Mitsubishi Electric MELFA RV-6SD Series Скачать руководство пользователя страница 1

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Mitsubishi Industrial Robot

RV-6SD/6SDL Series

Standard Specifications Manual

(CR2DA-700 series/CR3D-711M Controller)

BFP-A8654-Y

Содержание MELFA RV-6SD Series

Страница 1: ...Mitsubishi Industrial Robot RV 6SD 6SDL Series Standard Specifications Manual CR2DA 700 series CR3D 711M Controller BFP A8654 Y ...

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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: ...r is turned off while in automatic operation or rewriting the program or parameters the internal information of the robot controller may be damaged 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 RS 232 or LAN When using netwo...

Страница 6: ... Manual The English expression was corrected Safety Precautions 1 1 2 Special specifications Table 1 3 The list of Option equipment and special specification Caution of USB devices 2 6 1 Shipping special specifications 6 1 7 Examples of safety measures Parameter AREA CS was added 2009 09 10 BFP A8654 G The examples of safety measures Wiring example 3 5 were corrected 2009 10 26 BFP A8654 H The fig...

Страница 7: ...corrected Assignment of the dedicated signal was added 2012 01 26 BFP A8654 X The EC Declaration of Conformity were changed 2012 07 11 BFP A8654 Y QJ61BT11N Q series was added to the master station of the CC Link interface The Emergency stop output in the controller standard specification table was deleted Overlapped with Robot error output The Table 3 3 Emergency stop Door switch input in 3 4 Ext...

Страница 8: ... 113 4 Software separately This document has indicated the specification of the following types robot RV 6SD RV 6SDC RV 6SDL RV 6SDLC About KC mark specifications This robot acquires certification of KC mark by the special specification S19 The external form of controller which have KC mark specification is same as the controller which described as CE Marking specification Refer to the place descr...

Страница 9: ... Arm during Low Speed Operation of the Robot 2 11 2 2 5 Protection specifications 2 12 1 Types of protection specifications 2 12 2 About the use with the bad environment 2 13 2 2 6 Clean specifications 2 14 1 Types of clean specifications 2 14 2 3 Names of each part of the robot 2 15 2 4 Outside dimensions Operating range diagram 2 16 1 RV 6SD 6SDC 2 16 2 RV 6SDL 6SDLC 2 18 2 5 Tooling 2 20 2 5 1 ...

Страница 10: ... 7 1 Wiring of the Additional Axis Interface 3 69 3 8 Magnet contactor control connector output AXMC for addition axes 3 73 3 9 Options 3 76 1 Teaching pendant T B 3 77 2 Pneumatic hand interface 3 80 3 Parallel I O interface 3 83 4 External I O cable 3 89 5 Parallel I O unit 3 91 6 External I O cable 3 102 7 Personal computer cable 3 104 8 CC Link interface 3 105 9 Extension memory cassette 3 108...

Страница 11: ...e 1 External emergency stop connection supplementary explanation 6 127 6 2 Working environment 6 128 6 3 Precautions for handling 6 128 7Appendix Appendix 130 Appendix 1 Specifications discussion material Appendix 130 ...

Страница 12: ...4 Robot arm installation bolts 5 Safety manual Instruction manual CD ROM Instruction manual 6 Guarantee card 1 1 2 Special specifications For the special specifications some standard configuration equipments and specifications have to be changed before factory shipping Confirm the delivery date and specify the special specifications at the order 1 1 3 Options User can install options after their d...

Страница 13: ...table is the CE Marking specification Table 1 2 Robot models with CE marking specifications 1 4 Indirect export The display in English is available by setting parameter LNG as ENG 1 5 Instruction manuals The instruction manuals supplied in CD ROM except for the Safety Manual This CD ROM electronic manual includes instruction manuals in both Japanese and English versions Protection specification Ro...

Страница 14: ...D01 02 1S VD01E 02 2 set 1S VD02 02 1S VD02E 02 3 set 1S VD03 02 1S VD03E 02 4 set 1S VD04 02 1S VD04E 02 Hand curl tube 1 set 1E ST0402C 2 set 1E ST0404C 3 set 1E ST0406C 4 set 1E ST0408C Stopper for changing the operating range of the J1 axis Stopper part 1S DH 02 Installed by customer Caution Standard configuration Special specifications Option equipment Prepared by customer Pneumatic hand cust...

Страница 15: ... RT Tool Box2 mini MS Windows2000 XP Vista 3D 12C WINJ CD ROM Extension memory cassette 2D TZ454 PLC Programmable Logic Controller External device Prepared by customer Standard configuration Special specifications Options Prepared by customer Caution equipment The photograph is the image figure Controller CR2DA 700 series 1 Instruction Manual printed 5S DB00 PE01 CC Link interface 2D TZ576 1 SM sp...

Страница 16: ...able length 15m Highly efficient teaching pendant R56TB Cable length 7m R56TB 15 Cable length 15m Pneumatic hand interface 2A RZ365 DO 8 point Sink type It is necessary when the hand output signal of the robot arm is used 2A RZ375 DO 8 point Source type Parallel I O Interface 2D TZ368 DO 32 point Sink type DI 32 point Sink type Insulated type output signal 100mA point The card type external input ...

Страница 17: ...easures 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 Note2 This option only applies to the CR2DA 700 series controller Note3 One 2D TZ378 Source type is installed for CE Marking specific...

Страница 18: ...e mechanical interface posture facing down word at the 10 limit kg N 6 58 8 Rating 5 49 0 Pose repeatability Note4 Note4 The pose repeatability details are given in Page 9 2 2 1 Pose repeatability mm 0 02 Ambient temperature 0 to 40 Mass kg Approx 58 Approx 60 Allowable moment load Wrist twist J4 N m 12 Wrist pitch J5 12 Wrist roll J6 4 5 Allowable inertia Wrist twist J4 kg m2 0 29 Wrist pitch J5 ...

Страница 19: ...counter force applied to the installation surface for the strength design of the robot installation surface is shown Table 2 2 Value of each counter force Item Unit Value Falls moment ML N m ８９２ Torsion moment MT N m ８９２ Horizontal translation force FH N ８００ Vertical translation force FV N １４００ ...

Страница 20: ...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 21: ...e mentioned previously an overload or generate an overcurrnt alarm could occur In such cases it will be necessary to change the time setting for acceleration deceler ation the operating speed and the motion posture Caution The overhang amount of the load for the specified moment and inertia in this section is the dynamic limit value determined by the motor driving each axis and by the capacity of ...

Страница 22: ...onditions Set up the capacity and size of the hand with the HNDDAT parameter optimum acceleration deceleration setting parameter and set up the capacity and size of the work with the WRKDAT parameter Numbers 0 to 8 can be used for the asterisk part Designate the HNDDAT and WRKDAT parameters to be used using the LOADSET command in a program For more details refer to the separate Instruction Manual ...

Страница 23: ...fied in IP65 indicates a protective structure that is not harmfully affected when 12 5 5 liters of water is supplied from a test device at a position approx 3m 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 IP symbols define the degree of protection against solids...

Страница 24: ...lace deteriorated packing permits water or oil to enter the interior of the robot possibly causing it to become inoperable Table 2 27 lists packings requiring replacement and corresponding robot covers Packing required and liquid gas ket used therewith are available from dealer Also entrained water droplets lead to the formation of rust on the robot but would not usually affect the robot s ability...

Страница 25: ...s prepared by the customer assure on the vacuum side flow rate 30 liters min ANR or more 3 When using the Mitsubishi standard option solenoid valve set use the spare piping Φ6 pneumatic hose of the primary piping to exhaust the air If the exhaust leaks into the robot arm the degree of cleanliness could be affected Type Degree of cleanliness Internal suction Remarks RV 6SDC RV 6SDLC 10 0 3μm Concen...

Страница 26: ... arm 2 3 Names of each part of the robot Fig 2 2 Names of each part of the robot J5 axis J6 axis Fore arm Mechanical interface Hand installation flange surface Upper arm J1 axis J3 axis J4 axis Base Elbow block Shoulder J2 axis Elbow Waist Wrist ...

Страница 27: ...φ31 5 45 φ20H7 0 021 0 depth 8 5 φ40ｈ8 0 039 0 depth 6 5 φ5H7 0 012 0 depth 9 View A Detail of mechanical interface 4 M5 screw depth 9 110 R 2 1 1 51 5 58 5 φ70 78 84 85 54 61 78 73 200 80 37 32 340 20 165 50 for customer use View C Detail of screw holes for fixing wiring hookup Screw holes for fixing wiring hookup M4 162 165 204 A B 200 115 140 φ158 φ158 R98 80 5 100 280 350 120 90 φ 5 3 20 85 85...

Страница 28: ...150 degree when 85 degree J2 110 degree 170 170 170 R258 R 5 2 6 R 2 0 2 R 6 9 6 170 P point path Reverse range alternate long and short dash line P point path Entire range solid line P R611 100 961 280 350 179 85 315 308 238 85 R 2 8 0 R 2 8 0 R173 1 3 5 R 3 3 1 9 2 R 33 1 76 1 7 R 2 8 7 258 437 444 421 294 474 Flange downward limit line dotted line Restriction on wide angle in the rear section N...

Страница 29: ...depth 9 37 450 165 20 80 32 50 for customer use View C Detail of screw holes for fixing wiring hookup Screw holes for fixing wiring hookup M4 A 85 200 B 80 5 100 380 350 120 90 85 425 70 90 63 239 200 115 140 φ158 φ158 R98 φ 5 3 20 C Dimensions when installing a solenoid valve optional Maintenance space Machine cable 4 φ9 installation hole 2 φ6 holes prepared holes for φ8 positioning pins View D b...

Страница 30: ...8 degree J2 4 degree Note2 J2 1 5 J3 165 degree when J1 70 degree 80 dgree Ｊ2 38 degree Note3 J2 Ｊ3 47 degree when J1 70 degree Ｊ2 80 degree Note4 J2 Ｊ3 2 254 degree when J1 70 degree J2 38 degree Restriction on wide angle in the front section Note5 J2 110 degree when J1 120 degree J1 95 degree Flange downward limit line dotted line Restriction on wide angle in the rear section Note1 Areas as rest...

Страница 31: ...put signal connector 2 φ6 quick coupling 5 φ8 quick coupling Primary piping pneumatic hose VACUUM φ8 AIR PARGE φ8 Connector and pneumatic coupling No Name Qty Robot side Robot arm side Counter side customer prepared Manufacturer Connectors couplings Connector pins Connector Connector pins 1 Coupling 4 KJW04 M3 SMC Corporation 4 KJL04 M3 2 Coupling 2 UKBL6 Koganei Corporation 3 Connector 2 1 171783...

Страница 32: ... section to the inside of the forearm AWG 24 0 2mm2 x 2 8 cables The cable terminals have connector bridges for eight hand outputs The connector names are GR1 and GR2 To extend the wiring to the outside of the arm a separate cable optional hand output cable 1S GR35S 01 2 5 4 Internal wiring for the hand check input cable Standard type Clean type The hand input cable extends from the connector PCB ...

Страница 33: ...utput cable attached to the solenoid set Hand input cable option φ6 quick coupling 1 to 8 Hand signal input connection connector Hand signal output connector GR1 connector AIR IN RETURN A1 A2 A3 B1 B2 B3 24V Reserved HC 1 HC 2 HC 3 HC 4 A1 A2 A3 A4 B1 B2 B3 B4 24V COM Reserved GR 1 GR 2 GR 3 GR 4 24V COM Reserved GR 5 GR 6 GR 7 GR 8 1 2 3 4 5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoi...

Страница 34: ...ion φ6 quick coupling 1 to 8 Hand signal input connection connector Hand signal output connector GR1 connector AIR IN RETURN A1 A2 A3 B1 B2 B3 24V Reserved HC 1 HC 2 HC 3 HC 4 A1 A2 A3 A4 B1 B2 B3 B4 24GND COM Reserved GR 1 GR 2 GR 3 GR 4 24GND COM Reserved GR 5 GR 6 GR 7 GR 8 1 2 3 4 5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoid set option valve mounting section φ6 quick coupling φ6 ...

Страница 35: ...mA 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 36: ... 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 Supply clean air to the vacuum generation valve when you use clean type robot 5 If the air supply temperature primary piping used for the tool etc ...

Страница 37: ...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 38: ...iguration Table 2 11 Configuration equipments and types Note Standard 5 m for fixed type is not attached Caution Orders made after purchasing a robot are treated as purchases of optional equipment In this case the machine cable 5 m for fixed type that was supplied as standard is not reclaimed Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Fixed Set of signal and power cables...

Страница 39: ...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 40: ...lied in the cable conduit Caution This option can be installed on clean type but its cleanliness is not under warranty Part name TypeNote1 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 1S CBL 01 1 set 6 7 5m 12 10m 17 15m 5m 10m or 15m each Motor signal cable 1S CBL S 01 1 cable Motor power c...

Страница 41: ... No of cores AWG 24 0 2mm2 4P AWG 24 0 2mm2 7P AWG 18 0 75mm2 AWG 17 1 25mm2 4C AWG 19 0 75mm2 4C Finish dimensions Approx φ6mm Approx φ8 5mm Approx φ1 7mm Approx φ7 5mm Approx φ6mm No of cables used 5 cables 1 cable 1 cable 2 cable 8 cable No in total 7 cables 10 cables Silicon rubber Nylon clamp 1S LCBL S 01 1S LCBL P 01 300 400ｍｍ NK 18N NK 14N Controller 300 400ｍｍ NK 14N NK 18N Nylon clamp Robo...

Страница 42: ...t by the mechanical stopper is positioned 1 degrees outward from that angle so take care when designing the layout 2 The changeable angle can be set independently on the side and side 3 The operating range is changed with robot arm settings and parameter settings Refer to the separate Instruction Manual ROBOT ARM SETUP MAINTENANCE or Instruction Manual Detailed Explanation of Functions and Operati...

Страница 43: ...k One set Two sets Three sets Four sets Solenoid valve set 1 set 1S VD01 02 1S VD01E 02 1 pc 0 3 M4x8 four screws installation screws 1S VD01 02 VD02 02 VD03 02 VD04 02 are the sink type 1S VD01E 02 VD02E 02 VD03E 02 VD04E 02 are the source type Solenoid valve set 2 sets 1S VD02 02 1S VD02E 02 1 pc 0 4 Solenoid valve set 3 sets 1S VD03 02 1S VD03E 02 1 pc 0 4 Solenoid valve set 4 sets 1S VD04 02 1...

Страница 44: ...A2 B3 B4 B1 B2 GR1 GR2 24V RG Reserve GR3 GR4 Reserve Reserve White Black Red Black Red Black Red Black Red SOL3B SOL3A SOL4B SOL4A A3 GR2 A4 A1 A2 B3 B4 B1 B2 GR5 GR6 24V RG Reserve GR7 GR8 Reserve Reserve White Black Red Black Red Black Red Black Red Connector name φ4 8 φ4 8 81 73 4 24 44 100 108 5 3 5 54 61 4 5 1 6 10 13 5 GR2 GR1 Part no Part name 1 sets 2 sets 3 sets 4 sets Specifications Sol...

Страница 45: ...s option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand input cable 1S HC25C 01 1 cable 0 2 Item Specifications Remarks Size x cable core AWG 24 0 2mm2 12 One sided connector one sided cable bridging Total length 800mm Including the curl section which is 300mmlong 15 200 300 200 10 100 φ25 HC1 HC2 ...

Страница 46: ...se seal the fixing section of the robot with silicon rubber by the customer Caution This option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand output cable 1S GR35S 01 1 cable 0 1 Item Specifications Remarks Size x Cable core AWG 24 0 2mm2 x 12 cores One side connector and one side cable connection...

Страница 47: ...is option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hans curl tube One set 2 pcs 1E ST0402C 1 pc 0 1 Φ4 tube 2pcs Hans curl tube Two set 4 pcs 1E ST0404C 1 pc 0 1 Φ4 tube 4pcs Hans curl tube Three set 6 pcs 1E ST0406C 1 pc 0 1 Φ4 tube 6pcs Hans curl tube Four set 8 pcs 1E ST0408C 1 pc 0 1 Φ4 tube 8...

Страница 48: ...16 For specific information 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 26 Purchase these parts from the designated maker or dealer when required Some Mitsubishi designated parts differ from the maker s standard parts Th...

Страница 49: ...Shoulder cover B packing 1 Shoulder cover B 1 Robot arm side RV 6SDL 6SDCL 10 Shoulder cover packing Part Code K07S24317151 Shoulder cover packing A 2 Shoulder cover 1 Cover side Shoulder cover packing B 2 1 Cover side 11 Elbow cover packing Part Code K07S24344901 Elbow cover packing 1 Elbow cover A 1 Cover side 12 No 2 arm cover packing Part Code K07S24342001 No 2 arm cover packing 1 No 2 arm cov...

Страница 50: ...ual line Addition axis synchronization point 1 Dual line Interface RS 232C port 1 For expansion such as the personal cpmputer Vision sensor Ethernet port 1 For T B 1 For customers 10BASE T 100BASE Tx USB 1 Ver 2 0 Only device function Hand dedicated slot slot 1 Dedicated for pneumatic hand interface Option slot slot 3 Additional axis interface Channel 1 SSCNET Ⅲ Serial encoder interface Channel 1 ...

Страница 51: ...d for pneumatic hand inter face Option slot slot 3 Additional axis interface Channel 1 SSCNET Ⅲ Serial encoder interface Channel 1 For encoder cable connection Power source Input voltage range V 3 phase AC180 to 253 for standard 3 phase AC360 to 480 for CE Marking Note5 Note5 Please use the controller with an input power supply voltage fluctuation rate of 10 or less Power capacity KVA 2 0 Does not...

Страница 52: ...iron ball 12 0 0 05 mm diameter which is being pressed with the power of 3 1 kg 10 from going through the opening in the outer sheath of the supplied equipment The IEC IP54 The IEC IP54 standard refers to protection structure designed to prevent any harmful effects by fresh water scattering vertically onto the testing equipment in a radius of 180 degrees from a distance of 300 to 500 mm with 10 0 ...

Страница 53: ...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 OFF STATUS NUMBER displ...

Страница 54: ...ting the personal computer Cable lead in port CR2DA 700 series Draw in the primary power cable Power cable clamp CR3D 700 series Fix the primary power cable Note 1 The operation lock of the power switch CR2DA CR3D 700 series controller 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 55: ... power switch CR2DA 700 series Lock cover Lock plate Padlock prepare by customer Dimension of the padlock Dimension A B C 25mm 14mm 4mm or less The lock device which can be used CR2DA 700 series Handle Please use the robot in the condition that the key of the padlock is removed Do not operate the trip test by the trip button in the state of the power switch locked at OFF position The lock plate is...

Страница 56: ...nd the case mark is in match Push in the lock plate Return the handle to the OFF position with pushing the lock plate Lock the handle with the padlock Case mark Lock plate Handle Padlock prepare by customer Dimension of the padlock The maximum size of C which can be installed is 8mm Dimension mm A B C 35 0 11 19 5 40 0 13 22 or 23 5 5 The lock device which can be used CR3D 700 series ...

Страница 57: ...ctor OPT Connect the cable for addition axis control Extension parallel input output unit connection connector RIO Connect the extension parallel input output unit Ethernet interface LAN1 Connect the Ethernet cable In the CE Marking specification Please use Ethernet interface by installing the line noise filter and the ferrite core to the Ethernet cable The line noise filter and the ferrite core a...

Страница 58: ...3 5 Names of each part Rear side CR3D 700 series CN2 CN1 CR3D 700 series Machine cable connector motor power CN1 Connects to the robot arm base CN1 connector Machine cable connector motor signal CN2 Connects to the robot arm base CN2 connector ...

Страница 59: ...xtension parallel input output unit Addition axis connection connector OPT2 Connect the cable for addition axis control Expansion memory cassette MEMORY CASSETTE Install the memory cassette optional Ethernet interface LAN1 Connect the Ethernet cable In the CE Marking specification Please use Ethernet interface by installing the line noise filter and the ferrite core to the Ethernet cable The line ...

Страница 60: ...n of the line noise filter Line noise filter attachments Pass 8 times Robot controller 500mm or less To external equipment Ferrite core attachments Pass twice Note1 100mm or less Note 1 CR1D CR2D The dimension from the connector of the controller CR3D The dimension from the controller chassis Ethernet cable Note1 CR1DA CR2DA The dimension from the connector of the controller CR3D The dimension fro...

Страница 61: ...dimensions Installation dimensions 3 50 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions Fig 3 8 Outside dimensions of controller CR2DA 700 CR2DA 700 series screw 4 M5 screw For vertical installation ...

Страница 62: ...35 420 15 15 380 3 2 75 550 625 450 35 40 5 79 5 320 440 134 55 340 55 380 60 95 288 SVO OFF STOP END SVO ON MODE START RESET DOWN UP STATUS NUMBER EMG STOP CHANG DISP TB RS 232 85 Eye bolt 2 M10 2 2 φ15 hole When caster specification CR3D 700 series Note When you fix the controller with the anchor bolt use M4x12 anchor bolt ...

Страница 63: ...oller Outside dimensions Installation dimensions 3 52 Fig 3 10 Outside dimensions of controller CR3D 700 CE Marking When caster specification hole CR3D 700 series CE Marking specification Transformer box TR52 ...

Страница 64: ...haust Suction Exhaust 380 60 140 75 625 CN2 CN1 122 123 70 FAN FAN 7 000 CR3D 700M series Note As for CE specification the transformer box is installed in the controller bottom Refet to Fig 3 10 Note As for CE specification the transformer box is installed in the controller bottom Refet to Fig 3 10 CN2 CN1 380 122 140 75 625 FAN FAN 123 70 Exhaust Suction Suction Exhaust Right side drawing Back dr...

Страница 65: ... controller installation side more than 7mm when you fix the controller with the installation screw In smaller than 7mm case the air intake hole at the bottom of the controller is occupied and temperature rises in the board and causes the trouble CAUTION The installation section needs to be fixed so that the controller may not fall When fixing the controller with the bolt please use the bolt of th...

Страница 66: ...x 500 Back 500 440 450 300 Side Approx 200 Note１ Approx Approx Side Note1 The controller sucks in the outside air and discharges the inside air after cooling Fig 3 16 The space required for cooling is 100 mm minimum Reserve approximately 500 mm of space behind the unit as the maintenance work area Note As for CE specification the transformer box is installed in the controller bottom Refet to Fig 3...

Страница 67: ... lead in and dimension The controller has the openings parts for pulling out the cable as shown in Fig 3 15 and Fig 3 16 Fig 3 15 Cable lead in and dimension of the controller CR2DA 700 series CR2DA 700 series 27 18 7 23 8 配線固定具 Input power supply lead in Cable fixing plate ...

Страница 68: ...ce input output signal lead in port with sponge 3 Left surface cable outlet 4 Right surface input output signal lead in port no sponge with cabl fixing plate Use 1 to lead in the input power cable Use 2 or 4 to lead in the input output signal cable 40 45 39 90 5 5 40 90 67 φ34 φ28 45 199 40 81 36 273 Enlarged view of A section 4 1 3 2 Bottom view figure is CR3D 711M CR3D 700 series Note As for CE ...

Страница 69: ...is an option The Page 80 2 Pneumatic 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 61 3 6 Emergency stop input and output etc and on Page 123 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 70: ...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 71: ... 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 72: ...talls 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 ...

Страница 73: ...s work independently Don t function only on AND conditions Two or more emergency stop switch status are all ON Fig 3 17 emergency stop cable connection CR2DA 700 CAUTION 300mm以内 EMGINコネクタフェライトコア付属品２回通し within 300mm Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 19 CR2DA 700 Ferrite core attachments Pass twice ...

Страница 74: ...ency stop cable connection CR3D 700 安全ユニット R700SFT EMGINコネクタ非常停止配線ケーブル EMGOUTコネクタフェライトコア付属品２回通し 300mm以内 CR3D 700 700M Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 19 EMGOUT EMGIN Safty unit Cable Ferrite core attachments Pass twice within 300mm ...

Страница 75: ...t 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 prepa...

Страница 76: ...own in Page 66 Fig 3 20 Connection of the special stop input Table 3 5 Special stop input electric specification Item Specifications Internal circuit Type DC input No of input point 1 Insulation method Phto coupler insulation Rated inpit voltage DC24V Rated input current approx 11mA Working voltage range DC 21 6 26 4V Ripple rate within ５ ON voltage ON current DC 8V or more 2mA or more OFF voltage...

Страница 77: ... stop connector Minus driver plug area Electric wire plug area AWG 24 18 The connector connection method The electric wire skins covering 7mm In the condition that the minus driver is inserted insert the electric wire and remove the minus driver The electric wire is locked by the connector Safty unit Please connect after removing the contact capacity seal currently stuck on the connector SKIP CR2D...

Страница 78: ...bot 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 ...

Страница 79: ...se 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 device Close on the enabling device input terminal while the other manipulates the T B Brake release can be effected only when both of the enabling switch ...

Страница 80: ...itional 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 71 1 Example of the installation of the noise filter Install by one of the methods Please implement the appropriate circuit connection by refer to Page 73 3 8 Magnet contactor control conne...

Страница 81: ...s connection CR3D 700 700M EMGOUT OPT2 R700CPU SSCNETⅢcable SSCNETⅢcable Servo amplifier Servo amplifier OPT connector CN1A connector CN1B connector CN1A connector Cap CN1B connector It cannot communicate if connection of CN1A and CN1B is mistaken Magnetic contact CR3 700 700M ...

Страница 82: ... 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 25 Example of EMC noise filter installation 1 2 ...

Страница 83: ...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 26 Example of noise filter installation ...

Страница 84: ...arate 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 27 Example of circuit for addition axes of Magnet contactor control output MC2 NV MC MC1 NV 5B 6B AXMC2 AXMC1 5A...

Страница 85: ... EMGOUT connector EMGOUT2 EMGOUT1 6A 5A 4A 3A 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 Contactor control output for addition axes AXMC1 Contactor control output for addition axes AXMC1 CR2DA 700 ...

Страница 86: ...t R700SFT EMGOUT connector EMGOUT2 EMGOUT1 6A 5A 4A 3A 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 Contactor control output for addition axes AXMC1 Contactor control output for addition axes AXMC1 CR3D 700 700M ...

Страница 87: ...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 88: ...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 89: ...ected to the T B connector on the front of the controller Note The connector may be felt hard if installation and removal of the teaching pendant or the dummy plug is repeated to the frequent 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 90: ...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 91: ... 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 92: ...relay card 2D TZ315 securely Refer to separate Instruction Manual Controller setup basic operation and maintenance for details on the installing method Fig 3 32 Installation of the pneumatic hand interface CR2DA 700 2A RZ365 2D TZ315 A View A CNHNDOUT CNHND CNHND CNHNDOUT Pneumatic hand interface Hand interface relay card M4x2 Pneumatic hand interface Hand interface relay card CR2DA 700 2A RZ365 2...

Страница 93: ...on of the pneumatic hand interface CR3D 700 700M Safty unit R700SFT 2A RZ365 2D TZ315 A Pneumatic hand interface Hand interface relay card M4x2 View A CNHNDOUT CNHND CNHND CNHNDOUT Pneumatic hand interface Hand interface relay card CR3D 700 700M 2A RZ365 2A RZ375 ...

Страница 94: ...ation Table 3 12 Configuration device Specifications 1 The CR2DA 700 and CR3D 700 series controller can connect this three interfaces Table 3 13 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...

Страница 95: ...troller If it uses together with parallel input and output unit 2A RZ361 2A RZ371 please do not overlap with the station number of the parallel input and output interface Item Specification Internal circuit Type Transistor output Sink type Source type No of output points 32 Insulation method Photo coupler insulation Rated load voltage DC12V DC24V Rated load voltage range DC10 2 30V peak voltage DC...

Страница 96: ...ace 3 Controller Fig 3 34 Parallel I O interface installation position CR2DA 700 Fig 3 35 Parallel I O interface installation position CR3D 700 700M SLOT1 SLOT2 SLOT3 CR2DA 700 SLOT1 SLOT2 SLOT3 R700CPUユニット CR3D 700 700M unit ...

Страница 97: ... SLOT1 and signal number allocation are shown in Table 3 16 and Table 3 17 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 SLOT3 2 Input 64 to 79 O...

Страница 98: ... 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 99: ...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 100: ...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 101: ...ctor pin numbers and cable colors when making the connections Fig 3 37 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 102: ...the power connection cable DCcable 2 A separate 24V power supply is required for the input output circuit wiring Table 3 24 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 103: ...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 104: ...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 105: ...nnector in the rear into of the controller Terminator is connected at the time of shipment Fig 3 39 Installing the parallel I O unit CR2DA 700 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 CR2DA 700 RIO コネクタ The controller outside instal...

Страница 106: ... 700M 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 CR3D 700 700M R700CPUユニット RIO The controller outside installation R700CPU ...

Страница 107: ...ctor FG 2 20 30mm Metal braid section Sheath Sheath 2 Grounding terminal Peel the sheath in the position about 200 300mm from the connector end of the cable so you can install and remove the cover Don t damage the shield line I O unit the bottom Connecta layout Connect the NET cable 1 to the RIO connector on the back of the controller Each unit is connected to from a daisy chain Always install a t...

Страница 108: ...tor 20 30mm Metal braid section Sheath Sheath 2 Grounding terminal Peel the sheath in the position about 200 300mm fromthe connector end of the cable so you can install and remove the cover Don t damage the shield line I Ounit the bottom Connecta layout FG 2 Connect the NET cable 1 to the RIO connector on the back of the controller Each unit is connected to from a daisy chain Always install a term...

Страница 109: ... 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 110: ...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 111: ... 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 112: ...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 Out...

Страница 113: ... 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 ...

Страница 114: ... 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 115: ...sonal computer cabe connection Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Personal computer cable for PC AT 2D 232CBL03M 1pc 4 3m D SUB 9 pin Robot controller side signal pin number Personal computer side Not use DCD 1 Ｒ D 2 T D 3 DTR 4 DSR 6 RTS 7 CTS 8 GND 5 1 ＤCD 2 Ｒ D 3 Ｔ D 4 DTR 6 DSR 7 RTS 8 CTS 5 GND 2D 232CBL03M Not use RI 9 9 ＲI Not use signal pin number 1 6 9 5...

Страница 116: ...ce 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 Communication cable 1 ...

Страница 117: ...ic setup 1 2 4 8 Maximum link point Remote I O RX RY Each 896 points The two last cannot be used Remote register RWr RWw Each 128 register 16 bits register Extended cyclic setup 1 fold setup 2 fold setup 3 fold setup 4 fold setup Link point per set When one station is occupied Remote I O RX RY 32 point 32 point 64 point 128 point Remote register RWw 4 word 8 word 16 word 32 word Remote register RW...

Страница 118: ...e 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 119: ... 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 120: ...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 121: ...yntax 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 ...

Страница 122: ...cation of the robot arm and controller Robot Arm Setup Maintenance BFP A8655 Installation method of the robot arm jog operation and maintenance and inspection procedures Controller Setup Basic Operation and Maintenance BFP A8660 Installation method of the controller basic operation and maintenance and inspection procedures Detailed Explanation of Functions and Operations BFP A8586 Functions of the...

Страница 123: ... 43 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 CR2DA 700 controller 1 Lithium battery Q6BAT 1 Front operation panel Mitsubishi Electric Sys tem Service Co Ltd 2 Filter 1 Front of the controller CR3D 700 controller 1 Lithium battery Q6BAT 1 Front op...

Страница 124: ...cel 50 80 Automatically adjusts the acceleration deceleration according to the parameter setting value Oadl ON ets the hand and work conditions for automatic adjustment of the accel eration deceleration LoadsetT 1 1 Operation Performance of movement is upgraded corresponding to the application MvTune 4 Adds a process unconditionally to the operation Wth Adds a process conditionally to the operatio...

Страница 125: ... executed when an interrupt is generated from the communication line On Com 1 GoSub L100 Enables the interrupt from the communication line Com 1 On Disables the interrupt from the communication line Com 1 Off Stops the interrupt from the communication line Com 1 Stop Wait Designates the wait time and the output signal pulse output time 0 01s unit Dly 0 5 Waits until the variable becomes the design...

Страница 126: ...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 127: ...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 128: ...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 129: ...ired to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures required to operate the controller unpacking transportation installation confirmation of operation basic operation from creating the program to auto matic operation and the maintenance and inspection procedures Explains details on the f...

Страница 130: ...instruction manuals 5Instruction Manual Explains the detailed description of data configuration of shared memory monitoring and operating procedures about the GOT CRnD 700 series controller Extended Func tion Instruc tion Manual ...

Страница 131: ...and the error exceeds the specified amount The drive circuit is shut off The robot stops and an alarm displays 5 AC power voltage drop diagnosis function Activates when the AC power voltage drops below the specified value The drive circuit is shut off The robot stops and an alarm displays 6 CPU error detection func tion Activates when an error occurs in the CPU The drive circuit is shut off The ro...

Страница 132: ...rations maintenance and safety required for the robot work Only trained and registered operators must operate the robot Participation in the Special training for industrial robots sponsored by the Labor Safety and Sanitation Com mittee etc is recommended for safety training 5 Daily inspection and periodic inspection lways inspect the robot before starting daily operations and confirm that there ar...

Страница 133: ...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 134: ...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 64 Fig 3 19 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 Operati...

Страница 135: ...uited at factory shipments Remove it and connect the power supply of peripheral equipment Connect the power supply of peripheral equipment by the polarity shown in the figure 3 5A 5B and 6A 6B terminal of EMGIN is short circuited at factory shipments Remove it and connect with the power supply ground of peripheral equipment 4 The emergency stop button of the robot controller operation panel 5 The ...

Страница 136: ...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 67 3 6 4 Enabling device function for the enabling device Caution Since we have omitted the information in p...

Страница 137: ...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 138: ...6 5 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 ampli fier And since the ferrite core is attached as noise measures parts please utilize Fig 6 5 Limitations when connecting the relay etc You should always connect doubly connection of the e...

Страница 139: ...here is heavy powder dust and oil mist present 6 3 Precautions for handling 1 This robot has brakes on all axes The precision of the robot may drop looseness may occur and the reduc tion 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 excessi...

Страница 140: ...own In such a case take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices Example Installing a UPS uninterruptible power supply unit to the primary power source in order to reduce interference 15 Do not conduct an insulated voltage test If conducted by mistake it may result in a breakdown 16 Fretting m...

Страница 141: ...ded Sink 1 set 2 sets 3 sets 4 stes 1S VD0 E 02 Source 1 set 2 sets 3 sets 4 stes Hand input cable 1S HC25C 01 Not provided Provided Hand output cable 1S GR35S 01 Not provided Provided Hand curl tube 1E ST040 C Not provided 1 set 2 sets 3 sets 4 stes Controller Teaching pendant R32TB Not provided 7m 15m R56TB Not provided 7m 15m Pneumatic hand interface 2A RZ365 2A RZ375 Not provided 2A RZ365 Sink...

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Страница 170: ...oie 37 FIN 28400 Ulvila Phone 358 0 207 463 540 Fax 358 0 207 463 541 GREECE UTECO 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY AXICONT AUTOMATIKA Kft ROBOT CENTER Reitter F U 132 HU 1131 Budapest Phone 36 1 412 0882 Fax 36 1 412 0883 MALTA ALFATRADE Ltd 99 Paola Hill Malta Paola PLA 1702 Phone 356 0 21 697 816 Fax 356 0 21 697 817 NETHERLANDS HIFLEX AUTOM T...

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