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4Software

List of commands 4-90

4 Software
4.1 List of commands

The available new functions in MELFA-BASIC V are given in

[Note] About the restricted function

This robot is special specification. Some functions are restricted and cannot be used. The restricted func

-

tions are shown below.

･ Compliance control (Cmp Jnt, Cmp Pos, Cmp Tool, Cmp Off, CmpG)
･ High accuracy mode control (Prec)
･ Collision detection function (ColChk, ColLvl)

Table 4-1 ： List of MELFA-BASIC V commands

Type

Class

Function

Input format (example)

Position and operation control

Joint interpolation

Moves to the designated position with joint interpolation.

Mov P1

Linear interpolation

Moves to the designated position with linear interpolation.

Mvs P1

Circular interpolation

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

Mvc P1,P2,P1

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

Mvr P1,P2,P3

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

-

tion.

Mvr2 P1,P9,P3

Moves along a set arc (start point → end point) with 3-dimensional cir

-

cular interpolation.

Mvr3 P1,P9,P3

Speed designation

Designates the speed for various interpolation operations with a per

-

centage (0.1% unit).

Ovrd 100

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

JOvrd 100

Designates the speed for linear and circular interpolation with a numeri

-

cal 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 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 operation.

Wthif

Designates smooth operation.

Cnt 1,100,200

Designates the positioning completion conditions with a No. of pulses.

Fine 200

Designates the positioning completion conditions with a joint interpola

-

tion.

Fine 0.5, J, 2

Designates the positioning completion conditions with a distance in a
straight line

Fine 1, P

Turns the servo power ON/OFF for all axes.

Servo OFF

Limits the operation of each axis so that the designated torque is not
exceeded.

Torq 4,10

Position control

Designates the base conversion data.

Base P1

Designates the tool conversion data.

Tool P1

Pallet

Defines the pallet.

Def Plt 1,P1,P2,P3,P4,5,3,1

Operates the pallet grid point position.

Plt 1,M1

Singular point pas

-

sage

Move to a specified position using linear interpolation passing through a
singular point.

Mvs P1 TYPE 0,2

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Содержание CR1DA-7A1-S15

Страница 1: ...Mitsubishi Industrial Robot CR1DA 7A1 S15 Controller RP 1ADH 3ADH 5ADH S15 Series Standard Specifications Manual BFP A8921 B ...

Страница 2: ......

Страница 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...

Страница 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...

Страница 5: ...conformity temperature or noise exists in the equipments connected to USB RS 232 or LAN 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 automation equipment cannot be performed To maintain the...

Страница 6: ...about the connection of the emergency stop was added The cover and corporate logo mark of this manual was changed 2018 10 15 BFP A8921 B Environmental conditions of electromagnetic noise was modified Referenced Standard Requirement of Chinese standardized law was added Description of countermeasures against unauthorized access was added ...

Страница 7: ...expansion 2 17 2 5 2 Pneumatic piping in robot 2 18 2 5 3 Wiring of pneumatic hand output cable in robot 2 18 2 5 4 Wiring of hand check input cable in robot 2 18 2 5 5 Wiring and piping system diagram for hand 2 19 2 5 6 Electrical specifications of hand input output 2 20 2 5 7 Air supply circuit example for the hand 2 21 2 6 Shipping special specifications options and maintenance parts 2 22 2 6 ...

Страница 8: ...ble 3 81 8 CC Link interface 3 82 9 Extension memory cassette 3 85 10 RT ToolBox2 RT ToolBox2 mini 3 86 11 Instruction Manual bound edition 3 88 3 10 Maintenance parts 3 89 4 Software 4 90 4 1 List of commands 4 90 4 2 List of parameters 4 93 5 Instruction Manual 5 95 5 1 The details of each instruction manuals 5 95 6 Safety 6 96 6 1 Safety 6 96 6 1 1 Self diagnosis stop functions 6 96 6 1 2 Exter...

Страница 9: ...ed the specification of the following types robot RP 1ADH S15 RP 3ADH S15 RP 5ADH S15 Note About the restricted function This robot is special specification Some functions are restricted and cannot be used The restricted functions are shown below Compliance control Cmp Jnt Cmp Pos Cmp Tool Cmp Off CmpG High accuracy mode control Prec Collision detection function ColChk ColLvl No part of this manua...

Страница 10: ...n manual 7 Guarantee card 1 1 2 Special specifications For the special specifications some standard configuration equipment 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 1 1 4 Maintenance parts Materials and parts for the maintenance use 1 2 Inst...

Страница 11: ...arm Connector box Machine cable fixed type 5m 1A 5CBL 1 Machine cable extension For fixing 1A CBL 1 For flexed 1A LCBL 1 Note refer the length Refer to section Page 4 Table 1 1 for details Hand Prepared by customer Hand input cable 1A HC200 RP Solenoid valve set four sets 1A VD04 RP Sink type 1A VD04E RP Source type Caution Standard configuration Special shipping Option equipment specifications Pr...

Страница 12: ...J01 PE01 CC Link interface 2D TZ576 Extension memory cassette 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...

Страница 13: ... external input and output Interface Install to the slot of controller 2D TZ378 DO 32 point Source type DI 32 point Source type Insulated type output signal 100mA point External I O cable For Parallel I O Inter face 2D CBL05 5m Use to connect the external peripheral device to the parallel input output inter face 2D CBL15 15m Parallel I O Unit 2A RZ361 DO 32 point Sink type DI 32 point Sink type Th...

Страница 14: ... with conformity temperature or noise exists in the equipments connected to USB RS 232 or LAN 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 automation equipment cannot be performed Name Type...

Страница 15: ... 7 2 2 Definition of specifications for detail kg 1 0 3 0 5 0 Rated load kg 0 5 1 0 2 0 Arm length No 1 Arm mm 100 140 200 No 2 Arm 140 200 260 Motion range Width x depth mm 150 x 105 A6 size 210 x 148 A5 size 297 x 210 A4 size Vertical mm 30 50 Rotation Degree 200 Maximum velocity J1 J2 Degree s 480 432 J3 mm s 800 960 J4 Degree s 3000 1330 1230 Tolerable wrist moment of inertia kg m2 3 10 x 10 4...

Страница 16: ...r is 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...

Страница 17: ... will be 50 as shown in Fig 2 1 Thus the acceleration deceleration percentage is set as 50 in the program Program example 1 Accel 50 50 2 Mov P1 Write the target work program after this Details on the Accel command are given in section 4 14 Explanation of command words in the separate man ual Detailed explanations of functions and operations When using the optimum acceleration deceleration functio...

Страница 18: ...2 9 Names of each part of the robot ２ Robot arm 2 3 Names of each part of the robot Fig 2 2 Names of each part of the robot ...

Страница 19: ...M4 screw depth 6 Installation screw for tooling support etc R 3 0 5 R30 5 56 28 56 140 R 3 0 5 2 4 5 56 56 6 1 28 32 80 Installation reference 38 100 56 133 150 162 2000 120 140 180 24 2 224 9 155 165 31 95 85 177 24 31 Z stroke 30 21 30 A B 8 230 180 77 6 Min 35 φ8 φ18 5 5 5 5 View from A L cut Ｍ６ screw Connector box 48 76 Pin hole φ4H7 drill 2 places View from B Note Note Install the connector b...

Страница 20: ...2 11 Outside dimensions Operating range diagram ２ Robot arm Fig 2 4 Operating range diagram RP 1ADH 24 38 100 105 140 233 9 100 150 160 R236 5 R 1 4 0 R140 110 110 95 Z stroke 30 ...

Страница 21: ...g machine etc Installation reference 110 6 M4 screw depth 8 for tooling installation 4 φ9 installation hole 4 φ5 hole installation hole 2 M4 screw depth 6 Installation screw for tooling support etc 200 Installation reference 50 Z stroke 50 Min 35 Connector box Note Note View from B View from A L cut 200 Installation screw for tooling support etc Pin hole φ6H7 drill 2 places 13 5 13 5 The dimension...

Страница 22: ...2 13 Outside dimensions Operating range diagram ２ Robot arm Fig 2 6 Operating range diagram RP 3ADH R335 R 2 0 0 R200 140 105 50 130 332 148 20 110 210 160 200 Z stroke 50 ...

Страница 23: ... 8 Ｂ A 261 118 103 5 50 40 267 280 42 42 100 62 5 24 2 φ11 Hole 5 5 5 2 M4 screw depth 6 Reverse side Mounting place for tooling machine etc Installation reference 110 2 M4 screw depth 6 Installation screw for tooling support etc 200 Installation reference 50 Z stroke 50 Min 35 Connector box Note Note View from B View from A L cut Installation screw for tooling support etc 13 5 13 5 The dimensions...

Страница 24: ...2 15 Outside dimensions Operating range diagram ２ Robot arm Fig 2 8 Operating range diagram RP 5ADH R453 2 R260 R 2 6 0 450 9 210 297 190 170 105 110 50 160 260 Z stroke 50 ...

Страница 25: ...er Secondary piping pneumatic hoseφ4 2 8 Prepared by customer Hand output cable Enclosed with solenoid valve set Hand input cable Note Sink type and Source type are common Sink type Source type 1 GR1 2 GR2 3 GR3 4 GR4 5 GR5 6 GR6 7 GR7 8 GR8 9 24G When using the hand output signal it is necessary to use the optional pneumatic hand interface 2A RZ365 2A RZ375 3 Hand input output signal connector fo...

Страница 26: ...Hand input signal connector white Connector name HC Hand input signal connector layout specifications HC 1 HC1 2 HC2 3 HC3 4 HC4 5 HC5 6 HC6 7 HC7 8 HC8 9 24V 10 0V COM Sink type and Source type are common 2 Hand input signal connector form Note Parts indicated with an are options Refer to the Page 63 3 Parallel I O interface for the electrical specifications of input output signal Hand Input Outp...

Страница 27: ...bot arm 2 5 3 Wiring of pneumatic hand output cable in robot 1 The pneumatic hand output cable can be used by installing the optional pneumatic hand interface on the controller 2 The hand output cable is wired from the connector PCB in the connector box to the top of the arm The end is bridged to the connector Connector name GR 2 5 4 Wiring of hand check input cable in robot 1 The hand check input...

Страница 28: ...able 1 A HC200 RP General purpose input 900 General purpose input 901 General purpose input 902 General purpose input 903 General purpose input 904 General purpose input 905 General purpose input 906 General purpose input 907 24V 0V COM Hand prepared by customer Robot controller Wiring relay boad of the robot arm White Black White Black White Black White Black White GR 1 GR 2 GR 3 GR 4 GR 5 GR 6 G...

Страница 29: ...A or more OFF voltage OFF current 4VDC or less 1mA or less Input resistance Approx 3 3kΩ Response time OFF ON 10ms or less DC24V ON OFF 10ms or less DC24V 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 ...

Страница 30: ... 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 4 If the air supply temperature primary piping used for the tool etc is lower than ambient air temperature the dew condensa...

Страница 31: ...changed before shipping 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 Speci...

Страница 32: ...Caution The warranty life may greatly differ according to the usage state items related to Table 2 6 and to the amount of silicon grease applied in the cable conduit Part name Type Note1 Note1 The numbers in the boxes refer the length Qty Mass kg Note2 Note2 Mass indicates one set Remarks Fixed Flexed Fixed Set of signal and power cables 1A CBL 1 1 set 7 0 10m 10 0 15m 10m or 15m each Motor signal...

Страница 33: ... to this table when selecting the cable bare Table 2 7 Cable configuration Note The square in the cable name indicates the cable length Item Motor signal cable 1E LCBL S N Motor power cable 1A LCBL P 1 No of cores AWG 24 0 2mm2 4P AWG 18 0 75mm2 AWG 18 0 75mm2 3C Finish dimensions Approx φ7mm Approx φ1 7mm Approx φ6 5mm No of cables used 6 cables 1 cable 10 cables ...

Страница 34: ...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 ...

Страница 35: ...ications Table 2 9 Valve specifications Table 2 10 Solenoid specifications Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Sink Source Solenoid valve set 4 sets 1A VD04 RP 1pc 0 2 Solenoid valve installation screw M4 x 10 4 screw 1A VD04E RP 1pc 0 2 Item Specifications Number of positions 2 Port 5 Valve function Double solenoid Operating fluid Clean air Operating method Pilot...

Страница 36: ... GR3 GR4 GR5 GR6 GR7 24G 1 2 3 4 5 6 7 8 9 GR Source type Black Red Black Red Black Red Black Red Black Red Black Red Black Red 35 6 10 3 6 5 3 10 11 28 24 30 82 3 2 GR 48 8 56 56 8 95 1 13 SOL4B SOL1B SOL3B SOL2B SOL2A SOL4A SOL1A SOL3A 12 2 1 4 4 φ4 5 Hole 14 38 50 60 85 45 or less 20 or less Part no Part name 4 sets Specification 1 Solenoid valve ４ 2 Manifold block １ 3 Quick coupling ８ φ4 4 Blo...

Страница 37: ...omer A flexible cable is used Configuration Table 2 11 Configuration equipment Specifications Table 2 12 Specifications Fig 2 14 Outline and pin assignment Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand input cable 1A HC200 RP 1 cable 0 1 Item Specification Remarks Cable core AWG 24 0 2mm2 x 2 core x 5 sets One side connector and one side cable connection Total length 2...

Страница 38: ...le 2 13 Configuration equipment Specifications Table 2 14 Specifications Fig 2 15 Outline and pin assignment Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand output cable 1A GR200 RP 1 cable 0 1 Item Specification Remarks Cable core AWG 24 0 2mm2 x 2core x 5 sets One side connector and one side cable connection Total length 2000mm SMR 09V B Black Japan sdderless yerminal ...

Страница 39: ...tion about parts to be replaced and timing of overhaul contact your local service representative Fig 2 16 Periodic inspection overhaul periods 2 9 Maintenance parts The consumable parts used in the robot arm are shown in Table 2 15 Purchase these parts from the designated maker or dealer when required Some Mitsubishi designated parts differ from the maker s standard parts Thus confirm the part nam...

Страница 40: ...r Ethernet port 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 Option slot slot 1 Additional axis interface Channel 1 SSCNET Ⅲ Serial encoder interface Channel 1 For encoder cable connection Power source Input voltage range V 1 phase AC180 to 253 Note4 Note4 Please use the controller with an i...

Страница 41: ... solid and 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 10...

Страница 42: ... stop switch This stops the robot 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...

Страница 43: ...ng the personal computer Terminal cover CR1DA 700 series The terminal which connects the primary power cable Filter intake vent The intake vent of the recirculating air for internal cooling Note 1 The operation lock of the power switch The power switch has the operation lock function It is the mechanism in which the mistaken power supply ON is prevented with the padlock etc at the time of the main...

Страница 44: ...adlock 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 completion 2 The release method power supply ON 1 Remo...

Страница 45: ...rface 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 the Ethern...

Страница 46: ...bot 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 The installation conditions of the ferrite core and the line noise filter Outside dimension of the line noise filter ...

Страница 47: ...3 Controller Outside dimensions Installation dimensions 3 38 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions Fig 3 5 Outside dimensions of controller ...

Страница 48: ... Installation dimensions 3 Controller 3 3 2 Installation dimensions Fig 3 6 Installation of controller 170mm以上 20mm 50mm 吸気口 170mm or more Intake vent The connector of machine cable connection has some from which form differs ...

Страница 49: ...ble lead in and dimension The controller has the openings parts for pulling out the cable as shown in Fig 3 7 Fig 3 7 Cable lead in and dimension of the controller Input power supply lead in 15x22 The connector of machine cable connection has some from which form differs ...

Страница 50: ...is an option The Page 61 2 Pneu matic hand interface is required 4 Emergency stop Door switch input The wiring for the safe security of the emergency stop etc is shown in on Page 44 3 6 Emergency stop input and output etc and on Page 99 6 1 7 Examples of safety measures For Reference Linking our GOT1000 Series GT15 display equipment to the robot controller over the Ethernet permits you to control ...

Страница 51: ...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...

Страница 52: ... 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...

Страница 53: ...alls the ferrite core Install the ferrite core in less than 30cm from the contact button You should always connect doubly connection of the emergency stop the door switch and the enabling switch Connect with both of side A and side B of the controller rear connector In connection of only one side if the relay of customer use should break down it may not function correctly Please be sure to check t...

Страница 54: ...function only on AND conditions Two or more emergency stop switch status are all ON Fig 3 8 emergency stop cable connection CAUTION 300mm以内 EMGINコネクタフェライトコア付属品２回通し Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 9 within 300mm Ferrite core attachments Pass twice The connector of machine cable connec tion has some from which form differs ...

Страница 55: ... Add axis contacts 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 Customer Short Short Short Short External emergency input prepar...

Страница 56: ...own in Page 48 Fig 3 10 Connection of the special stop input Table 3 4 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...

Страница 57: ... 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 Special stop connector Minus driver plug area Electric wire plug area AWG 24 18 The connector of machine cable connection has some from which form differs ...

Страница 58: ...ot s servo power can be immediately cut only by switch operation of the enabling device 1 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...

Страница 59: ... Note2 Note2 Jog operation if door switch input is set for Close Door Close must be performed outside the safety bar rier Manual Enable ON Open OFF Close Door Close If the enabling device input is set to Open Off door switch input must be in a state of Close 3 Brake release Note3 Note3 It is imperative that brake release operation be carried out by two persons One person turns on the enabling devi...

Страница 60: ... for additional axes AXMC1 is designed to accommodate circuit connection with improved safety in Mitsubishi s industrial robot systems connecting addi tional axes Please be sure to install the noise filter in the power supply line of addition axis servo amplifier and to use the robot safely The example of the installation of the noise filter is shown in Page 53 1 Example of the installation of the...

Страница 61: ...nector Magnetic contact EMGOUT Servo amplifier It cannot communicate if connection of CN1A and CN1B is mistaken Cap CN1A connector CN1A connector CN1B connector SSCNETⅢcable CN1B connector OPT Servo amplifier SSCNETⅢcable The connector of machine cable connection has some from which form differs ...

Страница 62: ... Controller 1 Example of the installation of the noise filter 1 EMC filter recommended Please install the recommendation filter shown below according to the example of connection Fig 3 14 Example of EMC noise filter installation 1 2 ...

Страница 63: ...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 15 Example of noise filter installation ...

Страница 64: ... Additional 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 8...

Страница 65: ... 2A 1A 6B 5B 4B 3B 2B 1B Type 1 1871940 6 Minus driver plug area AWG 24 18 0 2 0 75mm2 Electric wire plug area Internal circuit EMGOUT1 EMGOUT2 Custmer Controller 6A 5A 6B 5B EMGOUT Contactor control output for addition axes AXMC1 Contactor control output for addition axes AXMC1 The connector of machine cable connection has some from which form differs ...

Страница 66: ...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 ...

Страница 67: ...es 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 input of...

Страница 68: ...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 ...

Страница 69: ...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...

Страница 70: ... 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...

Страница 71: ...rely Refer to separate Instruction Manual Controller setup basic operation and maintenance for details on the installing method Fig 3 20 Installation of the pneumatic hand interface CNHNDOUT CNHND Pneumatic hand interface CNHND CNHNDOUT Pneumatic hand interface 2A RZ365 Hand interface relay card 2D TZ315 M4x2 Hand interface relay card 2A RZ365 2A RZ375 The connector of machine cable con nection ha...

Страница 72: ... 11 Configuration device Specifications 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 Source type Number of input point...

Страница 73: ...A 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 current 0 1A point 100 Leakage current at OFF 0 1mA or less M...

Страница 74: ...llel input and output interface installed in SLOT1 and signal number allocation are shown in Table 3 15 and Table 3 16 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 SLOT1 コントローラ背面 Controller rear The connector of ma...

Страница 75: ... 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 outpu...

Страница 76: ...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...

Страница 77: ...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...

Страница 78: ...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...

Страница 79: ...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 co...

Страница 80: ...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...

Страница 81: ...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...

Страница 82: ...r Terminator is connected at the time of shipment Fig 3 25 Installing the parallel I O unit 60 54 6 Radiation wiring space 150 6 156 2 Ｍ５ screw 6 168 Heat radiation space 128 175 100 Wiring space 40 2A RZ361 Installation dimensions of 2A RZ361 6 downside upside Control panel installation dimensions RIOコネクタコントローラ背面 The controller outside installation Controller rear RIO The connector of machine ca...

Страница 83: ...easure against noise Always connect the shield to FG Install the attached ferrite core in both ends The unit could malfunction because of noise if the shield cable is not used Controller rear RIO Parallel I O unit 1 6 Parallel I O unit 7 Note NETcable 1 cable RIO1 connector RIO1 connector RIO2 connector RIO1 connector RIO2 connector Note NETcable 1 cable DCcable 2 cable DCcable 2 cable RIO2 connec...

Страница 84: ... 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...

Страница 85: ...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...

Страница 86: ... 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...

Страница 87: ...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...

Страница 88: ...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...

Страница 89: ... 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...

Страница 90: ...onal computer cable 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...

Страница 91: ...arks CC Link 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 QJ61BT11N Q series AJ61QBT11 QnA series A1SJ61QBT11 QnAS series AJ61BT11 A series A1SJ61BT11 AnS series A80BD J61BT11 personal computer board Co...

Страница 92: ... 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 ...

Страница 93: ... 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 ...

Страница 94: ... 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 ...

Страница 95: ...tly improved with the multi window method that carries out multiple steps and dis plays in parallel The renumbering function and copy search syntax check and step execution are especially sufficient and are extremely useful when editing or debugging the program With the simulation function support the program can be debugged and the tact checked before starting the machine at the site This allows ...

Страница 96: ...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...

Страница 97: ...tallation 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 A8586 Functions of the controller and T B operation method and explanation of MELFA BASIC V Troublesho...

Страница 98: ...ard parts Thus confirm the part name robot arm and controller serial No and purchase the parts from your dealer Table 3 42 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 Lithium battery Q6BAT 1 Front operation panel Mitsubishi Electric Sys tem Servic...

Страница 99: ...entage 0 1 unit Ovrd 100 Designate the speed for joint interpolation operation with a percentage 0 1 unit JOvrd 100 Designates the speed for linear and circular interpolation with a numeri cal 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 50 80 Automatically adjusts the accelera...

Страница 100: ... 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 designated value Wait M_In 1 1 Stop Stops the program execution Hlt Genera...

Страница 101: ...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...

Страница 102: ...oints 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 eig...

Страница 103: ...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...

Страница 104: ...onfirmation 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 functions and operations such as each function and operation com mands...

Страница 105: ...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...

Страница 106: ...ations 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 are...

Страница 107: ...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...

Страница 108: ...ｰﾌﾞﾘﾝｸﾞﾃﾞﾊﾞｲｽ Caution Since we have omitted the information in part because of explanation there is the section different from the product Also refer to Page 46 Fig 3 9 External emergency stop connection Wiring example 1 Connect the emergency stop switch of peripheral equipment to the robot controller The power supply for emergency stop input uses the power supply in the robot controller Operatio...

Страница 109: ...cuited 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...

Страница 110: ...er 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 49 3 6 4 Enabling device function for the enabling device Caution Since we have omitted the information in p...

Страница 111: ...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...

Страница 112: ...he output of the emergency stop button please keep the polarity shown in the wiring example Connect the side 24VDC of the customer system to 2A 2B pin connect the emergency stop button or contact of the customer system etc to 3A 3B pin and connect with side 0V finally 3 When installing the safety relay in the customer s system and using the emergency stop button to input to the robot controller pl...

Страница 113: ... 2 contact type 1 Switch contact capacity Use a contact that operates with a switch contact capacity of approx 1mA to 100mA 24V 1 If you connect the relay etc rated current of the coil should use the relay which is 100mA 24V or less Refer to Fig 6 6 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 ...

Страница 114: ...and side B of the controller rear connector In connection of only one side if the relay of customer use should break down it may not function correctly Be sufficiently careful and wiring so that two or more emergency stop switches work independently Don t function only on AND conditions Two or more emergency stop switch status are all ON OP 非常停止非常停止検出リレー 24V DC TB 非常停止 OP 非常停止検出 TB 非常停止検出外部非...

Страница 115: ...ecautions for handling 1 This robot 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 2 Avoid moving the robot arm by hand When unavoidable gradually move the arm If moved suddenly the accu racy may drop due to an excessive backlash or the backed up data may be destroyed 3 T...

Страница 116: ...nutely or not moves Fretting is that the required oil film becomes hard to be formed if the moving angle is small and wear occurs The axis which not moved is moving slightly by vibration etc To make no fretting recommends to move these axes about once every day the 30 degree or more or the 30mm or more 14 The United Nations Recommendations on the Transport of Dangerous Goods must be observed for t...

Страница 117: ...t 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 interface 2D TZ368 2D TZ378 Not provided 2D TZ368 Sink 1pc 2pc 3pc 2D TZ378 Source 1pc 2pc 3pc External I O cable 2D CBL For 2D TZ368 TZ378 Not provided 5m pc 15m 1 pc Parallel I O unit 2A RZ361 2A RZ371 Not provided Sink type 2A RZ361 unit Source type 2A R...

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Страница 144: ...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 Oct 2018 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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