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Contents

Page

3.1 Standard specifications ...................................................................................................................................................... 3-38

3.1.1 Standard specifications ............................................................................................................................................... 3-38

3.1.2 Protection specifications and operating supply ................................................................................................ 3-40

3.2 Names of each part .............................................................................................................................................................. 3-41

(1) Padlock specification ............................................................................................................................................... 3-43

3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-49

3.3.1 Outside dimensions ....................................................................................................................................................... 3-49

3.3.2 Installation dimensions ................................................................................................................................................. 3-53

3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-55

3.4 External input/output .......................................................................................................................................................... 3-57

3.4.1 Types .................................................................................................................................................................................. 3-57

3.5 Dedicated input/output ...................................................................................................................................................... 3-58
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-60

3.6.1 Connection of the external emergency stop ...................................................................................................... 3-60

3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-64

3.6.3 Door switch function .................................................................................................................................................... 3-66

3.6.4 Enabling device function ............................................................................................................................................. 3-66

(1) When door is opening ............................................................................................................................................... 3-66

(2) When door is closing ................................................................................................................................................ 3-66

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-67

3.7 Additional Axis Function ..................................................................................................................................................... 3-68

3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-68

3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-72
3.9 Options ....................................................................................................................................................................................... 3-75

(1) Teaching pendant (T/B) ......................................................................................................................................... 3-76

(2) Pneumatic hand interface ...................................................................................................................................... 3-79

(3) Parallel I/O interface ............................................................................................................................................... 3-82

(4) External I/O cable ..................................................................................................................................................... 3-88

(5) Parallel I/O unit ......................................................................................................................................................... 3-90

(6) External I/O cable .................................................................................................................................................. 3-101

(7) Personal computer cable .................................................................................................................................... 3-103

(8) CC-Link interface .................................................................................................................................................. 3-104

(9) Extension memory cassette .............................................................................................................................. 3-107

(10) RT ToolBox2/RT ToolBox2 mini ................................................................................................................... 3-108

(11) Instruction Manual(bound edition) ................................................................................................................ 3-110

3.10 Maintenance parts ........................................................................................................................................................... 3-111

4 Software ......................................................................................................................................................................................... 4-112

4.1 List of commands ............................................................................................................................................................... 4-112
4.2 List of parameters .............................................................................................................................................................. 4-115

5 Instruction Manual ..................................................................................................................................................................... 5-117

5.1 The details of each instruction manuals ................................................................................................................... 5-117

6 Safety .............................................................................................................................................................................................. 6-119

6.1 Safety ...................................................................................................................................................................................... 6-119

6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-119

6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-120

6.1.3 Precautions for using robot .................................................................................................................................... 6-120

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-121

6.1.5 Safety measures for teaching ............................................................................................................................... 6-121

6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-121

6.1.7 Examples of safety measures ................................................................................................................................ 6-122

(1) External emergency stop connection [supplementary explanation] ................................................. 6-126

6.2 Working environment ......................................................................................................................................................... 6-127
6.3 Precautions for handling .................................................................................................................................................. 6-127

Содержание MELFA RV-12SD

Страница 1: ...Mitsubishi Industrial Robot RV 12SD 12SDL Series Standard Specifications Manual CR2DA 701 CR3D 701M CR3D 701 Controller BFP A8656 Y...

Страница 2: ......

Страница 3: ...on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact...

Страница 4: ...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 rob...

Страница 5: ...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...

Страница 6: ...Function and Tracking Function Manual were added to the product configu ration of Instruction Manual The English expression was corrected Safety Precautions 1 1 2 Special specifications Table 1 3 The...

Страница 7: ...A8656 W The note about the connection of the emergency stop was added The signal assignment list of parallel I O interface and parallel I O unit were corrected Assignment of the dedicated signal was...

Страница 8: ...2 4 Software separately This document has indicated the specification of the following types robot RV 12SD RV 12SDC RV 12SDL RV 12SDLC About KC mark specifications This robot acquires certification of...

Страница 9: ...ns 2 11 2 2 4 Vibrations at the Tip of the 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...

Страница 10: ...tput AXMC for addition axes 3 72 3 9 Options 3 75 1 Teaching pendant T B 3 76 2 Pneumatic hand interface 3 79 3 Parallel I O interface 3 82 4 External I O cable 3 88 5 Parallel I O unit 3 90 6 Externa...

Страница 11: ...Contents iii Page 7Appendix Appendix 129 Appendix 1 Specifications discussion material Appendix 129...

Страница 12: ...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 equi...

Страница 13: ...specification Robot arm Arm length Controller Standard specification RV 12SD standard arm CR3D 701MNote1 Note1 CR3D 701M is protection specification IP54 Especially strengthened the protection perfor...

Страница 14: ...2 set 1S VD02 01 1S VD02E 01 3 set 1S VD03 01 1S VD03E 01 4 set 1S VD04 01 1S VD04E 01 Hand curl tube 4 set 8pc 1N ST0608C Stopper for changing the operating range of the J1 axis Stopper part 1S DH 01...

Страница 15: ...ller External device Prepared by customer External I O cable 2A CBL05 5m 2A CBL15 15m Personal computer cable 2D 232CBL03M RS 232 Refer to Table 1 4 for USB cable Standard configuration Special specif...

Страница 16: ...365 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 typ...

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 th...

Страница 18: ...city is the mass with the mechanical interface posture facing down word at the 10 limit kg N 12 117 6 Rating 10 98 0 Pose repeatability Note4 Note4 The pose repeatability details are given in Page 9 2...

Страница 19: ...surface The 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...

Страница 20: ...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 Fa...

Страница 21: ...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 m...

Страница 22: ...ditions 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 Nu...

Страница 23: ...ers 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...

Страница 24: ...s 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...

Страница 25: ...repared 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 6 pneumatic hose of the primar...

Страница 26: ...t Robot arm 2 3 Names of each part of the robot Fig 2 2 Names of each part of the robot J5 axis J6 axis Fore arm Mechanical interface Hand installation flange surface Upper arm J1 axis J2 axis J3 axis...

Страница 27: ...tallation hole 2 6 holes prepared holes for 8 positioning pins View D bottom view drawing Detail of installation dimension Installation 6 3a Installation 6 3a 530 97 120 150 63 97 120 106 80 400 220 4...

Страница 28: ...eg J1 75deg and the angle of axis J2 is 25deg J2 2deg then operating range is limited to J2 J3 2 258deg If the angle of axis J1 is 75deg J1 75 deg and the angle of axis J2 is 80deg J2 25deg then opera...

Страница 29: ...repared holes for 8 positioning pins View D bottom view drawing Detail of installation dimension Installation 6 3a Installation 6 3a 215 161 164 230 50 130 88 89 93 89 R 3 0 3 140 214 670 Solenoid val...

Страница 30: ...5 97 670 150 690 470 P 716 322 1 0 0 R 6 7 5 4 0 R307 70 130 R 4 6 7 R 5 6 0 R1235 R 5 6 0 R 6 7 5 200 or more R673 Flange downward limit line dotted line P point path Rear surface area wide angle nar...

Страница 31: ...piping pneumatic hose Hand input signal cable Hand output signal cable Secondary piping pneumatic hose 6 customer prepared Connector and pneumatic coupling No Name Qty Robot side Robot arm side Count...

Страница 32: ...tion 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 o...

Страница 33: ...output cable attached to the solenoid set Hand input cable option 6 quick coupling 1 to 8 Hand signal input connection connector Hand signal output connector GR1 connector AIR IN RETURN A1 A2 A3 B1 B2...

Страница 34: ...tion 6 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...

Страница 35: ...A or more OFF voltage OFF current 4VDC or less 1mA or less Input resistance Approx 3 3k Response time OFF ON 10ms or less DC24V ON OFF 10ms or less DC24V Item Specification Internal circuit Type Trans...

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 oille...

Страница 37: ...er needs customer installation is required for the options Options come in two types set options and single options 1 Set options A combination of single options and parts that together from a set for...

Страница 38: ...he 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 Note...

Страница 39: ...e The square in the cable name indicates the cable length Item Motor signal cable 1S LCBL S 01 Motor power cable 1D LCBL P 01 No of cores AWG 24 0 2mm2 4P AWG 24 0 2mm2 7P AWG 18 0 75mm2 AWG 17 1 25mm...

Страница 40: ...xible cable Silicon rubber Nylon clamp 1S LCBL S 01 1S LCBL P 01 300 400 NK 18N NK 14N Controller 300 400 NK 14N NK 18N Nylon clamp Robot arm The fixed cable standard attachment Extended flexible cabl...

Страница 41: ...e limit 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 oper...

Страница 42: ...ne set Two sets Three sets Four sets Solenoid valve set 1 set 1S VD01 01 1S VD01E 01 1 pc 0 3 M4x8 four screws installation screws 1S VD01 01 VD02 01 VD03 01 VD04 01 are the sink type 1S VD01E 01 VD02...

Страница 43: ...1 GR2 24V RG Reserve GR3 GR4 Reserve Reserve White Black Red Black Red Black Red Black Red SOL3A SOL3B SOL4A SOL4B A3 GR2 A4 A1 A2 B3 B4 B1 B2 GR5 GR6 24V RG Reserve GR7 GR8 Reserve Reserve White Blac...

Страница 44: ...2 12 Outside dimensional drawing and pin assignment 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...

Страница 45: ...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...

Страница 46: ...l drawing 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 curl tube Four set 2 p...

Страница 47: ...5 For specific information about parts to be replaced and timing of overhaul contact your local service representative Fig 2 15 Periodic inspection overhaul periods 2 8 Maintenance parts The consumabl...

Страница 48: ...ver B packing 1 Shoulder cover B 1 Robot arm side RV 12SDL 12SDLC 12 Shoulder cover packing Part Code K07S24338151 Shoulder cover packing A 2 Shoulder cover 1 Cover side 13 Shoulder cover packing B 2...

Страница 49: ...ne 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...

Страница 50: ...SSCNET 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 Note4 Note4 Please use t...

Страница 51: ...ron 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...

Страница 52: ...he 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 progra...

Страница 53: ...ing 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 switc...

Страница 54: ...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...

Страница 55: ...d 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 cus...

Страница 56: ...tor 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 E...

Страница 57: ...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 Co...

Страница 58: ...ion 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 Ethern...

Страница 59: ...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 d...

Страница 60: ...s Installation dimensions 3 Controller 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...

Страница 61: ...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...

Страница 62: ...side dimensions Installation dimensions 3 Controller Fig 3 10 Outside dimensions of controller CR3D 700 CE Marking When caster specification hole CR3D 700 series CE Marking specification Transformer b...

Страница 63: ...aust 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 A...

Страница 64: ...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 temperat...

Страница 65: ...ew from upside Maintenance area Approx Back 500 Note Front 500 Approx 300 Approx Side Side Approx 200 Controller upside Note1 The controller sucks in the outside air and discharges the inside air afte...

Страница 66: ...le 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...

Страница 67: ...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...

Страница 68: ...s an option The Page 79 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 60 3 6 Emergency stop...

Страница 69: ...as the STOP parameter 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 t...

Страница 70: ...e jog mode Jog mode output 2 bit Outputs the current jog mode JOG Jog feed side for 8 axes Requests the side jog operation None JOG Jog feed side for 8 axes Requests the side jog operation None HNDCNT...

Страница 71: ...alls the ferrite core Install the ferrite core in less than 30cm from the contact button You should always connect doubly connection of the emergency stop the door switch and the enabling switch Conne...

Страница 72: ...top switches 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 EMGIN within...

Страница 73: ...tc 3 62 Fig 3 18 Emergency stop cable connection CR3D 700 R700SFT EMGIN EMGOUT 300mm CR3 700 700M Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 19 EMGOUT EMGIN Safty unit Cable Fer...

Страница 74: ...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 arra...

Страница 75: ...P shown in Page 65 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 m...

Страница 76: ...us 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 a...

Страница 77: ...ot s servo power can be immediately cut only by switch operation of the enabling device 1 servo off and the safety increases To use the robot safely please be sure to connect the enabling device 1 Whe...

Страница 78: ...e 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 t...

Страница 79: ...ional 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...

Страница 80: ...connection CR3D 700 700M EMGOUT OPT2 R700CPU SSCNET cable SSCNET cable Servo amplifier Servo amplifier OPT connector CN1A connector CN1B connector CN1A connector Cap CN1B connector It cannot communic...

Страница 81: ...ction 3 70 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 EM...

Страница 82: ...ter 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 w...

Страница 83: ...rate 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 pleas...

Страница 84: ...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 Cont...

Страница 85: ...it 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 C...

Страница 86: ...r 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 serv...

Страница 87: ...s 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 r...

Страница 88: ...cted 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 Di...

Страница 89: ...ecelerates 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 numeric...

Страница 90: ...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 insulatio...

Страница 91: ...elay 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 inter...

Страница 92: ...n 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 inter...

Страница 93: ...nfiguration Table 3 12 Configuration device Specifications 1 The CR3D 700 series controller can connect this three interfaces Table 3 13 Electrical specifications of input circuits Part name Type Qty...

Страница 94: ...roller 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 ci...

Страница 95: ...O interface 3 84 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 R700...

Страница 96: ...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 o...

Страница 97: ...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 outpu...

Страница 98: ...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 Ou...

Страница 99: ...nnector 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...

Страница 100: ...ector pin numbers and cable colors when making the connections Fig 3 37 Connections and outside dimensions Eg Pin number color indication Orange Red Type of dot mark see figure below Color of dot mark...

Страница 101: ...th 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 No...

Страница 102: ...ge 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...

Страница 103: ...tor Pin No RIO1 2 100 TXRXH TXRXL SG GND List of parts and manufacturer Type Connector type Contact type Resistant Manufacturer NETcable 1 1 178288 3 2 175218 3 6 AMP DCcable 2 2 178288 3 1 175218 3 3...

Страница 104: ...connector 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 screw 6 168...

Страница 105: ...700 700M 60 54 6 Radiation wiring space 150 6 156 2 screw 6 168 Heat radiation space 128 175 100 Wiring space 40 2A RZ361 Installation dimensions of 2A RZ361 6 downside upside Control panel installati...

Страница 106: ...tor 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...

Страница 107: ...or 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 damag...

Страница 108: ...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...

Страница 109: ...ral 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...

Страница 110: ...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 G...

Страница 111: ...4 VDC must be prepared by the customer 60mA 24 12V Output Fuse 0V COM QX41 Mitsubishi programmable controller QY41P Mitsubishi programmable controller 24V COM X Y 24V Input Parallel I O interface Outp...

Страница 112: ...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 col...

Страница 113: ...eath 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...

Страница 114: ...Personal 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...

Страница 115: ...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 F...

Страница 116: ...c 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 set...

Страница 117: ...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 pro...

Страница 118: ...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 sp...

Страница 119: ...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 an...

Страница 120: ...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...

Страница 121: ...ication of the robot arm and controller Robot Arm Setup Maintenance BFP A8657 Installation method of the robot arm jog operation and maintenance and inspection procedures Controller Setup Basic Operat...

Страница 122: ...er Table 3 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...

Страница 123: ...el 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 deceleratio...

Страница 124: ...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 Co...

Страница 125: ...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 prog...

Страница 126: ...ints 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 Spec...

Страница 127: ...t 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 p...

Страница 128: ...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 un...

Страница 129: ...ails of each instruction manuals 5 118 Explains the detailed description of data configuration of shared memory monitoring and operating procedures about the GOT CRnD 700 series controller Extended Fu...

Страница 130: ...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...

Страница 131: ...ations maintenance and safety required for the robot work Only trained and registered operators must operate the robot Participation in the Special training for industrial robots sponsored by the Labo...

Страница 132: ...ely 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 signal...

Страница 133: ...f explanation there is the section different from the product Also refer to Page 63 Fig 3 19 External emergency stop connection Wiring example 1 Connect the emergency stop switch of peripheral equipme...

Страница 134: ...heral 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 w...

Страница 135: ...h 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...

Страница 136: ...pments 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 t...

Страница 137: ...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 a...

Страница 138: ...Avoid installing the robot on a bumpy or inclined floor Where there is heavy powder dust and oil mist present 6 3 Precautions for handling 1 The precision of the robot may drop looseness may occur an...

Страница 139: ...unit to the primary power source in order to reduce interference 13 Do not conduct an insulated voltage test If conducted by mistake it may result in a breakdown 14 Fretting may occur on the axis whic...

Страница 140: ...D0 E 01 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 1N ST060 C Not provided 1 set 2 sets 3 s...

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Страница 168: ...without notice HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 5 1 14 YADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative MITSUBISHI ELECTRI...

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