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4-89

List of commands

4Software

4 Software
4.1 List of commands

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

Table 4-1

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

Type

Class

Function

Input format (example)

Posi

tion

and operation contro

Joint interpolation

Moves to the designated position with joint interpolation.

Mov P1

Linear interpolation

Moves to the designated position with linear interpolation.

Mvs P1

Circular interpolation Moves along a designated arc (start point → passing point → start point

(end point)) with 3-dimensional circular interpolation (360 degrees).

Mvc P1,P2,P1

Moves along a designated arc (start point → passing point → end point)

with 3-dimensional circular interpolation.

Mvr P1,P2,P3

Moves along the arc on the opposite side of a designated arc (start point

→ reference point → end point) with 3-dimensional circular interpola

tion.

Mvr2 P1,P9,P3

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

cular interpolation.

Mvr3 P1,P9,P3

Speed designation

Designates the speed for various interpolation operations with a per

centage (0.1% unit).

Ovrd 100

Designate the speed for joint interpolation operation with a percentage

(0.1% unit).

JOvrd 100

Designates the speed for linear and circular interpolation with a numeri

cal value (mm/s unit).

Spd 123.5

Designates the acceleration/deceleration time as a percentage in

respect to the predetermined maximum acceleration/deceleration. (1%

unit)

Accel 50,80

Automatically adjusts the acceleration/deceleration according to the

parameter setting value.

Oadl ON

ets the hand and work conditions for automatic adjustment of the accel

eration/deceleration.

LoadsetT 1,1

Operation

Performance of movement is upgraded corresponding to the application. MvTune 4
Adds a process unconditionally to the operation.

Wth

Adds a process conditionally to the operation.

Wthif

Designates smooth operation.

Cnt 1,100,200

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

Fine 200

Designates the positioning completion conditions with a joint interpola

tion.

Fine 0.5, J, 2

Designates the positioning completion conditions with a distance in a

straight line

Fine 1, P

Turns the servo power ON/OFF for all axes.

Servo OFF

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

exceeded.

Torq 4,10

Position controlDesignates the base conversion data.

Base P1

Designates the tool conversion data.

Tool P1

Float control

The robot arm rigidity is lowered and softened. (XYZ coordinate system) Cmp Pos ,&B00000011
The robot arm rigidity is lowered and softened. (JOINT coordinate sys

tem)

Cmp Jnt ,&B00000011

The robot arm rigidity is lowered and softened. (TOOL coordinate sys

tem)

Cmp Tool ,&B00000011

The robot arm rigidity is returned to the normal state.

Cmp Off

The robot arm rigidity is designated.

Cmpg

1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

Pallet

Defines the pallet.

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

Operates the pallet grid point position.

Plt 1,M1

Singular point pas

sage

Move to a specified position using linear interpolation passing through a

singular point.

Mvs P1 TYPE 0,2

Содержание MELFA CR1QA-700

Страница 1: ...Mitsubishi Industrial Robot SQSeries RV 3SQ 3SQJ 3SQB 3SQJB Series Special Specifications Manual CR1QA CR2QA 700 Controller BFP A8697 W ...

Страница 2: ......

Страница 3: ...s on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact of the operator and robot Installation of safety fence Establish a set signaling method to the related operators for starting work and follow this method Signaling of operation start As a principle t...

Страница 4: ...e this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the robot or to incorrect operation When carrying out teaching work in the robot s movement range always secure the priority right for the robot control Failure to observe this could lead to personal injuri...

Страница 5: ...pments 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 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 custome...

Страница 6: ...QA CR2Q to CR2QA 2010 07 27 BFP A8697 K Cover packing was added to the consumable part The description of protection specification was changed The cutting oil which examined was updated and replacement of the cover packing was added EC Declaration of Conformity were added 2010 08 25 BFP A8697 M The input voltage range of the DU2A drive unit was corrected 3 phase AC180 to 253 was the previous 2010 ...

Страница 7: ... in 3 4 External input output was deleted Overlapped with Table 3 5 Special input output terminal The notes about frequent installation and removal of TB and the dummy connector were added The note about the connection of the emergency stop was added The explanation about the controller of KC mark specification was added to Introduction Date of print Specifications No Details of revisions ...

Страница 8: ...nt has indicated the specification of the following types robot RV 3SQ RV 3SQB RV 3SQC RV 3SQBC RV 3SQJ RV 3SQJB RV 3SQJC RV 3SQJBC RV 3SQxBx S12 S312 CE Marking specification About KC mark specifications This robot acquires certification of KC mark by the special specification S19 Although about DU1A drive unit the two kinds of drive units standard specification CE Marking specification are descr...

Страница 9: ...he Arm during Low Speed Operation of the Robot 2 12 2 2 5 Protection specifications 2 13 1 Types of protection specifications 2 13 2 About the use with the bad environment 2 14 2 2 6 Clean specifications 2 15 1 Types of clean specifications 2 15 2 3 Names of each part of the robot 2 16 2 4 Outside dimensions Operating range diagram 2 17 1 6 axis type 2 17 2 5 axis type 2 19 2 5 Tooling 2 21 2 5 1 ...

Страница 10: ... input SKIP 3 66 3 6 3 Door switch function 3 68 3 6 4 Enabling device function 3 68 1 When door is opening 3 68 2 When door is closing 3 68 3 Automatic Operation Jog Operation Brake Release and Necessary Switch Settings 3 69 3 7 Additional Axis Function 3 70 3 7 1 Wiring of the Additional Axis Interface 3 70 3 8 Magnet contactor control connector output AXMC for addition axes 3 75 3 9 Options 3 7...

Страница 11: ...e 1 External emergency stop connection supplementary explanation 6 103 6 2 Working environment 6 104 6 3 Precautions for handling 6 104 7Appendix Appendix 106 Appendix 1 Specifications discussion material Appendix 106 ...

Страница 12: ... 4 Machine cable 5 Robot arm installation bolts 6 Earth leakage breaker CR1QA 700 series only 7 Safety manual Instruction manual CD ROM Instruction manual 8 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...

Страница 13: ...ications The RV 3SQB S12 3SQJB S12 RV 3SQB S312 RV 3SQJB S312 series provides models with CE marking specifications as well The controller are each CR1QA 721 CR1QA 731 and CR2QA 721 CR2QA 731 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...

Страница 14: ...Machine cable extension Fix type 1S CBL 03 Flex type 1S LCBL 03 Note1 refer the length Refer to Table 1 3 for details Note2 Extend by adding to the arm side of the standard accessory cable for fastening Machine cable Fixed type 5m Stopper for changing the operating range of the J1 axis Stopper part 1S DH 03 Installed by customer or Machine cable Fix type 2m 1S 02UCBL 03 Caution Standard configurat...

Страница 15: ...ting of the drive unit is necessary Controller CR1QA 700 series CR2QA 700 series Cable 2Q TUCBL 10M TU Cable for robot 2Q DISPCBL10M DISP Cable for robot 2Q EMICBL 10M EMI Cable for robot MR J3BUS10M A10M SSCNET Ⅲ Cable for robot 3 The controller of CE Marking specification S12 specification the controller is CR1QA 700 series S312 specification the controller is CR2QA 700 series Controllerprotecti...

Страница 16: ...et Φ4x2 Curl type air tube 1E ST0404C For solenoid valve 2set Φ4x4 1E ST0406C For solenoid valve 3set Φ4x6 1E ST0408C For solenoid valve 4set Φ4x8 Simple teaching pendant R32TB Cable length 7m With 3 position deadman switch IP65 R32TB 15 Cable 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 ne...

Страница 17: ... with conformity temperature or noise exists in the equipments connected to USB RS 232 or LAN When using network equipment measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Please fully confirm the operation by customer Guarantee and maintenance of the equipment on the market usual office automation equipment cannot be performed Name Type...

Страница 18: ...um load capacity is the mass with the mechanical interface posture facing down word at the 10 limit kg N 3 5 34 3 Rating 3 29 4 Pose repeatability Note4 Note4 The pose repeatability details are given in Page 10 2 2 1 Pose repeatability mm 0 02 Ambient temperature 0 to 40 Mass kg 37 33 Allowable moment load Wrist twist J4 N m 5 83 Wrist pitch J5 5 83 Wrist roll J6 3 9 Allowable inertia Wrist twist ...

Страница 19: ...nterface posture facing down word at the 10 limit kg N 3 5 34 3 Rating 3 29 4 Pose repeatability Note4 Note4 The pose repeatability details are given in Page 10 2 2 1 Pose repeatability mm 0 02 Ambient temperature 0 to 40 Mass kg 37 33 Allowable moment load Wrist twist J4 N m 5 83 Wrist pitch J5 5 83 Wrist roll J6 3 9 Allowable inertia Wrist twist J4 kg m2 0 137 Wrist pitch J5 0 137 Wrist roll J6 ...

Страница 20: ...ounter force applied to the installation surface for the strength design of the robot installation surface is shown Table 2 3 Value of each counter force Item Unit Value Falls moment ML N m ４１０ Torsion moment MT N m ４００ Horizontal translation force FH N １０００ Vertical translation force FV N １２００ ...

Страница 21: ...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 22: ...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 th...

Страница 23: ...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 24: ... 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 and fluids and do not indicate a protective structure against the entry of oil or water Type Protection sp...

Страница 25: ...g Table 2 7 Packing replacement guideline Failure to replace deteriorated packing permits water or oil to enter the interior of the robot possibly causing it to become inoperable Table 2 28 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 th...

Страница 26: ...d 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 3SQC RV 3SQJC RV 3SQBC RV 3SQJBC 10 0 ...

Страница 27: ...2 Names of each part of the robot Note1 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 Note1 J4 axis dosen t exist for 5 axis type This part doesn t exist for the 5 axis type Wrist Waist ...

Страница 28: ...View D Detail of screw holes for fixing wiring hookup for customer use 65 72 φ70 102 80 32 48 50 80 20 29 View C Detail of screw holes for fixing wiring hookup Screw holes for fixing wiring hookup M4 for customer use 130 120 φ190 B 104 109 45 φ31 5 φ20H7 depth 8 5 φ 40ｈ8 depth 6 5 View A Detail of mechanical interface 4 M5 screw depth 9 φ5H7 depth 9 115 113 205 122 120 50 160 6 3a Installation 4 φ...

Страница 29: ...ction Note2 The range which P point cannot enter Restriction on wide angle in the front section Note1 If the angle of axis J1 is 170 degree J1 125 degree the operating range of axis J2 is limited to 125 degree J2 90 degree Note2 If the angle of axis J1 is 125 degree J1 170 degree the operating range of axis J2 is limited to 130 degree J2 90 degree Restriction on wide angle in the rear section Note...

Страница 30: ... wiring hookup M4 for customer use 80 20 78 φ20H7 depth 8 5 φ 40ｈ8 depth 6 5 View A Detail of mechanical interface 4 M5 screw depth 9 45 φ5H7 depth 9 φ31 5 65 72 φ70 102 B φ190 130 120 104 109 Dimensions when installing a solenoid valve optional 350 245 85 R94 105 R79 D A 120 81 Machine cable Maintenance space 230 300 95 20 C 6 3a Installation 4 φ9 installation hole 115 113 205 122 120 50 160 6 3a...

Страница 31: ...olid line Restriction on wide angle in the rear section Note2 Restriction on wide angle in the front section Note1 The range which P point cannot enter Restriction on wide angle in the front section Note1 If the angle of axis J1 is 170 degree J1 125 degree the operating range of axis J2 is limited to 120 degree J2 90 degree Restriction on wide angle in the rear section Note2 If the angle of axis J...

Страница 32: ...ting it with the hand output signal connector 2 φ6 quick coupling x 2 5 φ8 quick coupling Note1 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...

Страница 33: ...PCB of the base section to the inside of the forearm AWG 24 0 2mm2 x 2 8 cables The cable terminals have connector bridges for eight hand 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...

Страница 34: ...24V COM Reserved GR 5 GR 6 GR 7 GR 8 1 2 3 4 5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoid set option valve mounting section φ6 quick coupling φ6 quick coupling φ6 hose φ6 hose Primary piping pneumatic hoses Driving devices such as solenoid and hand provided by the customer Hand prepared by customer Robot arm wiring relay board Robot controller Base Forearm Hand signal input connector...

Страница 35: ...A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoid set option valve mounting section φ6 quick coupling φ6 quick coupling φ6 hose φ6 hose Primary piping pneumatic hoses Driving devices such as solenoid and hand provided by the customer Hand prepared by customer Robot arm wiring relay board Robot controller Base Forearm Hand signal input connector HC1 connector 1 1717834 3 Tyco Electronics AMP 1 131811...

Страница 36: ...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 37: ...e 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 38: ...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 39: ...iguration Table 2 12 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 40: ...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 41: ...pplied 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 03 1 set 4 3 5m 7 6 10m 10 9 15m 5m 10m or 15m each Motor signal cable 1S CBL S 01 1 cable Motor po...

Страница 42: ... cable 1S LCBL S 01 Motor power cable 1D LCBL P 02 No of cores AWG 24 0 2mm2 4P AWG 24 0 2mm2 7P AWG 18 0 75mm2 AWG 19 0 75mm2 3C Finish dimensions Approx φ6mm Approx φ8 5mm Approx φ1 7mm Approx φ6mm No of cables used 5 cables 1 cable 1 cable 10 cables No in total 7 cables 10 cables Silicon rubber Nylon clamp 300 400ｍｍ NK 14N NK 14N NK 18N 1D LCBL P 02 1S LCBL S 01 Nylon clamp Robot arm Nylon clam...

Страница 43: ...imit by the mechanical stopper is positioned 2 5 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 Op...

Страница 44: ...ark 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...

Страница 45: ...8 Black Red Black Red Black Red Black Red Reserve Reserve Connector name Source type Sink type Connector name Reserve Reserve Reserve Reserve Reserve Reserve White White Black Red Black Black Red Black Red Black Red Black Red Black Red Black Red Red φ4 8 φ4 8 81 73 4 24 44 100 108 5 3 5 54 61 4 5 1 6 10 13 5 2 1 9 6 5 4 3 GR2 GR1 7 8 Part no Part name 1 sets 2 sets 3 sets 4 sets Specifications 1 S...

Страница 46: ...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 47: ... 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 T...

Страница 48: ...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 49: ...o 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 27 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 co...

Страница 50: ...ver packing 1 No 2 arm cover A 1 Cover side 5 No 2 arm cover C packing Part Code K07S24401502 No 2 arm cover C packing 1 No 2 arm cover C 1 Robot arm side 6 Wrist cover packing Part Code K07S24401602 Wrist cover packing 1 Wrist cover 1 Robot arm side RV 3SQJ 3SQJC 7 Cover packing A set Part Code K07S24021557 Conbox packing L 1 CONBOX cover 1 Cover side Conbox packing R 1 1 Cover side Shoulder A pa...

Страница 51: ...te3 Note3 Pose teaching method The method to register the current position of the robot arm MDI method The method to register by inputting the numerical value Immediate External input and output input and output point Input 0 point Output 0 point Multi CPU share device Input 8192 Output 8192 Max Dedicated input output Assign to the multi CPU share device Special stop input point １ Hand open close ...

Страница 52: ...０２５３ Note3 Note3 Please use the controller with an input power supply voltage fluctuation rate of 10 or less Power capacity kVA １０ Does not include rush current Note4 Note5 Note4 The power capacity is the rating value for normal operation The power capacity does not include the rush current when the power is turned ON The power capacity is a guideline and the actual operation is affected by th...

Страница 53: ...pplied 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 5 liters of water every minute at a water pressure of 80 to 100kPa covering the entire area of the robot with the exception of the installation...

Страница 54: ...turn OFF RESET button This resets the error This also resets the program s halted state and resets the program Emergency stop switch This stops the robot in an emergency state The servo turns OFF CHNGDISP button This changes the details displayed on the display panel in the order of Override Pro gram No Line No END button This stops the program being executed at the last line or END statement DU1A...

Страница 55: ... operations of the separate volume MANUAL When the T B is valid only operations from the T B are valid Operations for which the operation mode must be at the external device or controller are not pos sible UP DOWN button This scrolls up or down the details displayed on the STATUS NUMBER display panel Interface cover Unused in this drive unit Please use closing this cover because of to prevent dete...

Страница 56: ...e fixed screw The operation method 1 The lock method power supply OFF 1 Turn OFF the power switch 2 Loosen the lock plate fixing screw and make it slide upwards cover the power switch Tighten the fixing screw certainly in that position 3 Install the padlock customer preparation to the hole of the lock plate and lock it The lock is completion 2 The release method power supply ON 1 Remove the padloc...

Страница 57: ...dlock prepare by customer Dimension of the padlock Dimension mm A B C 25 14 4mm or less The lock device which can be used DU2A 700 Handle 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 installed strongly Pull up strongly and remove CAUTION ...

Страница 58: ...the emergency stop switch to the robot Emergency stop output EMGOUT The robot s error condition is outputted Hand slot HND Install the pneumatic hand interface optional Special stop input SKIP Stops the robot immediately OPT1A CON3 DCOUT CNDISP Connecting with the robot CPU unit Grounding terminal 2 places The screw for grounding of the cable Peel the sheath of the cable and fix with cable clamp a...

Страница 59: ...nector Machine cable connector motor signal CN2 Connects to the robot arm base CN2 connector Emergency stop input EMGIN Connect the emergency stop switch to the robot Emergency stop output EMGOUT The robot s error condition is outputted Hand slot HND Install the pneumatic hand interface optional Special stop input SKIP Stops the robot immediately OPT1A CON3 DCOUT CNDISP Connecting with the robot C...

Страница 60: ...xing to the base unit Battery connector BAT 4 The connector for connection with battery holder unit Q170DBATC The connector for the networks DISPLAY I F The connector of the LAN access for T B For R56TB RS 422 connector TU I F The connector for RS 422 connection with the drive unit 1 Please be sure to use the emergency stop input cable The emergency stop cannot be canceled if it does not use If it...

Страница 61: ...imensions Installation dimensions 3 50 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions 1 Drive unit outside dimension Fig 3 7 Outside dimensions DU1A 700 series DU1A 700 series Standard specification ...

Страница 62: ...3 51 Outside dimensions Installation dimensions 3 Controller Fig 3 8 Outside dimensions of controller DU1A 700 series DU1A 700 series CE marking specification ...

Страница 63: ...3 Controller Outside dimensions Installation dimensions 3 52 Fig 3 9 Outside dimensions DU2A 700 series DU2A 700 series screw 4 M5 screw For vertical installation ...

Страница 64: ...3 53 Outside dimensions Installation dimensions 3 Controller 2 Outside dimensions of robot CPU unit Fig 3 10 Outside dimensions of robot CPU ...

Страница 65: ...3 Controller Outside dimensions Installation dimensions 3 54 3 Battery unit outside dimension Fig 3 11 Outside dimensions of battery unit 2 Φ5 5 hole ...

Страница 66: ...n dimensions of drive unit Fig 3 12 Installation of controller DU1A 700 series Fig 3 13 Installation of controller DU1A 700 series DU1A 700 series Standard specification 170mm以上 20mm 50mm 吸気口 Intake vent 170mm or more 170mm以上 20mm 50mm 吸気口 DU1A 700 series CE marking specification Intake vent 170mm or more ...

Страница 67: ...tallation side more than 7mm when you fix the drive unit with the installation screw In smaller than 7mm case the air intake hole at the bottom of the drive unit is occupied and temperature rises in the board and causes the trouble CAUTION The installation section needs to be fixed so that the drive unit may not fall When fixing the drive unit with the bolt please use the bolt of the length which ...

Страница 68: ...ニット I O11 I O11 Q312DB QX40 0 1 2 3 4 5 6 7 8 9 A B C D E F SY ENC1 Q172DEX Q172DEX 2 1 TREN SY ENC 2 1 Q173DPX PULSER Q173DPX PLS A 3 2 1 PLS B 3 2 1 TREN 3 2 1 MELSEC Q61P POWER PULL Q03DCPU USER MODE RUN ERR BAT BOOT PULL USB RS 232 QX40 0 1 2 3 4 5 6 7 8 9 A B C D E F Q172DRCPU 8 4 0 C 0 8 C 4 BA T FR ON T CN2 CN1 EM I CAUTION STOP RUN 1 2 SW Q172DRCPU ACFAIL RIO M PG TU I F DISPLAY I F ロボットCP...

Страница 69: ...rts for pulling out the cable as shown in Fig 3 16 Fig 3 17 Fig 3 16 Cable lead in and dimension of the controller DU1A 700 series Fig 3 17 Cable lead in and dimension of the controller DU2A 700 series DU1A 700 series Input power supply lead in 15x22 DU2A 700 series 27 18 7 23 8 配線固定具 Input power supply lead in Cable fixing plate ...

Страница 70: ...is an option The Page 82 2 Pneu matic hand interface is required 4 Emergency stop Door switch input The wiring for the safe security of the emergency stop etc is shown in on Page 62 3 6 Emergency stop input and output etc and on Page 99 6 1 7 Examples of safety measures For Reference Linking our GOT1000 Series GT15 display equipment to the robot controller over the Ethernet permits you to control ...

Страница 71: ...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 72: ... 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 73: ...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 74: ...on AND conditions Two or more emergency stop switch status are all ON Fig 3 18 emergency stop cable connection DU1A 700 CAUTION 300mm以内 EMGINコネクタフェライトコア付属品２回通し DU1A 700 series Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 20 within 300mm Ferrite core attachments Pass twice The figure is standard specification The CE marking specification is the same ...

Страница 75: ...t and output etc 3 64 Fig 3 19 emergency stop cable connection DU2A 700 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 20 DU2A 700 Ferrite core attachments Pass twice ...

Страница 76: ...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 77: ...own in Page 67 Fig 3 21 Connection of the special stop input Table 3 6 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 78: ... connector connection method The electric wire skins covering 7mm In the condition that the minus driver is inserted insert the electric wire and remove the minus driver The electric wire is locked by the connector Special stop connector Minus driver plug area Electric wire plug area AWG 24 18 SKIP DU2A 700 series The figure is standard specification The CE marking specification is the same ...

Страница 79: ...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 80: ...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 81: ...rcuit connection with improved safety in Mitsubishi s industrial robot systems connecting addi tional axes Please be sure to install the noise filter in the power supply line of addition axis servo amplifier and to use the robot safely The example of the installation of the noise filter is shown in Page 73 1 Example of the installation of the noise filter Install by one of the methods Please imple...

Страница 82: ...2 CN1 EMI CAUTION STOP RUN 1 2 SW Q172DRCPU ACFAIL RIO MPG TU I F DISPLAY I F Servo amplifier Cap CN1A connector CN1B connector CN1B connector Servo amplifier SSCNETⅢcable It cannot communicate if connection of CN1A and CN1B is mistaken CN1A connector SSCNETⅢcable Magnetic contact DU1A 700 The figure is Standard specification The CE marking specification is the same ...

Страница 83: ...f connection of CN1A and CN1B is mistaken CN2 connector Robot CPU Q172DRCPU 8 4 0 C 0 8 C 4 BAT FRONT CN2 CN1 EMI CAUTION STOP RUN 1 2 SW Q172DRCPU ACFAIL RIO MPG TU I F DISPLAY I F Servo amplifier Cap CN1A connector CN1B connector CN1B connector Servo amplifier SSCNETⅢcable CN1A connector SSCNETⅢcable Magnetic contact DU2A 700 ...

Страница 84: ... 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 26 Example of EMC noise filter installation 1 2 ...

Страница 85: ...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 27 Example of noise filter installation ...

Страница 86: ... 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 28 Example of circuit for addition axes of Magnet contactor control output MC2 NV MC MC1 NV 5B 6B AXMC2 AXMC1 5A 6A 8...

Страница 87: ...2A 1A 6B 5B 4B 3B 2B 1B Type 1 1871940 6 Minus driver plug area AWG 24 18 0 2 0 75mm2 Electric wire plug area Internal circuit EMGOUT1 EMGOUT2 Custmer Controller 6A 5A 6B 5B EMGOUT Contactor control output for addition axes AXMC1 Contactor control output for addition axes AXMC1 DU1A 700 The figure is Standard specification The CE marking specification is the same ...

Страница 88: ... 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 DU2A 700 ...

Страница 89: ...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 90: ...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 91: ...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 92: ...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 93: ... 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 94: ... to separate Instruction Manual Controller setup basic operation and maintenance for details on the installing method Fig 3 33 Installation of the pneumatic hand interface DU1A 700 CNHNDOUT CNHND Pneumatic hand interface CNHND CNHNDOUT Pneumatic hand interface 2A RZ365 Hand interface relay card 2D TZ315 M4x2 Hand interface relay card DU1A 700 2A RZ365 2A RZ375 The figure is Standard specification ...

Страница 95: ...3 34 Installation of the pneumatic hand interface DU2A 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 DU2A 700 2A RZ365 2A RZ375 ...

Страница 96: ...ly 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 t...

Страница 97: ...ntax check Command template Position conversion batch editing Position variable template Print print preview Control func tions Program file control list copy movement delete content compari son name change protect Debugging func tions Direct editing of program in controller Confirmation of robot program operation step execution direct exe cution Simulation func tion Off line simulation of robot p...

Страница 98: ...Arm Setup Maintenance BFP A8698 Installation method of the robot arm jog operation and maintenance and inspection procedures Controller Setup Basic Operation and Maintenance BFP A8688 Installation method of the controller basic operation and maintenance and inspection procedures Detailed Explanation of Functions and Operations BFP A8586 Functions of the controller and T B operation method and expl...

Страница 99: ...nd purchase the parts from your dealer Table 3 16 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 CR1QA 700 series controller 1 Lithium battery Q6BAT 1 Robot CPU unit Mitsubishi Electric Sys tem Service Co Ltd 2 Filter 1 Front of the controller CR2QA 70...

Страница 100: ...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 101: ... 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 102: ...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 103: ...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 104: ...N232 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 function of singular point adjacent alarm MESNGLSW Designate the...

Страница 105: ...red 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 fu...

Страница 106: ...nstruction manuals 5Instruction Manual Explains the detailed description of data configuration of shared memory monitoring and operating procedures about the PLC CRnD 700 series controller Extended Func tion Instruc tion Manual ...

Страница 107: ...nd the error exceeds the specified amount The drive circuit is shut off The robot stops and an alarm displays 5 AC power voltage drop diagnosis function Activates when the AC power voltage drops below the specified value The drive circuit is shut off The robot stops and an alarm displays 6 CPU error detection func tion Activates when an error occurs in the CPU The drive circuit is shut off The rob...

Страница 108: ...s about the operations 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 confir...

Страница 109: ...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 110: ...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 65 Fig 3 20 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 111: ...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 112: ...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 68 3 6 4 Enabling device function for the enabling device Caution Since we have omitted the information in p...

Страница 113: ...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 114: ...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 115: ...alling 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 of RV 3SQ 3SQJ series has brakes of J1 to J3 and J5 axes and the robot of RV 3SQB 3SQJB series has brakes of all axes The precision of the robot may drop looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brak...

Страница 116: ...erous 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 14 Do not conduct an insulated voltage test If conducted by mistake it may result in a breakdown 15 Fretting may occur on the axis which moving angle or moving distance move minutely or n...

Страница 117: ...able extention 1S CBL 03 Not provided 5m fixing 10m fixing 15m fixing 1S LCBL 03 Not provided 5m bending 10m bending 15m bending Solenoid valve set 1S VD0 02 Not provided 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 s...

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Страница 146: ...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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