erminator Pin No RIO1 2 100Ω １ TXRXH ２ TXRXL ３ SG GND List of parts and manufacturer Type Connector type Contact type Resistant Manufacturer NETcable 1 1 178288 3 2 175218 3 6 AMP DCcable 2 2 178288 3 1 175218 3 3 AMP R TM 1 178288 3 1 175218 3 2 100Ω 1 4W 1 Equivalent to KOA Note 2 Note 1 Note 1 The 24V power supply is prepared by customer The power consumption is approx 0 3A Note 2 The cable for...

Page 86: ... 3 25 Installing the parallel I O unit CR1DA 700 CR1DA 700 S15 6 0 54 6 放熱配線余裕 150 6 156 2 Ｍ５ネジ 6 168 放熱余裕 12 8 1 7 5 100 天配線余裕 4 0 地 2 A R Z 3 6 1 制御盤取付寸法 2 A R Z 3 6 1 の取付寸法 6 CR1DA 771 CR1DA 771 S15 RIOコネクタコントローラ背面 Controller rear upside downside Wiring space Heat radiation space Radiation wiring space 2 M5 screw Control panel installation dimensions Installation dimensions o...

Page 87: ...connector RIO1 connector RIO2 connector RIO1 connector RIO2 connector Note NETcable 1 cable DCIN connector DCcable 2 cable DCcable 2 cable DCIN connector RIO2 connector DCIN connector R TM terminator I O unit the bottom connecta layout Connect the NET cable 1 to the RIO connector on the back of the controller Each unit is connected to from a daisy chain Always install a terminator R TM to the last...

Page 88: ... 15 Output 0 to 15 Input 16 to 31 Output 16 to 31 2nd set 1 Input 32 to 47 Output 32 to 47 Input 48 to 63 Output 48 to 63 3rd set 2 Input 64 to 79 Output 64 to 79 Input 80 to 95 Output 80 to 95 4th set 3 Input 96 to 111 Output 96 to 111 Input 112 to 127 Output 112 to 127 5th set 4 Input 128 to 143 Output 128 to 143 Input 144 to 159 Output 144 to 159 6th set 5 Input 160 to 175 Output 160 to 175 Inp...

Page 89: ...ose input 7 47 Gray Blue E General purpose input 15 23 White Red E Reserved 48 White Blue E Reserved 24 Yellow Red E Reserved 49 Yellow Blue E Reserved 25 Pink Red E Reserved 50 Pink Blue E Reserved Pin No Line color Function name Pin No Line color Function name General purpose Dedicated power supply common General purpose Dedicated power supply common 1 Orange Red A FG 26 Orange Blue A FG 2 Gray ...

Page 90: ...4 VDC must be prepared by the customer 60mA 24 12V Output Fuse 0V COM QX41 Mitsubishi programmable controller QY41P Mitsubishi programmable controller 24V COM X Y 24V Input Parallel I O interface Output Input 3 3K Output Input External power supply 24G 24GND COM External power supply 24V Sink Source 60mA 24 12V Output Output Fuse 0V COM QX41 24G 24GND 24V COM External power supply X Y 24V 24V Outp...

Page 91: ...one set Remarks External I O cable 2A CBL 1pc 0 7 5m 1 84 15m 5m or 15m Items Specifications Number of cables x cable size 50 pairs x AWG 28 Total length 5m or 15m Pin no Cable colors Pin no Cable colors Pin no Cable colors Pin no Cable colors Pin no Cable colors 1 Orange Red A 11 Orange Red C 21 Orange Red E 31 Orange Blue B 41 Orange Blue D 2 Gray Red A 12 Gray Red C 22 Gray Red E 32 Gray Blue B...

Page 92: ... sheath Type of dot mark A type B type C type D type E type F type G type H type I type J type Dot pattern Receptacle type PCB side 57AE 40500 21D D8 Plug type cable side 57YE 30500 2 D8 DDK Maker DDK 26 5000 66 50 25 1 18 5 1 18 5 18 5 Continuous 18 5 1 5 1 5 1 5 1 5 18 5 3 3 3 18 5 18 5 18 5 7 5 7 5 Continuous 35 7 13 54 16 2 9 27 76 74 64 53 51 816 2 159 Type of dot mark Dot pattern Note1 The t...

Page 93: ...sonal computer cabe connection Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Personal computer cable for PC AT 2D 232CBL03M 1pc 4 3m D SUB 9 pin Robot controller side signal pin number Personal computer side Not use DCD 1 Ｒ D 2 T D 3 DTR 4 DSR 6 RTS 7 CTS 8 GND 5 1 ＤCD 2 Ｒ D 3 Ｔ D 4 DTR 6 DSR 7 RTS 8 CTS 5 GND 2D 232CBL03M Not use RI 9 9 ＲI Not use signal pin number 1 6 9 5...

Page 94: ...nk interface 2D TZ576 1 0 4 Manual BFP A8701 1 Ferrite core E04SR301334 2 Be sure to install this for noise countermeasure Cable clamp AL4 2 AL5 2 Part name Type Qty Remarks Master station QJ61BT11 Q series 1 FX series products are not supported AJ61QBT11 QnA series A1SJ61QBT11 QnAS series AJ61BT11 A series A1SJ61BT11 AnS series A80BD J61BT11 personal computer board Communication cable 1 Shielded ...

Page 95: ...ic setup 1 2 4 8 Maximum link point Remote I O RX RY Each 896 points The two last cannot be used Remote register RWr RWw Each 128 register 16 bits register Extended cyclic setup 1 fold setup 2 fold setup 3 fold setup 4 fold setup Link point per set When one station is occupied Remote I O RX RY 32 point 32 point 64 point 128 point Remote register RWw 4 word 8 word 16 word 32 word Remote register RW...

Page 96: ... card as it is embedded in the robot controller can only be mounted into slot 2 Easy wiring since only four terminals need to be connected Dedicated commands have been added to MELFA BASIC Ⅴ robot programming language thus no complex interface programming is required 3 High speed response The link scan time when connecting 64 stations is approximately 7 2 ms achieving superior high speed response ...

Page 97: ... memory cassette 2D TZ454 1 0 1 Items Specifications Remarks External dimensions Approx 94 W X65 D X15 H mm Excluding the connection connector Mass Approx 0 2 kg Connection method Connection using a special connector Memory size Note1 Note1 As for the standard points after adding an expansion memory cassette the information in all backup memory areas in the controller is copied into the expansion ...

Page 98: ...he 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 me...

Page 99: ...ntax check Command template Position conversion batch editing Position variable template Print print preview Control func tions Program file control list copy movement delete content compari son name change protect Debugging func tions Direct editing of program in controller Confirmation of robot program operation step execution direct exe cution Simulation func tion Off line simulation of robot p...

Page 100: ...90 Specification of the robot arm and controller Robot Arm Setup Maintenance BFP A8791 Installation method of the robot arm jog operation and maintenance and inspection procedures Controller Setup Basic Operation and Maintenance BFP A8660 Installation method of the controller basic operation and maintenance and inspection procedures Detailed Explanation of Functions and Operations BFP A8661 Functi...

Page 101: ... confirm the part name robot arm and controller serial No and purchase the parts from your dealer Table 3 42 Contloller consumable parts list No Name Type Note1 Note1 Confirm the robot arm serial No and contact the dealer or service branch of Mitsubishi Electric Co for the type Qty Usage place Supplier CR1DA 700 series controller 1 Lithium battery Q6BAT 1 Front operation panel Mitsubishi Electric ...

Page 102: ...cel 50 80 Automatically adjusts the acceleration deceleration according to the parameter setting value Oadl ON ets the hand and work conditions for automatic adjustment of the accel eration deceleration LoadsetT 1 1 Operation Performance of movement is upgraded corresponding to the application MvTune 4 Adds a process unconditionally to the operation Wth Adds a process conditionally to the operatio...

Page 103: ... executed when an interrupt is generated from the communication line On Com 1 GoSub L100 Enables the interrupt from the communication line Com 1 On Disables the interrupt from the communication line Com 1 Off Stops the interrupt from the communication line Com 1 Stop Wait Designates the wait time and the output signal pulse output time 0 01s unit Dly 0 5 Waits until the variable becomes the design...

Page 104: ...nt variable Def Jnt TAIHI Defines the position variable Def Pos TORU Defines the function Def FN TASU A B A B Clear Clears the general purpose output signal variables in program variables between programs etc Clr １ File Opens a file Open COM1 AS 1 Closes a file Close 1 Inputs data from a file Input 1 M1 Outputs data to a file Print 1 M1 Comment Describes a comment Rem ABC Label Indicates the branc...

Page 105: ...nts can be designated and that area set as the outside operation range Furthermore a signal can be output when the axis enters that area Up to 32 types of area can be designated AREA1CS AREA32CS Specify the coordinate system of the user definition area 0 Base coordinate system conventional compatibility 1 Robot coordinate system AREA1P1 AREA32P1 Designated the 1st point of the area There are eight...

Page 106: ...ot set Communication setting CBAU232 Set the baud rate CLEN232 Set the character length CPRTY232 Set the parity CSTOP232 Set the stop bit CTERM232 Set the end code Slot table SLT1 SLT32 Make settings program name operation type order of priority etc for each slot during slot initialization No of multi tasks TASKMAX Designate the No of programs to be executed simultaneously Max 32 Select the functi...

Page 107: ...red to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to auto matic operation and the maintenance and inspection procedures Explains details on the fu...

Page 108: ...nd the error exceeds the specified amount The drive circuit is shut off The robot stops and an alarm displays 5 AC power voltage drop diagnosis function Activates when the AC power voltage drops below the specified value The drive circuit is shut off The robot stops and an alarm displays 6 CPU error detection func tion Activates when an error occurs in the CPU The drive circuit is shut off The rob...

Page 109: ...rations 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 5 Daily inspection and periodic inspection lways inspect the robot before starting daily operations and confirm that there ar...

Page 110: ...tely 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 6 1 6 Safety measures for maintenance and inspections etc Turn the power OFF and take measures to prevent operators other than the relevant op...

Page 111: ...The power supply for emergency stop input uses the power supply in the robot controller Operation of the emergency stop If the emergency stop switch of peripheral equipment is pushed the robot will also be in the emergency stop state 1 EMGIN1 2 and EMGOUT1 2 have the two terminals separately and show that they are the two lines Always connect the two lines 2 1A 1B and 2A 2B terminal of EMGIN is sh...

Page 112: ...uited at factory shipments Remove it and connect the power supply of peripheral equipment Connect the power supply of peripheral equipment by the polarity shown in the figure 3 5A 5B and 6A 6B terminal of EMGIN is short circuited at factory shipments Remove it and connect with the power supply ground of peripheral equipment 4 The emergency stop button of the robot controller operation panel 5 The ...

Page 113: ...r supply ground of peripheral equipment 4 Please use a A contact type of the relay with the compulsive guide 5 The emergency stop button of the robot controller operation panel 6 The emergency stop button of T B connected to the robot controller 7 Emergency stop input relay 8 Refer to Page 55 3 6 4 Enabling device function for the enabling device Caution Since we have omitted the information in pa...

Page 114: ...neously by one emergency stop switch please use the 4 contact type emergency stop switch 2 1A 1B and 2A 2B terminal of EMGIN is short circuited at factory shipments Remove it and connect the emergency stop switch and power supply of peripheral equipment Connect the power supply of peripheral equipment by the polarity shown in the figure 3 5A 5B and 6A 6B terminal of EMGIN is short circuited at fac...

Page 115: ...roller can be used for safety measures as shown in Fig 6 1 to Fig 6 4 Note that there are limits to the No of switch contacts capacity and cable length so refer to the following and install Switch contact Prepare a 2 contact type Switch contact capacity Use a contact that operates with a switch contact capacity of approx 1mA to 100mA 24V Note1 Cable length The length of the wire between the switch...

Page 116: ...dust and oil mist present 6 3 Precautions for handling 1 RV 2SD has brakes of J2 J3 and J5 axes RV 2SDB has brakes of all 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 Moreover when the axis without the brake is servo off take care to falling by the self weight 2 Avoid moving the robot ar...

Page 117: ...een the arm and peripheral devices Example Installing a UPS uninterruptible power supply unit to the primary power source in order to reduce interference 13 Do not conduct an insulated voltage test If conducted by mistake it may result in a breakdown 14 Fretting may occur on the axis which moving angle or moving distance move minutely or not moves Fretting is that the required oil film becomes har...

Page 118: ...2 １ E VD02E Hand input cable 1S HC30C 11 Not provided Provided Hand output cable 1E GR35S Not provided Provided Hand curl tube 1E ST040 C Not provided 1 set 2 sets Controller Teaching pendant R32TB Not provided 7m 15m R56TB Not provided 7m 15m Pneumatic hand interface 2A RZ365 2A RZ375 Not provided 2A RZ365 Sink 2A RZ375 Source Parallel I O interfaceNote1 Note1 One parallel I O interface 2D TZ378 ...

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Page 135: ... without notice HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 5 1 14 YADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative MITSUBISHI ELECTRIC EUROPE B V GERMANY Gothaer Str 8 40880 Ratingen P O Box 1548 40835 Ratingen Germany ...

Page 136: ...50 DENMARK Beijer Electronics A S Lykkegårdsvej 17 1 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 FINLAND Beijer Electronics OY Jaakonkatu 2 FIN 01620 Vantaa Phone 358 0 207 463 500 Fax 358 0 207 463 501 GREECE UTECO A B E E 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY AXICONT AUTOMATIKA KFT ROBOT CENTER Reitter F U 132 HU 1131 Budapest Phone...

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