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Mitsubishi Electric CR800 Series Special Specifications Manual Download Page 96

3-83 

  Additional Axis Function   

3 Controller

3.7 Additional Axis Function

This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis 
or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time 
by connecting a general-purpose servo amplifier (MR-J4-B series) that supports Mitsubishi's SSCNET III. 
Refer to the separate "Additional axis interface Instruction Manual" for details on the additional axis function.

3.7.1 Wiring of the Additional Axis Interface

Table 3-9

 shows the connectors for additional axes inside the controller.

Fig. 3-14

 shows a connection example (configuration example).

Table 3-9 ： Dedicated connectors inside the controller

Fig.3-14 ： Example of addition axis connection

Name

Connector name

Details

Connector for additional axes

AXIS

The connector for connecting the general-purpose servo amplifier.

㻖㻌㻵㼠㻌㼏㼍㼚㼚㼛㼠㻌㼏㼛㼙㼙㼡㼚㼕㼏㼍㼠㼑㻘㻌㼕㼒㻌㼏㼛㼚㼚㼑㼏㼠㼕㼛㼚㻌㼛㼒㻌㻯㻺㻝㻭㻌㼍㼚㼐㻌㻯㻺㻝㻮㻌㼕㼟㻌㼙㼕㼟㼠㼍㼗㼑㼚㻚

㻭㼄㻵㻿㻌㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞

㻿㻿㻯㻺㻱㼀㻌㻵㻵㻵㻌㼏㼍㼎㼘㼑

㻿㻿㻯㻺㻱㼀㻌㻵㻵㻵㻌㼏㼍㼎㼘㼑

㼀㼛㻌㻯㻺㻝㻭㻌

㼏㼛㼚㼚㼑㼏㼠㼛㼞

㼀㼛㻌㻯㻺㻝㻭㻌

㼏㼛㼚㼚㼑㼏㼠㼛㼞

㼀㼛㻌㻯㻺㻝㻮㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞

㼀㼛㻌㻯㻺㻝㻮㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞

㻯㼍㼜

Summary of Contents for CR800 Series

Page 1: ...Mitsubishi Electric Industrial Robot CR800 Series Controller RH 1FRHR Series Special Specifications Manual BFP A3537 C ...

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: ...nd securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approach...

Page 5: ...omatically operate the robot regardless of whether the operation rights are enabled or not Do not remove the SSCNET III cable while power is supplied to the multiple CPU system or the servo amplifier Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo amplifier Eye discomfort may be felt if exposed to the light Reference S...

Page 6: ...ures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by customer Guarantee and maintenance of the equipment on the market usual office automation equipment cannot be performed To maintain the safety of the robot system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unaut...

Page 7: ...ective earth terminal on the controller and ground the other end 2 point grounding in order to comply with the requirements of EN 61800 5 1 for the touch cur rent of 3 5 mA AC or more 7 Connect the primary power cable to the primary side terminal of the earth leakage breaker Part name Specifications Remarks Earth leakage breaker The following is recommended product Prepared by customer Single phas...

Page 8: ...cut distance may change Therefore when begin ning automatic operation moves at low speed at first and you should gather speed slowly with being careful of interference with peripheral equipment 2 It can be confirmed whether the specified position exist in the defined area by using the instruc tion command Zone It can utilize as one of the methods for collision evasion Refer to the detailed descrip...

Page 9: ...00 D controller 2018 06 01 BFP A3537 B Referenced Standard Requirement of Chinese standardized law was added Correction of figures Fig 2 16 20 21 Notes were added to section 3 6 Environmental conditions of electromagnetic noise was modified Revised the operation method of the brake release switch Fig 2 12 2018 12 25 BFP A3537 C The attachments for the external wiring piping box were corrected Adde...

Page 10: ...ly This document has indicated the specification of the following types robot RH 1FRHR series No part of this manual may be reproduced by any means or in any form without prior consent from Mit subishi 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 writte...

Page 11: ...mes in changing an operating range 2 16 2 2 Definition of specifications 2 19 2 2 1 Pose repeatability 2 19 2 2 2 Rated load mass capacity 2 20 2 2 3 Relationships Among Mass Capacity Speed and Acceleration Deceleration Speed 2 21 1 Setting Load Capacity and Size Hand Conditions 2 21 2 2 4 Vibrations at the Tip of the Arm during Low Speed Operation of the Robot 2 21 2 2 5 Vibration of shaft J3 axi...

Page 12: ...0 R controller 3 61 3 1 2 Protection specifications and operating supply 3 63 1 Protection specifications 3 63 2 Operating supply 3 63 3 2 Names of each part 3 64 3 2 1 Controller 3 64 3 2 2 Robot CPU unit 3 66 1 CR800 R controller 3 66 3 3 Outside dimensions Installation dimensions 3 67 3 3 1 Outside dimensions 3 67 1 Controller 3 67 2 Robot CPU unit 3 68 3 3 2 Installation dimensions 3 69 1 Cont...

Page 13: ...List of parameters 4 125 5 Instruction Manual 5 127 5 1 The details of each instruction manuals 5 127 6 Safety 6 128 6 1 Safety 6 128 6 1 1 Self diagnosis stop functions 6 128 6 1 2 External input output signals that can be used for safety protection measures 6 129 6 1 3 Precautions for using robot 6 129 6 1 4 Safety measures for automatic operation 6 130 6 1 5 Safety measures for teaching 6 130 6...

Page 14: ... 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 install options after their delivery The customer needs to arrange for the installation 1 1 4 Maintenance parts Materials and parts for the maintenance use No Item Stand alone type MELSEC iQ R compatible type 1 Robot arm 2 Controller 3 ...

Page 15: ... 1 How to identify the robot model RH 1 FRH R 55 15 Sxx a b c d e f g h a RH Indicates the horizontal multiple joint robot b 1 Indicates the maximum load 1 3kg c FRH Indicates the FRH series d R Indicates the installation posture is hung e 55 Indicates the arm length 55 550mm f 15 Indicates the vertical stroke length 15 150mm stroke g Indicates the controller type Ex D Stand alone type R MELSEC iQ...

Page 16: ...he controller 1 3 Indirect export The display in English is available by setting parameter LNG as ENG 1 4 Instruction manuals The instruction manuals supplied in CD ROM Protection specification Robot arm Arm length mm J3 axis stroke mm Controller General purpose environment RH 1FRHR5515 D 550 150 CR800 01HRD Protection specification Robot arm Arm length mm J3 axis stroke mm Controller General purp...

Page 17: ...neumatic hand customer manu factured parts Caution Standard configuration Special specifications Option equipment Prepared by customer Stopper for changing the operating range 1F DH 01 Internal Wiring Piping set for hand 1F HS304S 01 This option External Wiring Piping box 1F UT BOX Pull out Wiring Piping This option Vacuum valve set 1F VV0 E 01 Source type 1 to 2 1 set to 2 sets Note With a cable ...

Page 18: ... customer Refer to Table 1 9 for USB cable Instruction Manual bookbinding 5F GM01 PE01 Parallel I O interface 2D TZ368 Sink 2D TZ378 Source CC Link interface 2D TZ576 Teaching pendant T B R32TB High efficient teaching pendant T B R56TB Controller CR800 D External I O cable 2D CBL05 5m 2D CBL15 15m Parallel I O unit 2A RZ361 Sink 2A RZ371 Source External I O cable 2A CBL05 5m 2A CBL15 15m Function ...

Page 19: ... SF002 01 Refer to Table 1 7 for detail Personal computer Prepared by customer Instruction Manual bookbinding 5F GM01 PE01 Function extension card The following Mitsubishi MELSEC iQ R series products are required to install the robot CPU unit The customer needs to prepare them Base unit Refer to Table 1 3 Power supply unit Refer to Table 1 4 PLC CPU unit Refer to Table 1 5 Standard configuration S...

Page 20: ...Type name Remarks R00CPU Program capacity 10k steps Elementary operation processing speed LD command 31 36ns R01CPU Program capacity 15k steps Elementary operation processing speed LD command 31 36ns R02CPU Program capacity 20k steps Elementary operation processing speed LD command 3 92ns R04CPU Program capacity 40k steps Elementary operation processing speed LD command 0 98ns R08CPU Program capac...

Page 21: ...eneral configuration 1 8 1 5 3 Function extension device These devices option are used to extend the function of the robot Fig 1 4 Function extension device Force sensor set 4F FS002H W200 4F FS002H W1000 ...

Page 22: ...1 VD03E 01 3 sets Sink type Source type 1F VD04 01 VD04E 01 4 sets Sink type Source type Vacuum valve set 1F VV01E 01 1 set The vacuum valve set for a suction hand of the customer setup 1F VV02E 01 2 sets Bellows set 1F JS 21 Bellows installed specification Factory option This option is corresponding to IP65 direct jet flow to the bellows section is not included and ISO class5 Hand input cable 1F ...

Page 23: ...ce for mounting the Anybus CompactCom module manufactured by HMS The customer needs to prepare the EtherNet IP module AB6314 manufactured by HMS Refer to separate volume Network Base Card Instruction Manual for details Network base card PROFINET inter face 2D TZ535 PN Communication interface for mounting the Anybus CompactCom module manufactured by HMS The customer needs to prepare the PROFINET IO...

Page 24: ...communication between robot CPU and controller MR J3BUS30M B Cable length 30m Instruction Manual 5F GM01 PE01 RH 1FRHR series Note1 option special specifications Item Type name Specifications Classification Note1 Note1 option Remarks CR800 D CR800 R Force sensor set 4F FS002H W200 A set of devices necessary for force sense control function such as a force sensor an interface unit and support softw...

Page 25: ...d to USB When using network equipment 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 Guarantee and maintenance of the equipment on the market usual office auto mation equipment cannot be performed Fig 1 5 USB cable GT09 C30USB 5P Fig 1 6 USB cable MR J3USBCBL3M Name Type name Supplier Outs...

Page 26: ...1 deg s 337 5 J2 deg s 720 J3 Z mm s 765 J4 θaxis deg s 3 000 Maximum horizontal composite speed Note3 Note3 At the maximum speed on the X Y flat surface in the robot s control point it is obtained with each speed of J1 J2 and J4 The control point is the position offset by the rated inertia from the flange mm s 6 000 Cycle time Note4 load capacity sec 0 28 1kg Load Rating kg N 1 Maximum 3 Z axis p...

Page 27: ...rate in a manner that does not cause errors Note6 The pose repeatability details are given in Page 19 2 2 1 Pose repeatability Note7 Sets the robot s operating environmental temperature as parameter OLTMX Corresponding to the environment the continuous control action performance and the overload protection function are optimized Refers to Optimizing the overload level described in Chapter 5 Functi...

Page 28: ...of tracking Conditions Unit Setting value Operating range X Pick mm 500 Place mm 500 Y Pick mm 90 Place mm 210 Z mm 480 mm 505 θ deg 90 Mechanical conditions Payload Hand Work kg 1 Cnt ON Tracking conditions Conveyor Speed mm s 125 Work Size mm 35 x 30 Interval mm 15 Vision sensor Mitsubishi s network vision sensor Handling Vacuum Y X Vision Tracking Operating range Conveyor 2 Conveyor 1 60mm 300m...

Page 29: ...0 131 120 105 94 88 83 84 200mm 135 118 105 96 84 78 73 69 68 70 Y X 300mm 60mm 150 to 900mm X Y Z 450mm Pick x 1 Dly 0 035 s 600mm 900mm Place x 1 Dly 0 035 s Conditions Trucking OFF Payload 1kg Y axis parallel 60mm offset in the Y axis movement of J1 and J2 axis Dly 0 035 s x 2 The processing at the time of tracking ON such as hand opening and closing Amount of eccentricity of a hand nothing Z 4...

Page 30: ... OFF Payload 1kg Y axis parallel Conveyance pattern of the the Y axis as a center movement of J1 axis only Dly 0 035 s x 2 The processing at the time of tracking ON such as hand opening and closing Amount of eccentricity of a hand nothing 200 to 900mm X Y Z 450mm Pick x 1 Dly 0 035 s Place x 1 Dly 0 035 s Z 475mm 25mm Z 50 100 150 200 200 250 300 350 400 450 500 P i c k P l a c e m i n X Position ...

Page 31: ... OFF Payload 1kg Y axis parallel Placing on the Y axis movement of both J1 and J2 axes Dly 0 035 s x 2 The processing at the time of tracking ON such as hand opening and closing Amount of eccentricity of a hand nothing 300mm 500mm 200 to 500mm X Y Z 450mm Pick x 1 Dly 0 035 s Place x 1 Dly 0 035 s Z 475mm 25mm Z 50 100 150 200 200 250 300 350 400 450 500 P i c k P l a c e m i n X Position mm Z Dis...

Page 32: ...o the teaching position during repeated operations 2 When the speed at teaching and the speed at execution are different 2 Load fluctuation factor 1 When work is present absent in repeated operations 3 Disturbance factor during operation 1 Even if approaching from the same direction and orientation to the teaching position when the power is turned OFF or a stop operation is performed halfway 4 Tem...

Page 33: ...nd the motion posture Caution The overhang amount of the load such as the mass capacity and the allowable moment of inertia defined in this section are dynamic limit values determined by the capacity of the motor that drives axes or the capacity of the speed reducer Therefore it does not guarantee the accuracy on all areas of tooling Guaranteed accuracy is measured from the center point of the mec...

Page 34: ...ameter Numbers 0 to 8 can be used for the asterisk part Designate the HNDDAT and WRKDAT parameters to be used using the LoadSet command in a program For more details refer to the separate Instruction Manual Detailed Explanation of Functions and Operations It is the same meaning as LoadSet 0 0 if not using the LoadSet Factory default settings of RH 1FRHR series Note The position of the center of gr...

Page 35: ...accord ing to the load mass CAUTION Depending on the operation pattern the speed and or acceleration deceleration at the front edge may not be parallel with the speed and the rate of change of acceleration deceleration specified in a program Fig 2 7 Automatic compensation of speed 2 Relationship Between Height of Shaft J3 Axis and Acceleration Deceleration Speed A function to optimize the accelera...

Page 36: ... as palletizing work Conversely if quick moves short moving time are required such as L UL work on machined parts the acceleration deceleration speed can be increased by initial setting setting of A in the Fig 2 10 However please note that some setting values of acceleration deceleration speed tend to cause overload and overheat errors In such a case extend the wait time reduce the acceleration de...

Page 37: ...lChk you should use in valid condition of this function for protection of the robot and of the peripheral equipment The abnormalities are detected by the robot s kinetics model presuming torque necessary for movement at any time Therefore the setting parameter HNDDAT WRKDAT of the hand and the work piece conditions should be right And it may be detected as the collision in movement as speed and mo...

Page 38: ...re 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 The IEC IP65 Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully affected when 12 5 5 liters of water is supplied from a test device at a position approx 3m a...

Page 39: ... other recaution to prevent the falling of J3 axis When releasing the brake the J3 axis will drop To ensure safety take appropriate measures such as supporting the axis to avoid the free fall 1 Provide support or take other recaution to prevent the falling of J3 axis 2 Push the brake release switch The brake is released while the switch is pressed in CAUTION 㻮㼍㼟㼑 㻺㼛㻚㻞㻌㼍㼞㼙 㻶㻟㻌㼍㼤㼕㼟 㻶㻠㻌㼍㼤㼕㼟 㻶㻞㻌㼍㼤㼕㼟 㻶...

Page 40: ... necessary to replace the battery 2 2 indicates The distance to a minimum bendable radius of the machine cable 3 3 indicates screw holes M4 depth 6mm for fixing user wiring piping Six places on both sides of No 2 arm Two places on front surface 4 4 indicates the space necessary to remove the No 2 arm cover 5 5 indicates the space necessary to connect the machine cable Note Refer to Fig 2 15 for th...

Page 41: ...J1 155 degrees or J1 115 degrees the J2 axis operation is limited to J2 50 degrees or J2 50 degrees To prevent the interference of the base rear section and No 2 arm rear section Note2 When the J1 axis angle is J1 155 degrees or J1 115 degrees the operation is limited to J1 J2 300 degrees To prevent the interference of the base rear section and No 2 arm sides Note 1 1 indicates the space necessary...

Page 42: ...据付用穴 Detail of Mechanical interface Standard specification Section Z Z φ 11 through hole Details of installation dimensions 4 φ16 installation reference hole 2 φ6 hole Pilot hole positioning pin φ8 Note Don t install the robot arm in the position where direct rays or the heat of lighting hits The skin temperature of the robot arm may rise and the error may occur Bellows installed specification Opt...

Page 43: ...㼜㼞㼛㼤㻚㻌㻣㻟 㻭㼜㼜㼞㼛㼤㻚㻌㻝㻜㻢 㻭㼜㼜㼞㼛㼤㻚㻌㻡㻣 㻝㻡㻜㼙㼙 㻭㼜㼜㼞㼛㼤㻚㻌㻝㻝㻡 㻭㼜㼜㼞㼛㼤㻚㻌㻣㻟 㻭 㼜 㼜 㼞 㼛 㼤 㻚㻌 㻠 㻡 㻭㼜㼜㼞㼛㼤㻚㻌䃥㻤㻞 㻭㼜㼜㼞㼛㼤㻚㻌㻝㻜㻝 㼇㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼟㼕㼐㼑㼉 㼇㻾㼛㼎㼛㼠㻌㼍㼞㼙㻌㼟㼕㼐㼑㼉 㻭㼜㼜㼞㼛㼤㻚㻌㻤㻡 㻹㼍㼟㼟㻦㻌㻡㼗㼓 㻹㼕㼚㼕㼙㼡㼙㻌㼎㼑㼚㼐㼕㼚㼓㻌㼞㼍㼐㼕㼡㼟㻦㻌㻝㻡㻜㼙㼙 㻯㼍㼎㼘㼑 Note If using an optional machine cable replacement refer to Page 43 1 Machine cable replacement in a diameter of the cable ...

Page 44: ...cted it can be use as other usages Pulling out wiring and piping Wiring and piping can be passed through the inside of the shaft It can also be pulled out externally from the rear of the No 2 arm by using the Page 53 8 External Wiring Piping box Ethernet cables and the power supply chord for remote input output can be pulled out from the grommet at the rear of the base section Note On the clean sp...

Page 45: ... 2 5 5 Ethernet cable Ethernet cables are installed from the robot s base section up to the No 2 arm section and can be used Similar to on our previous models these cables can also be used for backup wiring For further details please refer to the separate Instruction Manual Robot Arm Setup Example of use for backup wiring When connecting previously used tools to the robot Folding back the hand out...

Page 46: ... wiring and piping box option to the robot operate the robot at low speed to make sure that each part does not interfere with the robot arm and the peripheral devices Confirm that there is no interference also with bellows of the shaft section by a bellows set has installed If you install metal fixtures and a solenoid valve using the screw holes on the No 2 arm portion add the mass of the metal fi...

Page 47: ...acuum valve set Option Cable fixed plate for Internal Wiring Piping set for hand Option Hand output signal connector GR1 GR2 Solenoid valve option side Hand output signal connector GR1 GR2 Inside the No 2 arm Secondary piping air hose etc Internal Wiring Piping set for hand Option Hand tube φ3 x 4 hoses Hand input cable For signal 4 cable For power 2 cable or Hand tube Customer prepared Example of...

Page 48: ... the shaft is not used Keep the top part of the tip shaft taped while the robot is in use 2 When the through hole of the shaft is used for wiring Remove the rubber cap on top of the tip shaft and perform the necessary wiring Once the wiring is com pleted seal the bottom part of the tip shaft using liquid seal in order to avoid accumulation of dust Perform the wiring in such a way that the wires ar...

Page 49: ...㻪 㻨㻴㻯㻢㻪 㻨㻴㻯㻣㻪 㻨㻴㻯㻤㻪 㻭㻝 㻭㻞 㻭㻟 㻮㻝 㻮㻞 㻮㻟 㻴㼍㼚㼐㻌㼟㼕㼓㼚㼍㼘㻌㼕㼚㼜㼡㼠㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻌㻔㻴㻯㻞㻕 㻺㼛㼠㼑㻕㻌㼃㼕㼠㼔㻌㼍㼚㻌㼛㼜㼠㼕㼛㼚㼍㼘㻌㼎㼑㼘㼘㼛㼣㼟㻌㼟㼑㼠 㻯㼛㼚㼚㼑㼏㼠㻌㼣㼕㼠㼔㻌㼏㼡㼟㼠㼛㼙㼑㼞㻓㼟㻌 㼔㼍㼚㼐㻘㻌㼑㼠㼏㻚 䃥㻢 䃥㻢 㻿㼛㼘㼑㼚㼛㼕㼐㻌 㼢㼍㼘㼢㼑㻌㼟㼑㼠 㻔㻻㼜㼠㼕㼛㼚㻕 㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞 㻱㼠㼔㼑㼞㼚㼑㼠㻌㼏㼍㼎㼘㼑㻌㻭㼃㻳㻌㻏㻞㻠㻔㻜㻚㻞㼙㼙㻞 㻕㼤㻤 㻔㻮㼛㼠㼔㻌㼑㼚㼐㼟㻌㼍㼞㼑㻌㻸㻭㻺㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㼟㻕 㻔㻯㼍㼎㻌㼠㼕㼞㼑㻌㼏㼍㼎㼘㼑㼟㻌㼣㼕㼠㼔㻌㼠㼔㼑㻌㼟㼔㼕㼑㼘㼐㻕 㻴㼍㼚㼐㻌㼛㼡㼠㼜㼡㼠㻌㼟㼕㼓㼚㼍㼘 㻴㼍㼚㼐㻌㼕㼚㼜㼡㼠㻌㼟㼕㼓㼚㼍㼘 㼛㼞 㻯㼛㼚㼚㼑㼏㼠㻌㼠㼛㻌㼠㼔㼑㻌㼛㼜㼠㼕㼛㼚㼍㼘㻌 㼟㼛㼘㼑㼚㼛㼕㼐㻌㼢㼍㼘㼢㼑㻌㼟㼑㼠㻌㼐㼕㼞㼑㼏㼠㼘㼥 㻯㼛㼚㼚㼑㼏㼠㻌㼣㼕㼠㼔㻌㼏㼡㼟㼠㼛㼙...

Page 50: ...㼘㼍㼏㼗 㼃㼔㼕㼠㼑 㻮㼘㼍㼏㼗 㻨㻾㼑㼟㼑㼞㼢㼑㼐㻪 㻨㻾㻳㻔㻴㻺㻰㻕㻪 㻨㻴㻯㻡㻪 㻨㻴㻯㻢㻪 㻨㻴㻯㻣㻪 㻨㻴㻯㻤㻪 㻭㻝 㻭㻞 㻭㻟 㻮㻝 㻮㻞 㻮㻟 㻴㼍㼚㼐㻌㼟㼕㼓㼚㼍㼘㻌㼕㼚㼜㼡㼠㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㻌㻔㻴㻯㻞㻕 㻺㼛㼠㼑㻕㻌㼃㼕㼠㼔㻌㼍㼚㻌㼛㼜㼠㼕㼛㼚㼍㼘㻌㼎㼑㼘㼘㼛㼣㼟㻌㼟㼑㼠 㼃㼕㼠㼔㻌㼍㻌㼢㼍㼏㼡㼡㼙㻌㼢㼍㼘㼢㼑㻦㻌㼜㼞㼑㼟㼟㼡㼞㼑 㼃㼕㼠㼔㻌㼍㻌㼢㼍㼏㼡㼡㼙㻌㼢㼍㼘㼢㼑㻦㻌㼢㼍㼏㼡㼡㼙 㻯㼛㼚㼚㼑㼏㼠㻌㼣㼕㼠㼔㻌㼏㼡㼟㼠㼛㼙㼑㼞㻓㼟㻌 㼔㼍㼚㼐㻘㻌㼑㼠㼏㻚 䃥㻢 䃥㻢 㼂㼍㼏㼡㼡㼙㻌 㼢㼍㼘㼢㼑㻌㼟㼑㼠 㻔㻻㼜㼠㼕㼛㼚㻕 㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞 㻱㼠㼔㼑㼞㼚㼑㼠㻌㼏㼍㼎㼘㼑㻌㻭㼃㻳㻌㻏㻞㻠㻔㻜㻚㻞㼙㼙㻞 㻕㼤㻤 㻔㻮㼛㼠㼔㻌㼑㼚㼐㼟㻌㼍㼞㼑㻌㻸㻭㻺㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞㼟㻕 㻔㻯㼍㼎㻌㼠㼕㼞㼑㻌㼏㼍㼎㼘㼑㼟㻌㼣㼕㼠㼔㻌㼠㼔㼑㻌㼟㼔㼕㼑㼘㼐㻕 㻼㼞㼕㼙㼍㼞㼥㻌㼜㼕㼜㼕㼚㼓...

Page 51: ...ce 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 Hand output GRn GR1 to GR8 No of output points 8 Insulation method Digital isolator 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 v...

Page 52: ...ibed so that the robot stops when pressure drops Use a hand with a spring pres sure clamp or a mechanical lock type hand that can be used in cases where the pressure switch becomes damaged 3 The optional hand and solenoid valve are of an oilless type If they are used don t use any lubricator 4 If the air supply temperature primary piping used for the tool etc is lower than ambient air temperature ...

Page 53: ...ng from the factory Consequently it is necessary to confirm the delivery date by the customer To make changes to the specifications after shipment service work must be performed at the work site or the robot must be returned for service How to order 1 Confirm beforehand when the factory special specifications can be shipped because they may not be immediately available 2 Specify before shipping fr...

Page 54: ...ect the exhaust ducts To guarantee IP65 the connection of the exhaust ducts is also required Prepare two 8 diameter hoses about 2 m long Connect each of the hoses to couplings A and B At the opening of the exhaust hose intakes exhausts of the air inside the robot arm occur due to the volume change of the bellows section along with vertical movement of the Z axis Arrange the position of the opening...

Page 55: ...t arm Options 2 42 2 7 Options What are options There are a variety of options for the robot designed to make the setting up process easier for customer needs customer installation is required for the options ...

Page 56: ... Recommendation grease G 501 Supplier Shin Etsu Chemical Co Ltd Caution This option can be installed on clean type but its cleanliness is not under warranty Caution When a cableveyor is used partitions are required to avoid overlapping or riding up of the cables Also adjust the cable length to eliminate tension or excessive looseness and fix it securely Part name Type Note1 Note1 The numbers in th...

Page 57: ...is table when selecting the cableveyor Table 2 17 Cable configuration Flexed type Item Motor signal cable Motor power cable No of cores AWG 24 0 2mm2 4P AWG 28 0 08mm2 4P AWG 16 1 25mm2 4C AWG 18 0 75mm2 3C Finish dimensions Approx φ6mm Approx φ6 2mm Approx φ8 9mm Approx φ6 5mm No of cables used 6 1 3 6 No in total 7 9 ...

Page 58: ...ilicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten sion section as shown below and fix with the nylon clamp to protect the cable from external stress Fig 2 23 Fixing the flexible cable 㻹㼕㼚㼕㼙㼡㼙㻌㻞㻜㻜 㻞㻡㻜 㻖㻝㻕 㻖㻝㻕㻌㼀㼔㼑㻌㼏㼛㼚㼚㼑㼏㼠㼕㼛㼚㻌㼟㼜㼍㼏㼑㻌㼒㼛㼞㻌㼍㻌㼙㼍㼏㼔㼕㼚㼑㻌㼏㼍㼎㼘㼑㻚 㻟㻜㻜㻌㼠㼛㻌㻠㻜㻜㼙㼙 㻟㻜㻜㻌㼠㼛㻌㻠㻜㻜㼙㼙 㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼞㼑㼍㼞 㻺㼥㼘㼛㼚㻌㼏㼘㼍㼙㼜 㻾㼛㼎㼛㼠㻌㼍㼞㼙㻌㻔㻮㼍㼟㼑㻌㼟㼑㼏㼠㼕㼛㼚㻌㼞㼑㼍㼞㻕 㻿㼕㼘㼕㼏㼛㼚㻌㼞㼡㼎㼎㼑㼞 㻺㼥㼘㼛㼚...

Page 59: ...mechanical stopper is positioned 3 degrees outward from that angle so take care when designing the layout 2 The operating range is changed with robot arm settings insertion of the pin and parameter settings Refer to the separate Instruction Manual ROBOT ARM SETUP MAINTENANCE and Instruction Manual Detailed Explanation of Functions and Operations for details 3 If the arm collides with mechanical st...

Page 60: ...pe Solenoid valve set 2 sets 1F VD02 01 1F VD02E 01 Either one pc 1 0 Solenoid valve set 3 sets 1F VD03 01 1F VD03E 01 Either one pc 1 0 Solenoid valve set 4 sets 1F VD04 01 1F VD04E 01 Either one pc 1 0 Item Specifications Number of positions 2 Port 5 Note1 Note1 Couplings of unused solenoid valves must be blocked with plugs If they are not blocked supplied air will blow out from the couplings lo...

Page 61: ...mm 80mm Part name 1 set 2 sets 3 sets 4 sets Specification Solenoid valve 1 2 3 4 Manifold block 1 1 1 1 Quick coupling A B port 8 8 8 8 φ4 Quick coupling P R port 2 2 2 2 φ6 Connector 1 1 2 2 1 1318115 4 Contact 3 5 8 10 1318112 1 Installation screw Combination slotted cross recessed pan head machine screw 2 2 2 2 M4x30 Note The hand output cable 1F GR60S 01 Option is unnecessary Sink type Connec...

Page 62: ...e 2 24 Specifications Fig 2 25 Outside dimensional drawing and pin assignment Caution This option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand input cable 1F HC35C 01 1 cable 0 2 Item Specifications Remarks Size x cable core AWG 24 0 2mm2 12 One sided connector one sided cable bridging Total leng...

Page 63: ... Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand output cable 1F GR60S 01 1 cable 0 3 Item Specifications Remarks Size x Cable core AWG 24 0 2mm2 x 12 cores One side connector and one side cable connection Total length 1 050mm 15 600 100 1 1318115 4 タイコエレクトロニクス GR1 GR2 GR GR1 GR3 GR4 予約 24V COM 予約 24V COM GR5 GR7 ハンド 出力1 ハンド 出力3 ハンド 出力4 ハン ド 出力5 ハン ド 出力7 A1 黄 キ 紫 ムラサキ 茶 ...

Page 64: ...ons Fig 2 27 Outline dimensional drawing 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 curl tube Four set 8 pcs 1E ST0408C 300 1 pc 0 1 Φ4 tube 8pcs Item Specifications Material Urethane Size Outside diameter φ4 x Inside diameter φ2 5 100 ツーリング側 300 600 ロボット側 1E ST0408C 300 φ4 ...

Page 65: ...ne set Remarks Internal Wiring Piping set for hand 1F HS304S 01 1 0 4 The air hose and the cable for hand input signals are contained The grease for application to shaft top and silicon rubber and cable tie are attached Item Specification Remarks Air hose φ3 x 4pcs Both ends are free Eight reducers φ3 to φ4 are attached Hand input signal cable AWG 24 0 2mm2 6pcs The robot arm side is connector HC1...

Page 66: ... for changing the operating range option 1F DH 01 is required Configuration Table 2 31 Configuration equipment Specification Table 2 32 Specification An outside dimension and a component are shown in Fig 2 28 Part name Type Qty Mass Kg Note1 Note1 Mass indicates one set Remarks External Wiring Piping box 1F UT BOX 1 0 6 Attachments Air hose black φ4 8 Air hose black φ6 1 Air hose white φ6 1 Instal...

Page 67: ...ring Piping box housing 1 2 Quick coupling 8 φ4 Elbow 3 Quick coupling 2 φ6 Elbow 4 φ21 hole 4 The grommet is attached to each hole Two holes are in the right and the left 5 Manifold block 1 6 Plug 8 Stopper for φ4 quick coupling 7 Plug 2 Stopper for φ6 quick coupling Simple spanner for resin nuts 1 Attachment Installation screw 4 Attachment M4x8 Plain washer Air hose 8 Attachment φ4 Black Air hos...

Page 68: ...C Cor poration Part name Type Qty Mass Kg Note1 Note1 Mass indicates one set Remarks Vacuum valve set 1F VV01E 01 1 0 1 The optional hand input cable is included Refer to Page 50 5 Hand output cable 1F VV02E 01 1 0 2 Item Specification Model ZK2P00R5JL 06 manufacturer SMC Corporation Operating fluid Air inert gas Operating pressure range 0 3 to 0 6MPa Operating temperature range 5 to 50 However th...

Page 69: ... 11 Air hose V 1 2 φ4 12 Connector HC 2 2 1 1318115 3 13 Contact HC 4 6 1318112 1 14 Connector GR 1 1 1 1318115 4 15 Contact GR 3 5 1318112 1 1 set V1 S1 PV PS V 11 Secondary piping φ4 12 13 Connector HC1 HC2 14 15 Connector GR1 Connector HC1 HC2 Connector GR1 V1 S1 V2 S2 11 Secondary piping φ4 PV V PS PV V PS 2 sets 10 Ait hose φ4 10 Air hose φ4 9 Air hose φ6 2 Pressure sensor 1 Vacuum valve 3 St...

Page 70: ...arried out before the total amount of servo on time reaches the specified time 24 000 hours for the robot arm and 36 000 hours for the controller However the degree of the equipment s wear and deterioration presumably varies depending on their operating conditions Especially for operation with high load and frequency the maintenance cycle may be shorter For details on the part selection for replac...

Page 71: ...s used in the robot arm are shown in Table 2 36 Purchase these parts from the designated maker or dealer when required Some Mitsubishi desig nated parts differ from the maker s standard parts Thus confirm the part name robot arm and controller serial No and purchase the parts from the dealer Table 2 36 Consumable part list No Part name Type Note1 Note1 Confirm the robot arm serial No and contact t...

Page 72: ...tion point 1 Dual line Door switch input point 1 Dual line Ecoder input Channel 2 Interface Additional axis force sensor interface Channel 1 SSCNET III H Connect with MR J4 B series Communication interface between robot controllers Channel 2 SSCNET III H Optical communica tion For daisy chaining Remote input output Channel 1 Compatible with Ver 1 0 2 0 USB port 1 Ver 2 0 HighSpeed device functions...

Page 73: ...l frequency domain 50 60Hz If sen sitive to the high frequency ingredient it will become the cause in which below the maximum leak current value carries out the trip The following lists the current values of the representative models as a reference Note4 Refer to Page 67 3 3 1 Outside dimensions for details Note5 This controller is standard specification Refer to Page 63 3 1 2 Protection specifica...

Page 74: ...s Emergency stop input point 1 Dual line Category 4 Perfor mance Level e ISO13849 1 Emergency stop output point 1 Dual line Mode selector switch inputNote2 point 1 Dual line Category 3 Perfor mance Level d ISO13849 1 Mode output point 1 Dual line Robot error output point 1 Dual line Addition axis synchronization point 1 Dual line Door switch input point 1 Dual line Interface Additional axis force ...

Page 75: ...under the commercial frequency domain 50 60Hz If sen sitive to the high frequency ingredient it will become the cause in which below the maximum leak current value carries out the trip The following lists the current values of the representative models as a reference Note4 Refer to Page 67 3 3 1 Outside dimensions for details Note5 This controller is standard specification Refer to Page 63 3 1 2 P...

Page 76: ...controller is supposed to be installed and used in the customer s system Supply the primary power of the controller from the system In addition provide a safety device ex earth leakage current breaker that can shut off the power of the controller in the customer s system When using the earth leakage current breaker as a safety device select the product that meets the following specifications Refer...

Page 77: ... 4 5 CNUSR connector Robot I O cable connectors 4 CNUSR11 5 CNUSR12 Refer to a separate manual INSTRUCTION MANUAL Controller setup basic operation and maintenance for the connection method and thefur ther description of pin assignment Number of phase ACIN cable Single phase Terminal M5 cable length 3m Three phase Terminal M5 cable length 3m 㻭㼕㼞㻌㼕㼚㼠㼍㼗㼑㻌㼒㼛㼞㻌㼒㼍㼚 㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼒㼞㼛㼚㼠 㻯㼛㼚㼠㼞㼛㼘㼘㼑㼞㻌㼞㼑㼍㼞 㻭㼕㼞㻌㼑...

Page 78: ...side the filter cover 19 20 Option slot Option card slots must be covered when not used 19 SLOT1 20 SLOT2 21 FG terminal Option card cable terminals for grounding M4 screw x 2 Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB Wh...

Page 79: ...mation 5 CN1 connector Connect the SSCNET III cable between the OPT1 connector on the controller and this connector 6 Network connector Connector for Ethernet communication 7 EMG connector Unused 8 MPG connector Unused 9 RIO connector Unused 10 EXT I F Unused READY LED ERROR LED CPU status OFF ON Power is off or a hardware error occurred Flashing OFF During initialization ON OFF Normal operation O...

Page 80: ...sions Installation dimensions 3 Controller 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions 1 Controller Fig 3 3 Outside dimensions of controller 㻠㻟㻜 㻔㻟㻜㻕 㻟㻜 㻔㻟㻚㻡㻕 㻟㻣㻜 㻥㻥㻚㻡 㻥㻢 㻠㻞㻡 㻟㻠㻜 㻠㻡 䠄㻠㻜䠅 䠄㻠㻡䠅 ...

Page 81: ...3 Controller Outside dimensions Installation dimensions 3 68 2 Robot CPU unit Fig 3 4 Outside dimensions of robot CPU unit 㻠 㻥㻤 㻝㻝㻜 㻝㻜㻢 㻞㻣㻚㻤 ...

Page 82: ...should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw The screw projection length inside the controller side board thickness is 1 2 mm surely makes 6 8 mm or less When storing the controller in a cabinet etc take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values A...

Page 83: ...stallation dimensions 3 70 Fig 3 6 Reference figure of the fixing metal plate for vertical installation 㻔㻝㻠㻕 㻝㻞㻜 㻝㻞㻜 㻝㻞㻜 㻟㻢㻜 㻠㻜㻜 㻠㻞㻜 㻝㻞㻜 㻞㻝㻚㻣 㻝㻞㻚㻝 㻡㻝 㻢㻚㻡 㻠㻞 㻢㻠 㻢㻤 㻠㻜 㻔㻠㻜㻕 㻝㻠㻤 㻠㻙䃥㻝㻜㻌㼔㼛㼘㼑 㻠㻙䃥㻢㻚㻡㻌㼔㼛㼘㼑 㻠㻙䃥㻠㻚㻡㻌㼔㼛㼘㼑 㻠㻙㻯㻟 㻝㻜 㻞㻜 㻔㼠㻞㻕 㻝㻜 㻝㻠 㻔㻝㻜㻕 ...

Page 84: ...o make unit replacement easy please secure the following distance between the upper and lower sides of the unit and the structure etc Fig 3 7 Installation of robot CPU Unit 㻡㼙㼙㻌㼛㼞㻌㼙㼛㼞㼑 㻡㼙㼙㻌㼛㼞㻌㼙㼛㼞㼑 㻾㼛㼎㼛㼠㻌㻯㻼㼁㻌㼡㼚㼕㼠 㻯㼑㼕㼘㼕㼚㼓㻌㼛㼒㻌㼠㼔㼑㻌㼏㼛㼚㼠㼞㼛㼘㻌㼜㼍㼚㼑㼘㻘㻌㼣㼕㼞㼕㼚㼓㻌㼐㼡㼏㼠㻘㻌㼛㼞㻌㼛㼠㼔㼑㼞㻌㼜㼍㼞㼠㼟 㻝㻜㻜㼙㼙㻌 㼛㼞㻌㼙㼛㼞㼑 㻠㻜㼙㼙㻌㼛㼞㻌㼙㼛㼞㼑 㻰㼛㼛㼞 㻝㻜㻜㼙㼙㻌㼛㼞㻌㼙㼛㼞㼑 ...

Page 85: ...ol 3 Hand input output These are inputs and outputs related to the hand that the customer can program 4 Emergency stop Door switch input The wiring for the safe security of the emergency stop etc is shown in on Page 76 3 6 Emergency stop input and output etc and on Page 131 6 1 7 Examples of safety measures For Reference Linking our GOT2000 Series display equipment to the robot controller over the...

Page 86: ...ication is the same as the STOP parameter L Wait output signal Outputs that the slot is temporarily stopped Notes Specification is the same as the STOP parameter 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...

Page 87: ... Validates jog operation with the external signals E Jog valid output sig nal Outputs that the jog operation with external signals is valid JOGM Jog mode input 2 bit Designates the jog mode L Jog mode output 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 Non...

Page 88: ...ated function is validated when the signal is ON and is invalidated when the signal is OFF E Edge signal The designated function is validated when the signal changes from the OFF to ON state and the function maintains the original state even when the signal then turns OFF Note2 Four elements are set in the order of input signal start No end No output signal start No and end No Note3 Up to eight po...

Page 89: ...the emergency stop connection and cautions Caution The emergency stop circuit is duplicated inside the controller The emergency stop switch uses a double contact type switch so please be sure to fix both of the contacts to the connector pins as shown below in order to ensure the wiring is duplicated An error will continue to occur in the event that only one of the pins is connected 1 Please prepar...

Page 90: ...ion of only one side if the relay of customer use should break down it may not function correctly And the output contacts from the robot controller robot error output emergency stop output mode output addition axis contactor control output are dual contacts syn chronizes You should connect surely by dual line with the customer s equipment as well as connection of the emergency stop and the door sw...

Page 91: ...㼜㼡㼠 㻹㼛㼐㼑㻌㼛㼡㼠㼜㼡㼠 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻞㻠㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻗㻟㻚㻟㼂 㻾㼛㼎㼛㼠㻌㼑㼞㼞㼛㼞㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼟㼑㼘㼑㼏㼠㼛㼞㻌 㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 㻖㻝㻕㼀㼔㼑㻌㼠㼑㼞㼙㼕㼚㼍㼘㻌㼏㼍㼚㻌㼎㼑㻌㼡㼟㼑㼐㻌㼛㼚㼘㼥㻌㼒㼛㼞㻌㼠㼔㼑㻌㼑㼤㼠㼑㼞㼚㼍㼘㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼕㼚㼜㼡㼠㻌㼠㼛㻌㼠㼔㼑㻌㼞㼛㼎㼛㼠㻌㼏㼛㼚㼠㼞㼛㼘㼘㼑㼞㻚㻌㻻㼡㼠㼜㼡㼠㻌㼙㼛㼚㼕㼠㼛㼞㼕㼚㼓㻌 㼕㼟㻌㼜㼑㼞㼒㼛㼞㼙㼑㼐㻌㼣㼕㼠㼔㻌㼠㼑㼟㼠㻌㼜㼡㼘㼟㼑㻚 㻼㼘㼑㼍㼟㼑㻌㼐㼛㻌㼚㼛㼠㻌㼏㼍㼞㼞㼥㻌㼛㼡㼠㻌㼍㼚㻌㼕㼚㼟㼡㼘㼍㼠㼕㼛㼚㻌㼜㼞㼑㼟㼟㼡㼞㼑㻌㼠㼑㼟㼠㻚㻌㻹㼛㼞㼑㼛㼢㼑㼞㻘㻌 㼕㼠㻌㼎㼑㼏㼛㼙㼑㼟㻌㼠㼔㼑㻌㼏...

Page 92: ...㼞 㻥 㻝㻤 㻝 㻝㻜 Connection procedure Wire cables to the CNUSR11 and CNUSR12 user wiring connectors attachment and fit them into the corresponding connectors ports located on the rear side of the controller The customer needs to prepare the following items Cable AWG24 to 16 0 2 to 1 5mm2 Flathead screwdriver The width of the tip is 2 5mm 1 Prepare the user wiring connector attachment 2 Strip off 7 mm o...

Page 93: ... ON voltage ON current DC 8V or more 2mA or more OFF voltage OFF current DC 4V or less 1mA or less Input resistance Approx 2 2 ｋ Ω Response time OFF ON 1ms or less ON OFF 1ms or less Common method 1 point per common External wire connection method Connector 330 2 2k 入力 ２４V COM 1A 1B Input 4 13 㻯㻺㼁㻿㻾㻝㻞㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞 Note In the customer s system do not ground the side of 24V power supply prepared by cu...

Page 94: ...urns OFF and the robot stops An error occurs The process of the restoration Close the door reset the alarm turn on the servo and restart During teaching Even when the door is opened using a selector switch allows to turn the servo ON with the teaching pendant to operate the robot Fig 3 12 Door switch function 3 6 4 Mode selector switch function The mode selector switch switches the mode of the con...

Page 95: ...e switch Mode selector switch input terminal Door switch input terminal 1 Jog operation Enable ON Open MANUAL mode If the mode selector switch input is set to Open MANUAL mode the state of door switch input does not matter 3 Brake release Note2 Note2 T B is used for the brake release operation Brake release can be effected only when the T B enable switch is placed in intermediate position lightly ...

Page 96: ...ruction Manual for details on the additional axis function 3 7 1 Wiring of the Additional Axis Interface Table 3 9 shows the connectors for additional axes inside the controller Fig 3 14 shows a connection example configuration example Table 3 9 Dedicated connectors inside the controller Fig 3 14 Example of addition axis connection Name Connector name Details Connector for additional axes AXIS The...

Page 97: ...lectric Industries CO Ltd 10 250 5 3 5 MR J4 200B RJ MR J4 350B RJ HF3030A UN Note1 30 5 5 MR J4 500B RJ MR J4 700B RJ HF3040A UN Note1 40 6 5 6 MR J4 11KB RJ MR J4 15KB RJ MR J4 22KB RJ HF3100A UN Note1 100 12 MR J4 60B4 RJ MR J4 100B4 RJ TF3005C TX 5 500 5 5 6 MR J4 200B4 RJ MR J4 700B4 RJ TF3020C TX 20 MR J4 11KB4 RJ TF3030C TX 30 7 5 MR J4 15KB4 RJ TF3040C TX 40 12 5 MR J4 22KB4 RJ TF3060C TX ...

Page 98: ...㻹㻯㻯㻮 㻱㻹㻯㻌㼒㼕㼘㼠㼑㼞 㻿㼡㼞㼓㼑㻌㼜㼞㼛㼠㼑㼏㼠㼛㼞 㻼㼛㼣㼑㼞㻌㼟㼡㼜㼜㼘㼥 㻝 㻝 㻞 㻟 㻞 㻟 㻠 㻸㻝 㻸㻞 㻸㻟 㻸㻝㻝 㻸㻞㻝 㻡 㻢 㻱 㻹㻯 㻿㼑㼞㼢㼛㻌㼍㼙㼜㼘㼕㼒㼕㼑㼞 Note 1 Note 2 Note 1 For 1 phase 200V to 230VAC power supply connect the power supply to L1 L2 and leave L3 open There is no L3 for 1 phase 100 to 120 VAC power supply Note 2 The example is when a surge protector is connected ...

Page 99: ...lter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high frequency leakage current zero phase current especially within 0 5MHz to 5MHz band Fig 3 16 Example of noise filter installation ...

Page 100: ...Fig 3 17 Example of circuit for addition axes of Magnet contactor control output NV To the internal circuit 1 Get the power supply for the controller from the secondary terminal of short circuit breaker NV built in the addition axis amplifier box 2 Get the power supply for the MC synchronization from the secondary terminal of short circuit breaker NV prepared by the customer AXMC is output from th...

Page 101: ...utput AXMC for addition axes 3 88 2 Image of how to connect the controller connector Fig 3 18 AXMC terminal connector 㻯㻺㼁㻿㻾㻝㻝㻌㼏㼛㼚㼚㼑㼏㼠㼛㼞 Refer to Page 79 Fig 3 10 Wiring method to the user wiring connector for more details about how to wire a connector ...

Page 102: ...3 89 3 Controller 3 9 Options What are options There are a variety of options for the robot designed to make the setting up process easier for user needs User installation is required for the options ...

Page 103: ...t the above enable device is configured of an Enable Disable switch and Enable switch The 3 position enable switch has three statuses 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 ...

Page 104: ...of teaching pendant Installation method The teaching pendant is connected to the TB 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 105: ...OP key This stops the program and decelerates the robot to a stop OVRD OVRD key Change moving speed Speed goes up by OVRD key Speed goes down by OVRD key JOG operation key Move the robot according to jog mode And input the numerical value SERVO key Press this key with holding enable switch lightly then servo power will turn on MONITOR key It becomes monitor mode and display the monitor menu JOG ke...

Page 106: ... switch and Enable switch The 3 position enable switch has three statuses 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 se...

Page 107: ...not turn OFF 9 SERVO button This turns ON the servo power simultaneously with the enable switch The LED green lights during servo ON 10 RESET button This key resets an error state that has occurred 11 CAUTION button If this button is pushed in jog operation the limit switch can be canceled Moreover push this button when releasing the brake 12 HOME button Not use 13 OVRD button This scrolls overrid...

Page 108: ...utline This card is used to enable the MELFA Smart Plus option Insert this card in the option slot on the front of the controller and enable the MELFA Smart Plus software extension function Configuration Table 3 16 Configuration device Part name Type Qty Mass Kg Remarks MELFA Smart Plus card pack 2F DQ510 1 0 5 MELFA Smart Plus card 2F DQ511 1 0 5 ...

Page 109: ...The renumbering function and copy search syntax check and step execution are especially sufficient and are extremely useful when editing or debugging the program With the simulation function support of MELSOFT RT ToolBox3 the program can be debugged and the tact checked before starting the machine at the site This allows the on site startup work efficiently to be greatly improved MELSOFT RT ToolBo...

Page 110: ... syntax check Command template Position conversion batch editing Position variable template Print print preview Control func tions Program file control list copy movement delete content com parison name change protect Debugging func tions Direct editing of program in controller Confirmation of robot program operation step execution direct execution Simulation function Off line simulation of robot ...

Page 111: ... BFP A3476 Installation method of the controller basic operation and maintenance and inspection procedures Detailed Explanation of Functions and Operations BFP A3478 Functions of the controller and T B operation method and explanation of MELFA BASIC VI Troubleshooting BFP A3480 Causes of errors occurred and their countermeasures Additional axis function BFP A3504 Function of the additional axis op...

Page 112: ...tion Table 3 20 Configuration device Specifications Table 3 21 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 Item Specification Internal circuit Type DC input Sink type Source type Number of inp...

Page 113: ...t overlap with the station number of the parallel input and output interface Fig 3 22 Parallel I O interface installation position 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 current 0 1A point 100 Leak...

Page 114: ...t and output interface installed in SLOT1 and signal number allocation are shown in Table 3 24 and Table 3 25 If it installs in other slots please interpret and utilize Slot number Station number Range of the general purpose input and output signal Connector 1 Connector 2 SLOT1 0 Input 0 to 15 Output 0 to 15 Input 16 to 31 Output 16 to 31 SLOT2 1 Input 32 to 47 Output 32 to 47 Input 48 to 63 Outpu...

Page 115: ...e Black d General purpose output 2 Error occurring output signal Note2 19C Yellow Red d General purpose input 1 Servo OFF input signal Note2 19D Yellow Black d General purpose output 1 In servo ON output signal Note2 20C Pink Red d General purpose input 0 Stop input Note3 Note3 The dedicated input signal STOP is assigned at shipping The signal number is fixing 20D Pink Black d General purpose outp...

Page 116: ...stomer for connect to the controller related with emergency stop and parallel input output If it connects with the controller under the condition that the side is grounded it will lead to failure of controller Source 60mA 24 12V Output Output Fuse 24G 12G COM QX41 24G 24V COM External power supply X Y 24V 24V Output Input 3 3K External power supply Input Input QY81P Parallel I O interface Output M...

Page 117: ...onnector 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 Or...

Page 118: ...ector pin numbers and cable colors when making the connections Fig 3 24 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 Cove...

Page 119: ... prepared by the customer and connected with the power connection cable DCcable 2 A separate 24V power supply is required for the input output circuit wiring Table 3 32 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 t...

Page 120: ...r insulation Rated load voltage 12VDC 24VDC Rated load voltage range 10 2 to 30VDC peak voltage 30VDC Max load current 0 1A point 100 Leakage current at OFF 0 1mA or less Max voltage drop at ON 0 9VDC TYP Note1 Note1 The maximum voltage drop value at signal ON Refer to it for the equipment connected to the output circuit Response time OFF ON 2ms or less hardware response time ON OFF 2ms or less Re...

Page 121: ...the twisted shield cable of AWG 22 0 3mm2 or more 㻺㻱㼀㻌㼏㼍㼎㼘㼑㻙㻝㻌㻔㻺㼑㼠㼣㼛㼞㼗㻌㼏㼍㼎㼘㼑㻕 㻯㼛㼚㼚㼑㼏㼠㼛㼞㻦㻌㻶㻞㻝㻰㻲㻙㻜㻢㼂㻙㻷㼄㻙㻸 㻯㼛㼚㼚㼑㼏㼠㼑㼐㻌㼠㼔㼑㻌㼒㼞㼍㼙㼑㻌㼓㼞㼛㼡㼚㼐㻌 㼛㼞㻌㼜㼞㼛㼠㼑㼏㼠㻌㼓㼞㼛㼡㼚㼐 㻯㼛㼚㼚㼑㼏㼠㼛㼞㻦㻌㻝㻙㻝㻣㻤㻞㻤㻤㻙㻟 㻯㼛㼚㼚㼑㼏㼠㼛㼞㻦㻌㻞㻙㻝㻣㻤㻞㻤㻤㻙㻟 㻼㼕㼚㻌㻺㼛㻚 㻝 㻞 㻟 㻾㻵㻻㻝㻛㻞 㼀㼄㻾㼄㻴 㼀㼄㻾㼄㻸 㻿㻳㻔㻳㻺㻰㻕 㻾㻵㻻 㼀㼄㻾㼄㻰㻴 㼀㼄㻾㼄㻰㻸 㻿㻳㻔㻳㻺㻰㻕 㻲㻳 㻗 㻙 㻼㼕㼚㻌㻺㼛㻚 㻝㻭 㻝㻮 㻞㻮 㻟㻭 㻰㻯㼏㼍㼎㼘㼑㻙㻞㻌㻔㻼㼛㼣㼑㼞㻌㼏㼍㼎㼘㼑㻕 㻼㼕㼚㻌㻺㼛㻚 㻝 㻞 㻟 㻾㻵㻻㻝㻛㻞 㼀㼄㻾㼄㻴 㼀㼄㻾㼄㻸 㻿㻳㻔㻳㻺㻰㻕 㻗㻞㻠㼂㻌㻼㼛㼣㼑㼞 㻾㻙㼀㻹㻌㻔㼀㼑㼞㼙㼕㼚㼍㼠㼛㼞㻕 㻼㼕㼚㻌㻺㼛㻚 㻝 㻞 㻟 㻾㻵㻻㻝...

Page 122: ...nt of the controller Fig 3 26 Installing the parallel I O unit 6 0 5 4 6 放熱 配線余裕 150 6 156 2 Ｍ ５ ネ ジ 6 168 放熱余裕 1 28 17 5 100 天 配 線 余 裕 40 地 2 A R Z 3 61 制 御 盤 取 付 寸 法 2A R Z 36 1 2 A R Z 37 1 の 取 付 寸 法 6 2 A R Z 3 71 Installation dimensions of 2A RZ361 2ARZ 371 The controller outside installation Upside Wiring space Heat radiation space 2 M5 screw Downside Radiation wiring space Control panel ins...

Page 123: ...cable DCIN connector RIO2 connector DCIN connector R TM terminator I O unit the bottom connecter layout Connect the NET cable 1 to the RIO connector on the front of the controller Each unit is connected to from a daisy chain Always install a terminator R TM to the last unit Note 1 Use a shield cable for NET cable 1 as a measure against noise The unit could malfunction because of noise if the shiel...

Page 124: ... Output 0 to 15 Input 16 to 31 Output 16 to 31 2nd set 1 Input 32 to 47 Output 32 to 47 Input 48 to 63 Output 48 to 63 3rd set 2 Input 64 to 79 Output 64 to 79 Input 80 to 95 Output 80 to 95 4th set 3 Input 96 to 111 Output 96 to 111 Input 112 to 127 Output 112 to 127 5th set 4 Input 128 to 143 Output 128 to 143 Input 144 to 159 Output 144 to 159 6th set 5 Input 160 to 175 Output 160 to 175 Input ...

Page 125: ...eral purpose output 12 11 Orange Red C General purpose output 9 36 Orange Blue C General purpose output 13 12 Gray Red C General purpose output 10 37 Gray Blue C General purpose output 14 13 White Red C General purpose output 11 38 White Blue C General purpose output 15 14 Yellow Red C COM0 For pins 15 22 Note2 Note2 Sink type 12V 24V COM Source type 0V COM 39 Yellow Blue C COM1 For pins 40 47 Not...

Page 126: ... purpose output 28 11 Orange Red C General purpose output 25 36 Orange Blue C General purpose output 29 12 Gray Red C General purpose output 26 37 Gray Blue C General purpose output 30 13 White Red C General purpose output 27 38 White Blue C General purpose output 31 14 Yellow Red C COM0 For pins 15 22Note1 Note1 Sink type 12V 24V COM Source type 0V COM 39 Yellow Blue C COM1 For pins 40 47 Note1 1...

Page 127: ...omer for connect to the controller related with emergency stop and parallel input output If it connects with the controller under the condition that the side is grounded it will lead to failure of controller Source 60mA 24 12V Output Output Fuse 24G 12G COM QX41 24G 24V COM External power supply X Y 24V 24V Output Input 3 3K External power supply Input Input QY81P Parallel I O interface Output Mit...

Page 128: ... 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 ...

Page 129: ...f 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 ...

Page 130: ...nual BFP A8634 1 CD ROM Ferrite core E04SR301334 2 Be sure to install this for noise countermeasure Cable clamp AL4 2 AL5 2 On line connector for communication A6CON LJ5P 1 Terminal resistor A6CON TR11N 1 Resistance value 100Ω One touch connector plug for communication A6CON L5P 2 Part name Type Qty Remarks Master station FX3U 16CCL M FX series 1 RJ61BT11 R series QJ61BT11 Q series QJ61BT11N Q ser...

Page 131: ...c setup 1 2 4 8 Maximum link point Remote I O RX RY Each 896 points The two last cannot be used Remote register RWr RWw Each 128 register 16 bits register Extended cyclic setup 1 fold setup 2 fold setup 3 fold setup 4 fold setup Link point per set When one station is occupied Remote I O RX RY 32 point 32 point 64 point 128 point Remote register RWw 4 word 8 word 16 word 32 word Remote register RWr...

Page 132: ...unt the CC Link interface card as it is embedded in the robot controller can only be mounted into slot 2 Easy wiring since only four terminals need to be connected Dedicated commands have been added to MELFA BASIC V VI 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 A transmiss...

Page 133: ...his card is used as an extended memory Insert this card to the slot SD CARD on the front of the controller and store robot programs logging data or other data Configuration Table 3 45 Configuration device Part name Type Qty Remarks SD memory card 2F 2GBSD 1 Memory card capacity 2GB ...

Page 134: ...differ from the maker s standard parts Thus confirm the part name robot arm and controller serial No and purchase the parts from your dealer Table 3 46 Controller 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 1 Filter BKOFA0773H42 1 Inside the filter cover Mitsu...

Page 135: ...ous interpolation operations with a percentage 0 1 unit Ovrd 100 Designate the speed for joint interpolation operation with a per centage 0 1 unit JOvrd 100 Designates the speed for linear and circular interpolation with a numerical value mm s unit Spd 123 5 Designates the acceleration deceleration time as a percentage in respect to the predetermined maximum acceleration deceleration 1 unit Accel ...

Page 136: ...ditions and process Def Act 1 M1 1 GoTo L123 Enables disables the interrupt Act 1 1 Defines the start line of the program to be executed when an inter rupt is generated from the communication line On Com 1 GoSub LABC 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...

Page 137: ...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 vari ables 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 bran...

Page 138: ...t 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 elements set in the order of x y z a b c L1 L2 L1 and L2 are the additional axes AREA1P2 AREA32P2 Designated the 2nd point of the...

Page 139: ...ation No of multi tasks TASKMAX Designate the No of programs to be executed simultaneously Max 32 Multi CPU system setting QMLTCPUN At the multi CPU system set the number of CPU units with which the standard base unit is equipped QMLTCPUn Sets the high speed communication area of each CPU unit in the multi CPU system QMLTCPUS Sets the input offset of each CPU unit in the multi CPU system Select th...

Page 140: ...ocedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to automatic operation and the maintenance and inspection procedures Detailed explanations of functions and operations Explains details on the functions and operations such as each function and operation commands used in the program connection with t...

Page 141: ...om mand value and actual position and 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 Th...

Page 142: ...the redundancy of normally closed contacts for safety Thus if the emergency stop input circuit is opened when the robot is started up the robot will not operate Refer to Page 131 6 1 7 Examples of safety measures for details And refer to Page 82 1 Automatic Operation Jog Operation Brake Release and Necessary Switch Set tings for the function of the door switch input and the mode selector switch in...

Page 143: ...ures so that oper ation can be restarted 3 Take measures with the robot start switch etc to indicate that teaching work is being done 4 Always inspect that stop functions such as the emergency stop device before starting the work 5 Immediately stop the work when trouble occurs and correct the trouble 6 Take measures so that the work supervisor can immediately stop the robot operation when trouble ...

Page 144: ...and parallel input output If it connects with the controller under the condition that the side is grounded it will lead to failure of controller Fig 6 1 Example of safety measures wiring example 1 㻌 㼀㻛㻮㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼎㼡㼠㼠㼛㼚 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼟㼣㼕㼠㼏㼔 㻔㻞㻙㼏㼛㼚㼠㼍㼏㼠㻌㼠㼥㼜㼑㻕 㻼㼑㼞㼕㼜㼔㼑㼞㼍㼘㻌 㼑㼝㼡㼕㼜㼜㼙㼑㼚㼠 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼏㼕㼞㼏㼡㼕㼠 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼜㼛㼣㼑㼞㻌㼟㼡㼜㼜㼘㼥㻌㻞㻠㼂 㻱㼞㼞㼛㼞㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼛㼡㼠㼜㼡㼠 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼟㼑㼘...

Page 145: ...㼥㻌㼟㼠㼛㼜㻌㼟㼣㼕㼠㼏㼔 㻔㻞㻙㼏㼛㼚㼠㼍㼏㼠㻌㼠㼥㼜㼑㻕 㻼㼑㼞㼕㼜㼔㼑㼞㼍㼘㻌 㼑㼝㼡㼕㼜㼜㼙㼑㼚㼠 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼏㼕㼞㼏㼡㼕㼠 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼜㼛㼣㼑㼞㻌㼟㼡㼜㼜㼘㼥㻌㻞㻠㼂 㻱㼞㼞㼛㼞㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼛㼡㼠㼜㼡㼠 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼟㼑㼘㼑㼏㼠㼛㼞㻌 㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 㻿㼍㼒㼑㼠㼥㻌㼒㼑㼚㼏㼑㻌 㼐㼛㼛㼞 㻰㼛㼛㼞㻌㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 Wiring example 2 Connect the emergency stop switch and door switch of peripheral equipment to the controller The power supply for emergency stop input uses the power supply in ...

Page 146: ...㼥㻌㼟㼠㼛㼜㻌㼏㼕㼞㼏㼡㼕㼠 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼜㼛㼣㼑㼞㻌㼟㼡㼜㼜㼘㼥㻌㻞㻠㼂 㻱㼞㼞㼛㼞㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼛㼡㼠㼜㼡㼠 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼟㼑㼘㼑㼏㼠㼛㼞㻌 㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 㻿㼍㼒㼑㼠㼥㻌㼒㼑㼚㼏㼑㻌 㼐㼛㼛㼞 㻰㼛㼛㼞㻌㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 㻹㼛㼚㼕㼠㼛㼞 㼀㻛㻮㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼎㼡㼠㼠㼛㼚 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼑㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼏㼕㼞㼏㼡㼕㼠 㻵㼚㼠㼑㼞㼚㼍㼘㻌㼜㼛㼣㼑㼞㻌㼟㼡㼜㼜㼘㼥㻌㻞㻠㼂 㻱㼞㼞㼛㼞㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼛㼡㼠㼜㼡㼠 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜㻌㼛㼡㼠㼜㼡㼠 㻹㼛㼐㼑㻌㼟㼑㼘㼑㼏㼠㼛㼞㻌 㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 㻰㼛㼛㼞㻌㼟㼣㼕㼠㼏㼔㻌㼕㼚㼜㼡㼠 Wiring example 3 Connect the emergency stop switch of peripher...

Page 147: ...troller s emergency stop button to input safety relay Caution 1 The performance of this product must be compliant with the requirements of ISO 13849 1 Category 4 The product cannot be used in the condition comparable to Category 3 2 Setup a safety relay on the user equipment and when using to input the emergency stop button on the controller please only use a safety relay that functions when conne...

Page 148: ...rent of 24 VDC or higher for a no voltage contact 1 Cable length The length of the wire between the switch and terminal block must be max 15m or less Please use the shield line in case of the cable may receive the noise etc by other equipment such as servo amplifier And if it is necessary please fix a ferrite core recommended model name E04SR301334 manufacturer Seiwa Electric Mfg Co Ltd to the shi...

Page 149: ... installing the robot on a bumpy or inclined floor Where there is heavy powder dust and oil mist present 6 3 Precautions for handling 1 This robot has brakes on J3 axes The precision of the robot may drop looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brakes applied 2 Avoid moving the robot arm by hand When unavoidable gradually move the arm If...

Page 150: ...PS uninterruptible power supply unit to the primary power source in order to reduce interference 14 Do not conduct an insulated voltage test If conducted by mistake it may result in a breakdown 15 When the sequencer system becomes large too much the robot s locus may deteriorate uncommonly If this phenomenon occurs inform to the dealer And when it turns out that the system is enlarged in advance p...

Page 151: ...inertia Iz W 2 Calculation example a b r Hand Workpiece Center of gravity of the hand Center of gravity of the workpiece Total moment of inertia about the J4 axis I 0 0068 0 0012 2 5 x 0 052 1 5 x 0 12 0 030 kg m2 The calculation result 0 030 kg m2 is greater than the allowable inertia rating of 0 01 kg m2 for RH 6FRH However if the center of gravity of the hand is aligned with the axis of rotatio...

Page 152: ...㼏㼑㼟㼟㼕㼚㼓 㻿㼕㼓㼚㼍㼘 㼜㼞㼛㼏㼑㼟㼟㼕㼚㼓 㻯㼡㼞㼞㼑㼚㼠 㼟㼑㼚㼟㼛㼞 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜 㼕㼚㼜㼡㼠 㻱㼙㼑㼞㼓㼑㼚㼏㼥㻌㼟㼠㼛㼜 㼕㼚㼜㼡㼠 㻿㼕㼓㼚㼍㼘 㼜㼞㼛㼏㼑㼟㼟㼕㼚㼓 㻿㼕㼓㼚㼍㼘 㼜㼞㼛㼏㼑㼟㼟㼕㼚㼓 㻯㼛㼚㼠㼞㼛㼘㻌㼎㼘㼛㼏㼗 㻼㼃㻹㻌 㻿㼑㼞㼢㼛㻌㼎㼘㼛㼏㼗 㻼㼃㻹㻌 㻳㼍㼠㼑㻌㼟㼠㼍㼠㼡㼟 㻳㼍㼠㼑㻌㼏㼛㼚㼠㼞㼛㼘 㼟㼕㼓㼚㼍㼘 㻳㼍㼠㼑㻌㼏㼛㼚㼠㼞㼛㼘 㼟㼕㼓㼚㼍㼘 㻵㼚㼢㼑㼞㼠㼑㼞 㻾㼛㼎㼛㼠㻌㼍㼞㼙 㻿㼑㼞㼢㼛㻌㻯㻼㼁㻌㼎㼘㼛㼏㼗 㻿㼍㼒㼑㼠㼥㻌㼒㼡㼚㼏㼠㼕㼛㼚 㼎㼘㼛㼏㼗㻌㻝 㻿㼍㼒㼑㼠㼥㻌㼒㼡㼚㼏㼠㼕㼛㼚 㼎㼘㼛㼏㼗㻌㻞 㻹㼛㼠㼛㼞 㻰㼍㼠㼍㻌㼏㼛㼙㼜㼍㼞㼕㼟㼛㼚 㻱㼚㼏㼛㼐㼑㼞 㼒㼑㼑㼐㼎㼍㼏㼗 㻯㼡㼞㼞㼑㼚㼠 㼒㼑㼑㼐㼎㼍㼏㼗 㻯㼔㼍㼚㼚㼑㼘㻌㻮 㻼㼛㼟㼕㼠㼕㼛㼚㻌㼐㼍㼠㼍 㻱㼚㼏㼛㼐㼑㼞㻌㼒㼑㼑㼐㼎㼍㼏㼗 㻯㼛㼚㼢㼑㼞㼠㼑㼞 㻭㻯㻌...

Page 153: ... teaching pendant R32TB Not provided 7m 15m Highly efficient teaching pendant R56TB Not provided 7m 15m Parallel I O interface 2D TZ368 2D TZ378 Not provided 2D TZ368 Sink type 1pc 2pc 2D TZ378 Source type 1pc 2pc External I O cable For parallel I O interface 2D CBL 2D TZ368 TZ378 Not provided 5m pc 15m pc Parallel I O unit 2A RZ361 2A RZ371 Not provided 2A RZ361 Sink type unit 2A RZ371 Source typ...

Page 154: ...Appendix 141 Specifications discussion material 7Appendix ...

Page 155: ......

Page 156: ...ADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative Mitsubishi Electric Europe B V FA European Business Group Mitsubishi Electric Platz 1 D 40882 Ratingen Germany Tel 49 0 2102 4860 Dec 2018 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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