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2-16

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

J3 axis

J5 axis

J2 axis

Base

J1 axis

J6 axis

J4 axis

Wrist

Elbow

Mechanical interface
(Hand installariton flange surface)

Upper arm

(No.1 arm)

For arm

(No.2 arm)

Содержание CR800-D Series

Страница 1: ...Mitsubishi Electric Industrial Robot CR800 D Controller RV 8CRL Standard Specifications Manual BFP A3678 C ...

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: ...t the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults Securely install the hand and tool and securely grasp the workpiece Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation Securely ground the robot and controller Failure to observe this ...

Страница 5: ...ay be damaged Do not connect the Handy GOT when using the GOT direct connection function of this product Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically 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 ampli...

Страница 6: ...g unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected 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 automation equipment ...

Страница 7: ...nnect one end of the grounding cable to the PE protective 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 current 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 re...

Страница 8: ...SF002 01 is now available Deleted cycle time information Added 6 4 EMC installation guideline Added the model name of the sensor attachment adapter used for the force sen sor set 4F FS002H W1000 Revised 2 2 6 Protection specifications Amended the following Fig 3 28 Specifications for the connection cable 4 MELSOFT RT ToolBox3 MELSOFT RT ToolBox3 mini MELSOFT RT Tool Box3 Pro Added a figure to 2 1 ...

Страница 9: ...rior consent from Mitsubishi The contents of this manual are subject to change without notice The specifications values are based on Mitsubishi standard testing methods The information contained in this document has been written to be accurate as much as possible Please interpret that items not described in this document cannot be performed or alarm may occur Please contact your nearest dealer if ...

Страница 10: ...Speed and Acceleration Deceleration Speed 2 13 1 Setting Load Capacity and Size Hand Conditions 2 13 2 2 4 Vibrations at the Tip of the Arm during Low Speed Operation of the Robot 2 13 2 2 5 Collision detection 2 13 2 2 6 Protection specifications 2 14 1 Types of protection specifications 2 14 2 About the use with the bad environment 2 15 2 3 Names of each part of the robot 2 16 2 4 Outside dimens...

Страница 11: ...FT RT ToolBox3 MELSOFT RT ToolBox3 mini MELSOFT RT ToolBox3 Pro 3 65 5 Instruction Manual bookbinding 3 67 6 Parallel I O interface 3 68 7 External I O cable 3 73 8 Parallel I O unit 3 75 9 External I O cable 3 84 10 CC Link interface 3 86 11 SD memory card 3 89 3 10 Maintenance parts 3 90 4 Software 4 91 4 1 List of commands 4 91 4 2 List of parameters 4 94 5 Instruction Manual 5 96 5 1 The detai...

Страница 12: ...ures 6 108 7Appendix Appendix 109 Appendix 1 Inertia calculation method Appendix 109 1 Load moment calculation example for J5 axis with flange facing downwards Appendix 109 2 Load inertia calculation example for J6 axis Appendix 109 Appendix 2 Classification of functions using external input output signals Appendix 110 Appendix 3 Safety diagnosis function Test pulse diagnosis Appendix 111 Appendix...

Страница 13: ... 4 Robot arm installation bolts 5 CD ROM Instruction manual 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 The customer needs to arrange for the inst...

Страница 14: ... the controller type D Stand alone type f Sxx Indicates a special model In order limit special specification S15 The parallel I O interface installed on the controller is source type 2D TZ378 It was originally sink type 2D TZ368 1 2 2 Combination of the robot arm and the controller Table 1 1 Combination of the robot arm and the controller Robot arm Controller Type name Protection specification Arm...

Страница 15: ...uipment 6 axis vertical multi joint robot RV 8CRL Refer to Page 9 2 1 Standard specifications for details on the specifications Machine cable Fixed type 5m Caution Standard configuration Option equipment Machine cable replaceable type Fixed type 1F UCBL 43 Flexed type 1F LUCBL 43 Note 1 refer the length Refer to Table 1 2 for details Note 2 Replace the enclosed stan dard cable with this cable ...

Страница 16: ...XP Windows Vista Windows 7 Windows 8 Windows 8 1 Windows 10 Personal computer Prepared by customer Refer to Table 1 5 for USB cable Instruction Manual bookbinding 5F BR01 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 CVD External I O cable 2D CBL05 5m 2D CBL15 15m Parallel I...

Страница 17: ...ion device These devices option are used to extend the function of the robot Fig 1 3 Function extension device MELFA 3D Vision 4F 3DVS2 PKG3 Force sensor set 4F FS002H W200 4F FS002H W1000 Note 1 Note 1 Use the sensor attachment adapter 1F FSFLGSET 01 ...

Страница 18: ...he robot controller from the factory The 2D TZ378 source type is installed in the S15 with special specifications External I O cable For Parallel I O Interface 2D CBL05 5m Use to connect the external peripheral device to the parallel input output interface 2D CBL15 15m Parallel I O Unit 2A RZ361 Sink type 2A RZ371 Source type DO 32 point DI 32 point Insulated type output signal 0 1A 24V point Insu...

Страница 19: ... function RT ToolBox3 mini 3F 15C WINE DVD ROM Windows XP Windows Vista Windows 7 Windows 8 Windows 8 1 Windows 10 Supporting English RT ToolBox3 Pro 3F 16D WINE DVD ROM Windows XP Windows Vista Windows 7 Windows 8 Windows 8 1 Windows 10 Supporting English Instruction Manual 5F BR01 PE01 RV 8CRL Note1 option Item Type name Specifications Classification Note1 Note1 option Remarks Force sensor set 4...

Страница 20: ...cted 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 automation equipment cannot be performed Fig 1 4 USB cable GT09 C30USB 5P Fig 1 5 USB cable MR J3USBCBL3M Name Type name Supplier Ou...

Страница 21: ...t roll J6 360 Speed of motion Waist J1 Degree s 288 Shoulder J2 321 Elbow J3 360 Wrist twist J4 337 Wrist pitch J5 450 Wrist roll J6 720 Maximum reach radius P point mm 931 Maximum resultant velocity Note2 Note2 This is the value on the mechanical interface surface when all axes are combined mm sec 10 500 Load Rating kg 7 Maximum Note3 Note3 Allowable load when the mechanical interface faces downw...

Страница 22: ...overload level described in Chapter 5 Functions set with parameters of separate instruction manual Detailed explanations of functions and operations for details Note6 The protection specification details are given in Page 14 2 2 6 Protection specifications Note7 The protection performance may not be ensured depending on the oil characteristics Please consult the dealer Note8 If the controller is u...

Страница 23: ...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...

Страница 24: ...viously an overload or generate an overcurrnt alarm could occur In such cases it will be necessary to change the time setting for accel eration deceleration the operating speed and 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 driv...

Страница 25: ...to each other These vibrations at the tip of the arm can be reduced by taking the following measures 1 Lower the robot s operating speed by approximately 5 from high speed using the Ovrd command 2 Change and move the teaching points of the robot 3 Change the hand mass and hand inertia 2 2 5 Collision detection This series have the collision detection function which detects the abnormalities by the...

Страница 26: ...at is not harmfully affected when 12 5 5 liters of water is supplied from a test device at a position approx 3m away in various directions and a water pressure of 30kPa at the nozzle section The water is filled one minute per 1m2 of test device surface area for a total of three minutes The IEC IP67 Protection against water infiltration as specified in IP67 indicates a protective structure that is ...

Страница 27: ... evaluation or where the robot body may be directly splashed with water oil or dust in quantities larger than stated in the protection specification 3 Take measures so that the robot will not be exposed to water oil and or chips for a long period of time Also entrained water droplets lead to the formation of rust on the robot but would not usually affect the robot s ability to operate normally The...

Страница 28: ...Robot arm 2 3 Names of each part of the robot Fig 2 2 Names of each part of the robot J3 axis J5 axis J2 axis Base J1 axis J6 axis J4 axis Wrist Elbow Mechanical interface Hand installariton flange surface Upper arm No 1 arm For arm No 2 arm ...

Страница 29: ... 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 20 View A Detail of mechanical interface φ40h8 depth 6 P C D φ31 5 φ20H7 depth 6 45 φ5H7 depth 8 4 M5 screw depth 8 1 A 160 97 160 80 80 80 80 97 97 Rz25 4 φ9 installation hole 190 Installation surface Rz25 Installation surface R 1 5 0 View B Detail of installa...

Страница 30: ...nge diagram Rev 930 5 930 5 1320 5 244 4 634 4 930 5 85 470 390 450 100 R930 5 1 1 0 1 1 0 Control point R point P point path P point Upper view P point path P point Operating range for each axis J1 170 J2 110 J3 0 to 165 J4 200 J5 120 J6 360 R930 5 R 2 1 9 3 170 170 Side view Flange downward limit line R258 2 The area which P point cannot be moved 370 200 300 175 175 R230 The area which P point c...

Страница 31: ...chine cables Note When using machine cables replaceable type refer to Page 25 1 Machine cable replaceable Fixed type for the cable diameter Approx φ17 90mm Approx 73 A p p r o x 4 5 Approx φ82 Approx 113 Controller side Rorbot arm side Approx 73 Mass 3 1kg Minimum bending radius 90mm Cable ...

Страница 32: ...4 40 DDK Enclosed No IP rating assigned Dsub Dsub AWG 24 0 2mm2 15 cores Connector for tool wiring φ6 one touch pneumatic coupling x 2 φ6 hose 2 Wiring and piping system White Black Green Red Brown Yellow Orange Blue Purple Gray Pink Light Blue Black Yellow Black White Black Blue 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 1 2 Fore arm Base 1 φ6 pneumatic coupling N...

Страница 33: ...rt of the forearm The hose end section has four coupling bridges for a φ6 hose on both the base and forearm side 2 5 3 Internal wiring for the hand cable The cables for the hand run from the base to the top part of the forearm AWG 24 0 2 mm2 x 15 cores The cable ends in connectors as a bridge of data Allowable current 1A Allowable voltage 24V ...

Страница 34: ...e customer is required to provide tooling wiring piping and metal fixtures Screw holes are provided on the robot arm for the installation of tooling wiring piping and metal fixtures Refer to the Page 17 2 4 Outside dimension Operating range diagram The length of wiring and piping and the installation position on the robot must be adjusted according to the work to be done by the robot Please use th...

Страница 35: ...2 Robot arm 2 23 Fig 2 7 Location of screw holes for fixing wiring piping 450 25 30 30 40 50 25 31 30 30 151 Rev 193 30 2x3 M4 depth 8 2 M4 depth 8 2x2 M4 depth 8 2x2 M4 depth 8 2 M4 depth 8 ...

Страница 36: ...ptions 2 Robot arm 2 6 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 ...

Страница 37: ...ed one 5 m to extend the distance between the controller and the robot Configuration Table 2 5 Configuration equipment and types Part name Type Note1 Note1 The numbers in the boxes refer the length Qty Mass kg Note2 Note2 Mass indicates one set Remarks Fixed type machine cable replaceable 1F UCBL 43 1 cable 5 4 10m 7 8 15m 10 1 20m 10m 15m or 20m each Instruction Manual cable replacement guide lin...

Страница 38: ... of silicon grease applied in the cableveyor Recommendation grease G 501 Supplier Shin Etsu Chemical Co Ltd 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 the boxes refer the length Qty Mass kg Note2 Note2 ...

Страница 39: ...CE and connect 2 Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and extension section as shown below and fix with the nylon clamp to protect the cable from external stress Fig 2 8 Fixing the flexible cable 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 Ap...

Страница 40: ...rried 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 depend ing 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...

Страница 41: ...OT ARM SETUP MAINTENANCE for details of the maintenance and inspection The consumable parts used in the robot arm are shown in Table 2 9 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 name robot arm and controller serial No and purchase the parts from the dealer Table 2 9 Consumabl...

Страница 42: ...t 1 dual line Additional axis synchroniza tion output 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 Remote input output Channel 1 Compatible with Ver 1 0 2 0 USB port 1 Ver 2 0 HighSpeed device functions only USB mini B Ethernet port 1 For customer 1000BASE T 100BASE T...

Страница 43: ...s key The mode can be changed by other means than the selector switch For example the user can use a mode change program In the program provide a means to lock the selected mode with a password Note6 Two connectors for 2D TZ368 2D TZ378 are attached FCN 360 BKO C11465H01 Note7 The power capacity is the recommended value The power capacity does not include the rush current when the power is turned ...

Страница 44: ...eing pressed with the power of 3 1 kg 10 from going through the opening in the outer sheath of the supplied equipment 2 Operating supply The 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 custo...

Страница 45: ...unding M4 screw x 2 3 CN1 cable Machine cable connector 4 5 CNUSR connector Robot I O cable connectors 4 CNUSR11 5 CNUSR12 6 TB connector Dedicated connector for connecting T B Number of phase ACIN cable Single phase Terminal M5 cable length 3m Air intake for fan Controller front Controller rear Air exhaust Air exhaust 1 2 3 6 5 NO USE 4 7 8 9 10 11 12 13 14 15 16 17 19 18 20 21 㻸㻌㻔㻮㼘㼍㼏㼗㻕㻺㻌㻔㼃㼔㼕㼠㼑...

Страница 46: ... The 2D TZ378 source type is installed in the S15 with special specifications 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 When using n...

Страница 47: ...ler Outside dimensions Installation dimensions 3 35 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions Fig 3 2 Outside dimensions of controller 430 30 30 3 5 370 99 5 96 425 340 45 䠄40䠅䠄45䠅 ...

Страница 48: ... 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 And don...

Страница 49: ...s Installation dimensions 3 37 Fig 3 4 Reference figure of the fixing metal plate for vertical installation 14 120 120 120 360 400 420 120 21 7 12 1 51 6 5 42 64 68 40 40 148 4 φ10 hole 4 φ6 5 hole 4 φ4 5 hole 4 C3 10 20 t2 10 14 10 ...

Страница 50: ...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 42 3 6 Emergency stop input and output etc and on Page 100 6 1 7 Examples of safety measures For Reference Linking our GOT2000 Series display equipment to the robot controller over the...

Страница 51: ...eter change of the signal number is possible Notes Specification 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 re...

Страница 52: ... ERROUT Error No output request Requests the error No output E Error No output signal Outputs that the error No is being output to the numeric value output signal JOGENA Jog valid input signal Validates jog operation with the external signals E Jog valid output signal 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...

Страница 53: ...ted area 32 points Outputs that the robot is in the user designated area Note1 The level indicates the signal level L Level signal The designated 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 t...

Страница 54: ... for the information on 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 c...

Страница 55: ...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 additional axis synchronization output are dual contacts synchronizes You should connect surely by dual line with the customer s equipment as well as connection of the emergency stop and the door swi...

Страница 56: ...ode selector switch input Door switch input Mode output 24V 24V 24V 24V 24V 24V 24V 24V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V 3 3V Robot error output Mode selector switch input 1 The terminal can be used only for the external emergency stop input to the robot controller Please do not carry out an insulation pressure test Moreover it becomes the cause of failure if it connects inco...

Страница 57: ...r 9 18 1 10 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...

Страница 58: ...in 5 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 2kΩ 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 CNUSR12 connector Note In the customer s system do not ground the side of 24V power supply prepared by ...

Страница 59: ...vo turns 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 9 Door switch function 3 6 4 Mode selector switch function The mode selector switch switches the mode of the ...

Страница 60: ...le 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 2 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...

Страница 61: ...Instruction Manual for details on the additional axis function 3 7 1 Wiring of the Additional Axis Interface Table 3 7 shows the connectors for additional axes inside the controller Fig 3 11 shows a connection example configuration example Table 3 7 Dedicated connectors inside the controller Fig 3 11 Example of addition axis connection Name Connector name Details Connector for additional axes AXIS...

Страница 62: ...ectric 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 6...

Страница 63: ... in suppressing high frequency leakage current zero phase current especially within 0 5MHz to 5MHz band Fig 3 13 Example of noise filter installation MCCB EMC filter Surge protector Power supply 1 1 2 3 2 3 4 L1 L2 L3 L11 L21 5 6 E MC Servo amplifier 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 12...

Страница 64: ...rcuit for additional axis synchronization output Note For the input output cable CNUSR connector cable that connects customer s system and the controller prevent ground faults from occurring at the side of the 24V power supply prepared by customer A ground fault may lead to a failure of the protection device in the controller Bending or frictional forces may be applied to the input output cable re...

Страница 65: ...nization output 3 53 2 Image of how to connect the controller connector Fig 3 15 AXMC terminal connector CNUSR11 connector Refer to Page 45 Fig 3 7 Wiring method to the user wiring connector for more details about how to wire a connector ...

Страница 66: ...3 54 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 ...

Страница 67: ... 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 display other than robot ope...

Страница 68: ... 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 ...

Страница 69: ...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 enable switch 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 displa...

Страница 70: ... 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 secured as the servo...

Страница 71: ...VO 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 override up or down 14 HA...

Страница 72: ...ly connection terminal block M4 Part name Type Qty Mass Kg Note1 Note1 Mass indicates one set Remarks Controller protection box CR800 MB 1 21 Label for serial number 1 Transparent seal 1 Cable tie T50L 4 Screw for fixing of the controller mounting plate M4x8 4 Instruction Manual BFP A3501 1 Item Unit Specifications Remarks Outside dimension mm 500 W 725 D 250 H Protrusions such as rubber legs are ...

Страница 73: ... dimension Fig 3 19 Outside dimension Controller setting position Cable cover Cable cover 500 10 10 85 325 85 495 250 䠄25䠅 725 102 5 520 102 5 45 160 45 100 520 100 Rubber foot fixation screw for placing vertically Four places ...

Страница 74: ... attachment Transparent seal attachment T B junction cable Heat exchanger AC fan Controller mounting plate Machine cable CN1 Power supply cable Grounding cable customer preparation Power supply relay terminal M4 screw FG terminal M4 screw ACIN cable supplied with controller External emergency stop wiring customer preparation Front side Side view ...

Страница 75: ...controller protection box shown in the figure differs from the actual layout Relay terminal block M4 screw ACIN cable supplied with controller Controller Machine cable CN1 External emergency stip wiring customer preparation Heat exchanger AC fan FG terminal M4 screw Controller protection box Power supply cable Grounding cable customer preparation ...

Страница 76: ...ler Installation dimensions Fig 3 22 Installation dimensions Horizontal installation Vertical installation 150mm or more 30mm or more 150mm or more 30mm or more 150mm or more 150mm or more 150mm or more 150mm or more ...

Страница 77: ...mproved with the multi window method that carries out multiple steps and displays 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 of MELSOFT RT ToolBox3 the program can be debugged and the tact checked before starting the machine at the ...

Страница 78: ...ersion batch editing Position variable template Print print preview Control functions Program file control list copy movement delete content comparison name change protect Debugging functions Direct editing of program in controller Confirmation of robot program operation step execution direct execution Simulation function Off line simulation of robot program operation using CG computer graphics Ta...

Страница 79: ...intenance and inspection procedures Controller Setup Basic Operation and Maintenance 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 c...

Страница 80: ...ion device Specifications Table 3 20 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 input points 32 Insulation me...

Страница 81: ... the station number of the parallel input and output interface Fig 3 23 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 to 30V peak voltage DC30V Max load current 0 1A point 100 Leakage current...

Страница 82: ... interface installed in SLOT1 and signal number allocation are shown in Table 3 23 and Table 3 24 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 Output 48 to 63 1...

Страница 83: ...neral 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 output 0 Operati...

Страница 84: ...nect 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 Mitsubishi prog...

Страница 85: ... 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 Orange Black...

Страница 86: ...or pin numbers and cable colors when making the connections Fig 3 27 Connections and outside dimensions Eg Pin number color indication 1 Orange Red a Type of dot mark see figure below Color of dot mark 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 FCN 360C040 B ...

Страница 87: ...t stations can be connected to this unit one station occupies one unit The combined use with another optional parallel I O interface 2D TZ368 2D TZ378 is possible but the maximum number of stations is eight in total In this case set any of station numbers carefully so that they do not duplicate 2 The power supply 24V must be prepared by the customer and connected with the power connection cable DC...

Страница 88: ... time OFF ON 10ms or less 24VDC ON OFF 10ms or less 24VDC Common method 8 points per common External cable connection method Connector Item Specification Internal circuit Type Transistor output Sink type Source type No of output points 32 Insulation 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 1...

Страница 89: ...e the twisted shield cable of AWG 22 0 3mm2 or more NET cable 1 Network cable Connector J21DF 06V KX L Connected the frame ground or protect ground Connector 1 178288 3 Connector 2 178288 3 Pin No 1 2 3 RIO1 2 TXRXH TXRXL SG GND RIO TXRXDH TXRXDL SG GND FG Pin No 1A 1B 2B 3A DCcable 2 Power cable Pin No 1 2 3 RIO1 2 24V 24G RG FG PE 24V Power R TM Terminator Pin No 1 2 3 RIO1 2 TXRXH TXRXL SG GND ...

Страница 90: ... controller Fig 3 29 Installing the parallel I O unit 6 0 5 4 6 放熱配線余裕 150 6 156 2 Ｍ５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 installation...

Страница 91: ...tor RIO2 connector Note NETcable 1 cable DCIN connector DCcable 2 cable DCcable 2 cable DCIN connector RIO2 connector DCIN connector R TM terminator I O unit the bottom 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 a...

Страница 92: ...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 176 to 191...

Страница 93: ...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 Note2 15 Pink Re...

Страница 94: ...B General 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 4...

Страница 95: ...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 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 Mitsubishi programmabl...

Страница 96: ...marks 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 42 Gray B...

Страница 97: ...t 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 type of the plug sh...

Страница 98: ...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 series AJ61Q...

Страница 99: ... 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 4 word 8...

Страница 100: ... 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 transmission speed ...

Страница 101: ...e This card is used as an extended memory To save logging data insert an SD card into the SD card slot on the front of the robot controller Configuration Table 3 40 Configuration device Part name Type Qty Remarks SD memory card 2F 2GBSD 1 Memory card capacity 2GB ...

Страница 102: ...iffer from the maker s standard parts Thus con firm the part name robot arm and controller serial No and purchase the parts from your dealer Table 3 41 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...

Страница 103: ...ious 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 deceler ation 1 unit Acce...

Страница 104: ...nditions 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 interrupt 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...

Страница 105: ...int 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 bran...

Страница 106: ...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...

Страница 107: ...TERM232 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 function of singular point adjacent alarm MESNGLS W Designate the valid invalid of the singular point adjacent alarm Invalid Valid 0 1 When this ...

Страница 108: ...ntenance and inspection procedures Controller setup basic operation and maintenance Explains the procedures 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 function...

Страница 109: ...m 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 function Activates when an error occurs in the CPU The ...

Страница 110: ... switch input are provided with 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 100 6 1 7 Examples of safety mea sures for details And refer to Page 48 1 Automatic Operation Jog Operation Brake Release and Necessary Switch Set tings for the function of the door switch inpu...

Страница 111: ...ures so that operation 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 o...

Страница 112: ...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 Fig 6 1 Example of safety measures wiring example 1 T B emergency stop button Emergency stop switch 2 contact type Peripheral equippment Internal emergency stop circuit Internal power supply 24V Error output Mode output Emergency stop outpu...

Страница 113: ...ch 2 contact type Peripheral equippment Internal emergency stop circuit Internal power supply 24V Error output Mode output Emergency stop output Mode selector switch input Safety fence door Door switch input 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 the controller M...

Страница 114: ...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...

Страница 115: ... 㻗㻟㻚㻟㼂㻗㻟㻚㻟㼂 Wiring example 4 Connect the controller to the safety relay Use the controller s emergency stop button to input safety relay Caution 1 Setup a safety relay on the user equipment and when using to input the emergency stop button on the control ler please only use a safety relay that functions when connecting the input to the one end of the 2 systems i e QS90SR2SP Manufacture Mitsubishi...

Страница 116: ...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 rec ommended model name E04SR301334 manufacturer Seiwa Electric Mfg Co Ltd to the sh...

Страница 117: ...r magnetic fields are generated Where the installation surface is rough Avoid 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 The robot has brakes If the robot is moved with an excessive external force while the brake is applied the robot accuracy may decrease a backlash may occur or the reduction gear may be da...

Страница 118: ...nput power supply is shut down by a power failure for instance When a break is applied the arm may deviate from the operation path predetermined by automatic operation and as a result it may interfere with the mechani cal stopper depending on the operation at shutdown In such a case take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference bet...

Страница 119: ...t the power source wire and signal wire are separated 4 Use the shield cable for the cable which wired outside of the metal board 5 Install the noise filter To suppress the noise emitted out of the board be careful of the following item 6 Ensure grounding of the equipment 7 Use the shield cable 8 Separate the metal board electrically Narrows the distance hole The strength of electromagnetic noise ...

Страница 120: ...line noise filter to AC input line Type SUP EL20 ER 6 Maker OKAYA ELECTRIC INDUSTRIES CO LTD 31 7 29 4 RFC H13 41 0 44 5 48 2 GTFC 41 27 16 19 6 Maker SEIWA ELECTRIC MFG CO Ltd Type Outside dimension mm Applicable cable diameter max mm A B C D E04SR401938 61 38 19 40 φ19 0 E04SR301334 39 34 13 30 φ13 0 Maker KITAGAWA INDUSTRIES CO LTD Type Applicable cable diameter mm RFC 20 Max φ20 GTFC 41 27 16 ...

Страница 121: ...of the hand L1 m Workpiece mass W2 kg Center of gravity of the workpiece L2 m The load moment applied to the J5 axis is calculated as follows Where g is gravitational acceleration m s2 Load moment about the J5 axis M Nm W1 L1 g W2 L2 g Check that the value of M is equal to or less than the allowable load moment of the target model Note When the robot changes its posture significantly in a directio...

Страница 122: ...ake the STO function meet the requirements of Category 4 Performance Level e change the parameter setting by referring to Page 111 Appendix 3 Safety diagnosis function Test pulse diagnosis Mode selector switch input Switches the controller mode between MANUAL and AUTOMATIC Door switch input Receives the status of the switch installed on the door of the safety fence to detect the opening of the doo...

Страница 123: ...ines When using this function connect emergency stop switches by seeing Fig 7 2 Make sure to prevent test pulses of this function from causing faulty operation of peripheral devices Fig 7 1 Test pulse diagnosis Table 7 2 Parameter details Fig 7 2 How to wire emergency stop lines Item Description Parameter name TPOEMG Function This enables configuring the pulse output function for outputting test p...

Страница 124: ...rocessing Signal processing Current sensor Emergency stop input Emergency stop input Signal processing Signal processing Control block PWM Servo block PWM Gate status Gate control signal Gate control signal Inverter Robot arm Servo CPU block Safety function block 1 Safety function block 2 Motor Data comparison Encoder feedback Current feedback Channel B Position data Encoder feedback Converter AC ...

Страница 125: ...CC Link interface 2D TZ576 Not provided Provided EtherNet IP interface 2D TZ535 Not provided Provided PROFINET interface 2D TZ535 PN Not provided Provided CC Link IE Field interface 2F DQ535 Not provided Provided EtherCAT interface 2F DQ535 EC Not provided Provided SD memory card 2F 2GBSD Not provided Provided Safety option 4F SF002 01 Not provided Provided Controller protection box CR800 MB Not p...

Страница 126: ...Appendix 114 Specifications discussion material 7 Appendix ...

Страница 127: ......

Страница 128: ...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 Jan 2020 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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