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Mitsubishi MELFA RV-6S Series, Standard Specifications Manual

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Mitsubishi MELFA RV-6S Series Standard Specifications Manual Download Page 106

3Controller

  Options   3-97     

(12) Instruction Manual(bound edition)

■ Order type ： ● 4S-MAP-102 ： In the case of CR2B-574controller 

● 4S-MAP-105 ： In the case of CR3-535M controller

■ Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this 
product.

■ Configuration

Table 3-45 ： Product configuration 

Part name

 

Type

Specifications

Instruction Manual(CR2B-574 controller version）

4A-MAP-102

Instruction manual set for the CR2B-574 controller

Safety Manual

BFP-A8006

Items relating to safety in handling the robot

Standard Specifications

BFP-A8322

Specification of the robot arm and controller

Robot Arm Setup & Maintenance

BFP-A8323

Installation method of the robot arm, jog operation, and 
maintenance and inspection procedures

Controller Setup, Basic Operation and Maintenance

BFP-A5991

Installation method of the controller, basic operation, and 
maintenance and inspection procedures

Detailed Explanation of Functions and Operations

BFP-A5992

Functions of the controller and T/B, operation method, and 
explanation of MELFA-BASIC Ⅳ

Troubleshooting

BFP-A5993

Causes of errors occurred and their countermeasures

Instruction Manual(CR3-535M controller version）

4A-MAP-105

Instruction manual set for the CR3-535M controller

Safety Manual

BFP-A8006

Items relating to safety in handling the robot

Standard Specifications

BFP-A8322

Specification of the robot arm and controller

Robot Arm Setup & Maintenance

BFP-A8323

Installation method of the robot arm, jog operation, and 
maintenance and inspection procedures

Controller Setup, Basic Operation and Maintenance

BFP-A8324

Installation method of the controller, basic operation, and 
maintenance and inspection procedures

Detailed Explanation of Functions and Operations

BFP-A5992

Functions of the controller and T/B, operation method, and 
explanation of MELFA-BASIC Ⅳ

Troubleshooting

BFP-A5993

Causes of errors occurred and their countermeasures

Additional axis interface

BFP-A8107

Functions and operation method of the additional axis interface.

Summary of Contents for MELFA RV-6S Series

Page 1: ...Mitsubishi Industrial Robot RV 6S Series Standard Specifications Manual CR3 535M CR2B 574 Controller BFP A8322 E...

Page 2: ...onfiguration device No Part name Type Qty Remarks 1 Instruction manual this document BFP A8106 1 2 Tracking Function Manual BFP A8524 1 3 Expansion serial interface card RZ581 1 The show the version o...

Page 3: ...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 o...

Page 4: ...his could lead to mal functioning 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 robo...

Page 5: ...interfere with the peripheral device by drop or move by inertia of the arm Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such...

Page 6: ...004 03 02 BFP A8322 A Error in writing correction 2006 01 16 BFP A8322 B Error in writing correction 2006 06 05 BFP A8322 C Error in writing correction 2006 07 12 BFP A8322 D Error in writing correcti...

Page 7: ...this specification document the specifications related to the robot arm is described 2 Robot arm on page 6 the specifications related to the controller 3 Controller on page 38 and software functions a...

Page 8: ...of the Robot 2 12 2 2 5 Protection specifications and working environment 2 13 1 Types of protection specifications 2 13 2 About the use with the bad environment 2 14 2 2 6 Clean specifications 2 15 1...

Page 9: ...0 11 Additional axis interface 3 92 12 Extension memory cassette 3 94 13 Personal computer support software Personal computer support software mini 3 96 14 Instruction Manual bound edition 3 98 3 9 Ma...

Page 10: ...bolts 5 Safety manual CD ROM Instruction manual 6 Guarantee card 1 1 2 Shipping special specifications Part of the standard structural equipment is changed at the time of factory shipment Consequentl...

Page 11: ...02E 3 set 1S VD03 02 1S VD03 02E 4 set 1S VD04 02 1S VD04 02E Hand curl tube 1 set 1E ST0402C 2 set 1E ST0404C 3 set 1E ST0406C 4 set 1E ST0408C Stopper for changing the operating range of the J1 axis...

Page 12: ...te 2A HR432 PLC Programmable Logic Controller External device Prepared by customer Controller CR2B 574 2 There are some restrictions on the number of optional interfaces and their combinations Refer t...

Page 13: ...ed The cable is connected to the hand output con nector by the customer Hand input cable 1S HC25C 01 One terminal is not treated The cable is connected to the sensor by the cus tomer Hand curl tube 1E...

Page 14: ...tion of Func tions and Operations BFP A5992 Functions of the controller and T B operation method and explanation of MELFA BASIC Troubleshooting BFP A5993 Causes of errors occurred and their counter me...

Page 15: ...en in Page 7 2 2 1 Pose repeatability mm 0 02 Ambient temperature 0 to 40 Mass kg Approx 58 Approx 60 Allowable moment load Wrist twist J4 N m 12 Wrist pitch J5 12 Wrist roll J6 4 5 Allowable inertia...

Page 16: ...urned 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...

Page 17: ...ithin the allowable range mentioned previously an overload or generate an overcurrnt alarm could occur In such cases it will be necessary to change the time setting for acceleration decel eration the...

Page 18: ...d Size Hand Conditions Set up the capacity and size of the hand with the HNDDAT parameter optimum acceleration deceleration setting parameter and set up the capacity and size of the work with the WRKD...

Page 19: ...robot has protection methods that conform to IEC sIP54 for J1 to J3 axis and IP65 for J4 to J6 axis stan dards splashproof type Recommended usage conditions 1 The robot is designed for use in combinat...

Page 20: ...the cus tomer Install the vacuum generating valve downstream of the downflow or install a filter in the exhaust air sec tion so that the exhaust air from the vacuum generating valve does not affect c...

Page 21: ...t Robot arm 2 3 Names of each part of the robot Fig 2 2 Names of each part of the robot J5 axis J6 axis Fore arm Mechanical interface Hand installation flange surface Upper arm J1 axis J3 axis J4 axis...

Page 22: ...Installation 6 3a Installation 31 5 45 20H7 0 021 0 depth 7 5 40 8 0 039 0 depth 6 5 5H7 0 012 0 depth 5 View A Detail of mechanical interface 4 M5 screw depth 9 110 R 2 1 1 51 5 58 5 70 78 84 85 54 6...

Page 23: ...egree when 85 degree J2 110 degree 170 170 170 R258 R 5 2 6 R 2 0 2 R 6 9 6 170 P point path Reverse range alternate long and short dash line P point path Entire range solid line P R611 100 961 280 35...

Page 24: ...anical interface 4 M5 screw depth 9 37 413 165 20 80 32 50 for customer use View C Detail of screw holes for fixing wiring hookup Screw holes for fixing wiring hookup M4 A 85 200 B 80 5 100 380 350 12...

Page 25: ...degree J2 4 degree Note2 J2 1 5 J3 165 degree when J1 70 degree 80 dgree 2 38 degree Note3 J2 3 47 degree when J1 70 degree 2 80 degree Note4 J2 3 2 254 degree when J1 70 degree J2 38 degree Restricti...

Page 26: ...ion Use by connecting it with the hand output signal connector 2 6 quick coupling 5 8 quick coupling Note1 Primary piping pneumatic hose Connector and pneumatic coupling No Name Qty Robot side Robot a...

Page 27: ...cable extends from the connector PCB of the base section to the inside of the forearm AWG 24 0 2mm2 x 2 8 cables The cable terminals have connector bridges for eight hand out puts The connector names...

Page 28: ...R 3 GR 4 24V COM Reserved GR 5 GR 6 GR 7 GR 8 1 2 3 4 5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoid set option valve mounting section 6 quick coupling 6 quick coupling 6 hose 6 hose Prima...

Page 29: ...A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoid set option valve mounting section 6 quick coupling 6 quick coupling 6 hose 6 hose Primary piping pneumatic hoses Driving devices such as solenoid and ha...

Page 30: ...served GR 1 GR 2 GR 3 GR 4 24V COM Reserved GR 5 GR 6 GR 7 GR 8 1 2 3 4 5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 VACUUM R o b o t a r m w i r i n g r e l a y b o a r d R o b o t c o n t r o l...

Page 31: ...GR 1 GR 2 GR 3 GR 4 24GND COM Reserved GR 5 GR 6 GR 7 GR 8 1 2 3 4 5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 VACUUM R o b o t a r m w i r i n g r e l a y b o a r d R o b o t c o n t r o l l e...

Page 32: ...more OFF voltage OFF current 4VDC or less 1mA or less Input resistance Approx 3 3k Response time OFF ON 10ms or less DC24V ON OFF 10ms or less DC24V Item Specification Internal circuit Type Transistor...

Page 33: ...pressure switch to the source of the air as shown in Fig 2 12 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 typ...

Page 34: ...me of shipment from the factory Consequently customer need to confirm the delivery date To make changes to the specifications after shipment service work must be performed at the work site or the robo...

Page 35: ...and the robot arm Configuration Table 2 9 Configuration equipments and types Note Standard 5 m for fixed type is not attached Caution Orders made after purchasing a robot are treated as purchases of o...

Page 36: ...er 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...

Page 37: ...may greatly differ according to the usage state items related to Table 2 11 and to the amount of silicon grease applied in the cable conduit Caution This option can be installed on clean type but its...

Page 38: ...on rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten sion section as shown in Fig 2 13 and fix with the nylon clamp to protect the cable from external stress Ite...

Page 39: ...0 400 300 400 NK 18N NK 14N NK 18N NK 14N When using the CR3 535M controller CR3 535M controller CR2B 574 controller Nylon clamp The fixed cable 7m standard attachment Extended flexible cable option E...

Page 40: ...imit by the mechanical stopper is positioned 1 degrees outward from that angle so take care when designing the layout 2 The changeable angle can be set independently on the side and side 3 The operati...

Page 41: ...2 17 Solenoid specifications Part name Type Q ty Remark One set Two sets Three sets Four sets Solenoid valve set 1 set 1S VD01 02 1S VD01E 02 1 pc M4x8 four screws installation screws 1S VD01 02 VD02...

Page 42: ...Reserve Reserve Reserve GR3 GR4 Black Red Black Red Black Red Black Red SOL3B SOL3A SOL4B SOL4A White A3 GR2 A4 A1 A2 B3 B4 B1 B2 GR5 GR6 24V COM Reserve GR7 GR8 Black Red Black Red Black Red Black Re...

Page 43: ...le 2 18 Configuration equipment Specifications Table 2 19 Specifications Fig 2 15 Outside dimensional drawing and pin assignment Caution This option can be installed on clean type but its cleanliness...

Page 44: ...tions Fig 2 16 Outline dimensional drawing and pin assignment Part name Type Qty Remarks Hand output cable 1S GR35S 01 1 cable For four sets Item Specifications Remarks Size x Cable core AWG 24 0 2mm2...

Page 45: ...rranty Table 2 23 Specifications Fig 2 17 Outline dimensional drawing Caution This option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Remarks Hans curl...

Page 46: ...ard parts Thus confirm the part name robot arm and controller serial No and purchase the parts from the dealer Table 2 24 Consumable part list No Part name Type Note1 Note1 Confirm the robot arm seria...

Page 47: ...neral purpose input output Max 256 256 Additional axis interface 1 0 SSCNET Power source Input voltage range V 3 phase AC180 to 253 1 phase AC180 to 253 Power capacity KVA 2 0 Does not include rush cu...

Page 48: ...ents an iron ball 12 0 0 05mm 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 CR3 535M controller The IEC IP54...

Page 49: ...rvo turns OFF 11 STATUS NUMBER display panel The alarm No program No override value etc are displayed 12 T B connection connector This is a dedicated connector for connecting the T B 13 Personal compu...

Page 50: ...wn below When the mode is changed from TEACH to AUTO 1 While holding down the deadman switch on the T B set the ENABLE DISABLE switch to DISABLE 2 While holding down the deadman switch on the T B set...

Page 51: ...tor for motor signal Connects to the robot arm base CN2 connector 3 External input output signal connector 4 Network cable connector for parallel I O unit expansion 5 Emergency stop switch and door sw...

Page 52: ...3 535M controller 1 External input output signal connector 2 Memory cassette entry 3 Network cable connector for parallel I O unit expansion 4 Emergency stop switch and door switch terminals 5 Magnet...

Page 53: ...utside dimensions Installation dimensions 3Controller 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions Fig 3 4 Outside dimensions of controller CR2B 574 controller CR2B 574 4 M5...

Page 54: ...n dimensions 3 45 Fig 3 5 Outside dimensions of controller CR3 535M controller When specifications with casters Eye bolt 2 M10 550 65 615 45 35 420 15 15 380 3 2 75 550 625 450 50 40 5 79 5 320 440 2...

Page 55: ...imensions Installation dimensions 3Controller Fig 3 6 Outside dimensions of controller Supplement Right side drawing Back drawing Exhaust Suction Exhaust CR3 535M 380 60 140 75 625 CN2 CN1 122 123 70...

Page 56: ...e at the bottom of the controller is occupied and temperature rises in the board and causes the trouble CAUTION CR3 535M SVO OFF STO P END SVO ON MOD E T EAC H AUTO E xt AUTO O p STA RT RES ET DOW N U...

Page 57: ...er supply lead in port 2 Bottom surface input output signal lead in port with sponge 3 Left surface cable outlet 4 Right surface input output signal lead in port no sponge with cabl fixing plate Use 1...

Page 58: ...external devices The hand output is an option Refer to Page 67 2 Pneumatic hand interface for details The parallel input output unit can be expanded outside of the controller The expansion parallel in...

Page 59: ...tion 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 err...

Page 60: ...urpose outputs 910 to 917 Mechanism 3 Outputs the status of general purpose outputs 920 to 927 HNDSTS1 HNDSTS3 None Mechanism 1 hand input signal status Mechanism 3 hand input signal status Mechanism...

Page 61: ...y stop This output indicates that the emergency stop is being input 24V STOP SWITCH 6 EXTEMG1 Relay GND 24G EXTEMG2 5 4 3 2 1 6 5 4 3 2 1 EMG DOOR 24V Relay GND 24G RA RA EXTEMG1 Wire insert Wire fixi...

Page 62: ...r side Emergency stop input Door switch input Short piece 1 Short piece 2 Emergency stop output Note1 System emergency stop line Prepared by cusotmer Wire fixing screw Wire insert Maker Phoenix Contac...

Page 63: ...unction according to the robot status are shown below During automatic operation When the door is opened the servo turns OFF and the robot stops An error occurs The process of the restoration Close th...

Page 64: ...connection with improved safety in Mitsubishi s industrial robot systems connecting addi tional axes Please implement the appropriate circuit connection by refere to Page 56 3 8 Magnet contactor cont...

Page 65: ...gnet contactor control output CR3 535M controller NV MC MC AXMC1 NV 1 2 88 1 Get the power supply for the controller from the secondary erminal of short circuit breaker NV built in the addition axis a...

Page 66: ...of the AXMC1 connector CR2B 574 controller Fig 3 16 Arrangement figure of the AXMC1 connector CR3 535M controller Connector type Plug side user FRONT MSTB2 5 2 STF 5 08 Socket side controller DFK MSTB...

Page 67: ...input points 32 Insulation method Photo coupler insulation Rated input voltage 12VDC 24VDC Rated input current Approx 3mA approx 7mA Working voltage range 10 2VDC to 26 4VDC ripple rate within 5 ON vo...

Page 68: ...ode and a phototransistor sensor away from each other it is recommended to verify the current that can be carried in the design stage The output circuit protective fuses prevent failure in case of loa...

Page 69: ...r supply 24 VDC must be prepared by the customer Sink type 60mA 24 12V Output Fuse 0V COM AX41C Mitsubishi programmable controller AY51C Mitsubishi programmable controller 24V 24V COM X Y 24V Input Pa...

Page 70: ...eneral purpose input 6 46 Orange Blue E General purpose input 14 22 Gray Red E General purpose input 7 47 Gray Blue E General purpose input 15 23 White Red E Reserved 48 White Blue E Reserved 24 Yello...

Page 71: ...ontrol unit connection and pin layout CR3 535M controller Fig 3 20 Parallel input output unit in the control unit connection and pin layout CR2B 574 controller 50 1 25 26 CN100 CN300 Input 16 to 31 Ou...

Page 72: ...user needs User installation is required for the options Options come in two types set options and single options 1 Set options A combination of single options and parts that together form a set for...

Page 73: ...his is defined as an enable device These standards specify that the robot operation using the teaching pendant is enabled only when the enable device is at a specified position With the Mitsubishi Ele...

Page 74: ...strap Enable Disable switch Emergency stop switch Cable with connection connector Contrast adjusting switch Dead man switch Side Back Front 55 153 203 Display LCD R28TB DISABLE EMG STOP TOOL STEP MOV...

Page 75: ...h the jog operation key This also turns the Servo ON and carries out step jump 8 FORWD key This carries out step feed and increases the override 9 BACKWD key This carries out step return return along...

Page 76: ...ations Part name Type Qty Remarks Pneumatic hand interface 2A RZ365 2A RZ375 1pc Output 8 points expansion 2A RZ365 is the sink type 2A RZ375 is the source type Item Specification Internal circuit Typ...

Page 77: ...327 card in the controller Securely insert the pneumatic hand interface 2A RZ365 375 into the CNHNDOUT CNHND connector on the control unit Fig 3 23 Installation of pneumatic hand interface CR3 535M co...

Page 78: ...3Controller Options 3 69 Fig 3 24 Installation of pneumatic hand interface CR2B 574 controller A RZ326A 327 card Pneumatic hand interface View A RZ326A 327 CNHNDOUT CNHNDOUT CNHND CNHND 2A RZ365 375...

Page 79: ...e 58 3 9 Parallel input output unit for details Table 3 15 Electrical specifications of input circuits Part name Type Qty Remarks Parallel I O unit 2A RZ361 2A RZ371 1 pc Input output 32 points 32 poi...

Page 80: ...ation method Photo coupler 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...

Page 81: ...n No RIO1 2 100 TXRXH TXRXL 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...

Page 82: ...ontroller Terminator is connected at the time of shipment Fig 3 26 Installing the parallel input output unit CR3 535M controller Control panel installation dimensions 60 54 6 Radiation wiring space 15...

Page 83: ...controller Control panel installation dimensions 60 54 6 Radiation wiring space 150 6 156 2 screw 6 168 Heat radiation space 128 175 100 upside Wiring space 40 downside 2A RZ361 2A RZ371 Installation...

Page 84: ...le DCcable 2 cable RIO2 connector DCIN connector Front FG FG I O unit the bottom Connecta layout Note Note RIO1 connector RIO2 connector Parallel I O unit 1 6 Parallel I O unit 7 Connect the NET cable...

Page 85: ...llel I O unit 7 Station No setting 1 6 NETcable 1 cable Note RIO2 connector RIO2 connector RIO1 connector R TM terminator Station No setting 7 I O unit the bottom Connecta layout DCIN connector Connec...

Page 86: ...rpose input 39 47 Gray Blue E General purpose input 47 23 White Red E Reserved 48 White Blue E Reserved 24 Yellow Red E Reserved 49 Yellow Blue E Reserved 25 Pink Red E Reserved 50 Pink Blue E Reserve...

Page 87: ...No of 8 to F is used for the maker test If any value of 8 to F is set it may be dangerous since the robot unexpectedly moves Don t set any value of 8 to F 50 26 25 1 Channel No setting TXD LED display...

Page 88: ...rpose input 71 47 Gray Blue E General purpose input 79 23 White Red E Reserved 48 White Blue E Reserved 24 Yellow Red E Reserved 49 Yellow Blue E Reserved 25 Pink Red E Reserved 50 Pink Blue E Reserve...

Page 89: ...Signal Assignment Unit No Station number setting CN100 CN300 1st unit 1 Input 32 47 Output 32 47 Input 48 63 Output 48 63 2nd unit 2 Input 64 79 Output 64 79 Input 80 95 Output 80 95 3rd unit 3 Input...

Page 90: ...rnal I O cable 2A CBL 1pc 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...

Page 91: ...ype 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...

Page 92: ...33 Personal computer cabe connection Fig 3 34 Personal computer cabe connector Part name Type Qty Remarks Personal computer cable for PC AT RS MAXY CBL 1pc 3m D SUB 9 pinNote1 Note1 The personal compu...

Page 93: ...r one board Communication cable used when the length of the standard RS 232C cable is too short or when RS 422 communication is implemented RS 232C or RS 422 From 1 cable Item Specifications Remarks M...

Page 94: ...and a personal computer using the MELFA BASIC IV language OPEN PRINT INPUT instruction Data can be exchanged one to one by specifying the COM number at the communication open destination Pin assignme...

Page 95: ...nfiguration Part name Type Qty Remarks CC Link interface 2A HR575 E 1 Instruction Manual BFP A8105 1 Ferrite core E04SR301334 2 Be sure to install this for noise countermeasure Part name Type Qty Rema...

Page 96: ...n Bit data and word data can be transmitted Word data are used by the registers Station type Intelligent device station Note1 Note1 The CC Link interface supports neither the transient transmission fu...

Page 97: ...of the robot controller Be cautious about safety and response performance in this case Part name Type Qty Remarks Ethernet interface 2A HR533 E 1 Instruction Manual BFP A8108 1 Ferrite core E04SR30133...

Page 98: ...rol function The real time external control function loads the position command data and performs operation in control cycle units of the robot The joint orthogonality and motor pulse can be specified...

Page 99: ...later MR J2S B ABS must be designated Mitsubishi Electric Part name Type Qty Remarks Additional interface 2A RZ541 E 1 Instruction Manual BFP A8107 1 Ferrite core E04SR301334 2 Be sure to install thi...

Page 100: ...EMASTER command method User created mechanisms can only be controlled using the MELFA BASIC IV language Item Specifications Specification of user mechanism Number of controllable robots mechanisms 3 N...

Page 101: ...emoved the contents of memory can be retained for approximately one hour Not covered by the warrantee Part name Type Qty Remarks Extension memory cassette 2A HR432 1 27 900 total teaching points With...

Page 102: ...te Be careful not to over tighten the screws as it may deform the memory cassette 6 Turn on the controller power Error C 0023 will occur when using the software version J1 edition Press the reset butt...

Page 103: ...tighten the fixing screws Note Be careful not to over tighten the screws as it may deform the memory cassette 11 Turn on the control power Error C 0023 will occur when using the software version J1 ed...

Page 104: ...ging the program With the simulation function support the program can be debugged and the tact checked before starting the machine at the site This allows the on site startup work efficiently to be gr...

Page 105: ...e change protect Debugging func tions Direct editing of program in controller Confirmation of robot program operation step execution direct exe cution Tact time measurementNote2 Note2 When using the p...

Page 106: ...iled Explanation of Functions and Operations BFP A5992 Functions of the controller and T B operation method and explanation of MELFA BASIC Troubleshooting BFP A5993 Causes of errors occurred and their...

Page 107: ...Contloller consumable parts 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 Qty Usage place Manufactu...

Page 108: ...ation of the position element data Conditional branching SELECT CASE More than one condition branch ON GOSUB Condition branch by the value WHILE WEND Repeat with condition Optimum acceleration deceler...

Page 109: ...atic adjustment of the accelera tion deceleration LOADSET 1 1 Operation Adds a process unconditionally to the operation WTH Adds a process conditionally to the operation WTHIF Designates smooth operat...

Page 110: ...gnated hand HCLOSE 1 Input output Assignment Defines the input output variables DEF IO PORT1 BIT 0 Input Retrieves the general purpose input signal M1 M_IN 1 Output Calls out the general purpose outpu...

Page 111: ...alid 2 invalid 1 1 0 User defined area An area cube defined with two XYZ coordinate points can be designated and that area set as the outside operation range Furthermore a signal can be output when th...

Page 112: ...2 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 De...

Page 113: ...ity More the caution seals that stuck on the robot arm and the controller are made based on the language of the order specification Use it carefully when selecting the other language LCD Table 4 3 Tab...

Page 114: ...robot are also explained Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explain...

Page 115: ...ifications functions and operations of the ETHERNET interface optional Explains the specifications functions and operations of the additional axis interface optional Explains the specifications functi...

Page 116: ...an error occurs in the CPU The drive circuit is shut off The robot stops and an alarm displays 7 Overrun prevention function Software limit detection This is the limit provided by the software to ena...

Page 117: ...or more years 6 1 4 Safety measures for automatic operation 1 Install safety fences so that operators will not enter the operation area during operation and indicate that automatic operation is in pro...

Page 118: ...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 Cable length The length...

Page 119: ...prior notice for modification purposes The emergency stop circuit in the robot is a duplex type to ensure safety Thus if a 1b contact type is used faults such as fusing in the emergency stop circuit...

Page 120: ...an excessive regeneration error may occur 2 Noise Where a surge voltage exceeding 1000V 1 s may be applied on the primary voltage Near large inverters high output frequency oscillator large contactors...

Page 121: ...operated with a heavy load and at a high speed the surface of the robot arm gets very hot It would not result in burns however it may cause secondary accidents if touched carelessly 12 Do not shut do...

Page 122: ...axis side 135 90 45 J1 axis side 135 90 45 Solenoid valve set 1S VD0 02 1S VD0 E 02 1 set 2 set 3 set 4 set Hand input cable 1S HC25C 01 Not provided Provided Hand output cable 1S GR35S 01 Not provide...

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Page 129: ...in Japan on recycled paper Specifications are subject to change 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 N...

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