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２ Robot arm

Outside dimensions ・ Operating range diagram

2-14

(3) Operating range (Common to the standard/CE Marking)

Fig.2-5 ： Operating range diagram (Common to the standard/CE Marking)

注)側面図の姿勢

各軸の角度が J1=0°,J2=0°,J3=90°,J4=0°,J5=0°,J6=0°の場合を図示しています｡

注)動作範囲制限

J1軸が (-75°< J1 < 70°)で，かつJ2軸が (J2 < -110°)の範囲にある時，J3軸は (80°<= J3)に制限されます｡

P-point path

Flange downward limit line

P-point path

Control point

(R-point)

Flange upward

limit line

Flange downward

singular point limit

Note) The posture of side view

The case where the angle of each axis is the following is shown

J1=0 degree, J2=0 degree, J3=90 degree, J4=0 degree, J5=0

degree., J6=0 degree.

Note) Restriction of operating range

If the angle of J1 axis is -75 degree < J1 < 70 degree and J2

axis is J2 < -110 degree, the operating range of J3 axis is lim

ited to 80 degree <= J3.

Содержание MELFA SQ Series

Страница 1: ...Mitsubishi Industrial Robot SQSeries RV 2SQ 2SQB Standard Specifications Manual CR1QA 700 series Controller BFP A8777 R ...

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: ...s 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 customer Gua...

Страница 6: ...カバー端子カバーアース接続ネジコントローラ KEY11 KEY12 KEY21 KEY22 Drive unit Cover Cover Earth leakage breaker Terminal Earth screw CR1QA series Note The figure is DU1A 772 Drive unit Note Please prepare by the customer in the DU1A 772 drive unit ...

Страница 7: ...ged DU1A 771 S16 drive unit CE marking specification was added The rear cover of the DU1A drive unit was made unnecessary The note about temperature of the air to supply for hand was added 2011 05 09 BFP A8777 K Table 1 4 Recommendation article of the USB cable was corrected Prepare the earth leakage breaker of non CE specification by the customer The depth in which the screw of the mechanical int...

Страница 8: ...c tions and a command list Page 81 4 Software separately About KC mark specifications This robot acquires certification of KC mark by the special specification S19 Although the three kinds of drive units standard specification CE Marking specification S15 CE Marking specification S16 are described in this book and you can choose either one The external form of drive unit which have KC mark specifi...

Страница 9: ...Q standard specification CE marking S16 specification 2 12 2 RV 2SQB S15 CE marking S15 specification 2 13 3 Operating range Common to the standard CE Marking 2 14 2 5 Tooling 2 15 2 5 1 Wiring and piping for hand 2 15 1 RV 2SQ Standard specification CE marking S16 specification 2 15 2 RV 2SQB CE marking S15 specification 2 16 2 5 2 Internal air piping 2 17 2 5 3 Internal wiring for the pneumatic ...

Страница 10: ...Magnet contactor control connector output AXMC for addition axes 3 63 3 9 Key switch interface Only for the DU1A 772 drive unit 3 65 1 Specification of the key switch interface 3 65 2 Connection of the key switch interface 3 66 3 10 Options 3 67 1 Teaching pendant T B 3 68 2 Pneumatic hand interface 3 71 3 Key switch extension cable Only for the DU1A 772 drive unit 3 73 4 TB extension cable 3 75 5...

Страница 11: ...Contents iii Page 7Appendix Appendix 98 Appendix 1 Specifications discussion material Appendix 98 ...

Страница 12: ...e cable 5 Robot arm installation bolts 6 Earth leakage breaker CR1QA 700 series CE Specification 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 specifica...

Страница 13: ...ion of these type names in this volume as the CE Marking specification Table 1 2 Robot models with CE marking specifications Note The main differences between S15 and S16 are the shape of the machine cable connector Refer to Page 23 1 Machine cable extension 1 4 Indirect export The display in English is available by setting parameter LNG as ENG 1 5 Instruction manuals The instruction manuals suppl...

Страница 14: ...ication Fix type 1S CBL 11 Flex type 1S LCBL 11 CE marking S15 specification Fix type 1S CBL 03 Flex type 1S LCBL 03 Note1 refer the length Refer to Page 5 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 J1 axis 1S DH 11J1 J2 axis 1S DH 11J2 J3 axis 1S DH 11J3 Refer to Pa...

Страница 15: ...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 1 The base board the power supply unit and sequencer CPU are required for installation of the robot CPU unit Prepared by customer Special specification for change the cable length 5m 20m 30m Refer to Table 1 3 Drive unit DU1A 700 series The figure is DU1A 772 ...

Страница 16: ...customer Hand input cable 1S HC30C 11 Robot side connector Hand side wire The cable is connected to the sensor by the customer Hand curl tube 1E ST0402C For solenoid valve 1set Φ4x2 Curl type air tube 1E ST0404C For solenoid valve 2set Φ4x4 Simple teaching pendant R32TB Cable length 7m With 3 position deadman switch IP65 R32TB 15 Cable length 15m Highly efficient teaching pendant R56TB Cable lengt...

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: ... velocityNote3 Note3 This is the value on the mechanical interface surface when all axes are combined mm sec ４４００ Load MaximumNote4 Note4 The maximum load capacity is the mass with the mechanical interface posture facing down word at the 10 limit kg ３０ Rating ２０ Pose repeatabilityNote5 Note5 The pose repeatability details are given in Page 8 2 2 1 Pose repeatability ｍｍ００２ Ambient temperatu...

Страница 19: ...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 20: ...able range 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 cap...

Страница 21: ...e protection standard for approach in the dangerous spot in the tool It indicates the protective structure that the proximity probe 2 5mm in diameter must not advance 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 specifications IEC Standards value Classification Applicable fi...

Страница 22: ... 2 Names of each part of the robot ベース J1軸ショルダ J2軸 J3軸アッパーアーム J4軸フォアアーム J5軸 J6軸メカニカルインタフェースハンド取付フランジ面エルボウエストリストツイストロール Fore arm J4 axis Twist Wrist J5 axis J6 axis Roll Roll J3 axis Upper arm J2 axis Waist J1 axis Shoulder Mechanical interface Hand installation flange surface Base ...

Страница 23: ...tandard specification CE marking S16 specification Rz 25 Rz 25 B C ﾒｶﾆｶﾙｲﾝﾀﾌｪｰｽ部詳細 View C depth 6 screw screw depth 6 depth 6 screw screw depth 6 depth 6 screw Grounding screw Minimum depth 8 depth 8 depth 6 depth 6 Installation Installation installation hole View A View B Detail of installation dimension Detail of mechanical interface 1 1 The depth in which the screw is tightened is 7 5 to 8mm ...

Страница 24: ...S15 specification View C depth 6 screw 2 M3 screw depth 6 screw screw depth 6 depth 6 screw Grounding screw Minimum depth 8 screw depth 8 depth 6 Installation Installation installation hole View A View B Detail of installation dimension Detail of mechanical interface depth 6 depth 6 1 1 The depth in which the screw is tightened is 7 5 to 8mm ...

Страница 25: ...80 J3 に制限されます P point path Flange downward limit line P point path Control point R point Flange upward limit line Flange downward singular point limit Note The posture of side view The case where the angle of each axis is the following is shown J1 0 degree J2 0 degree J3 90 degree J4 0 degree J5 0 degree J6 0 degree Note Restriction of operating range If the angle of J1 axis is 75 degree J1 70 deg...

Страница 26: ...ctor pins 1 Connector 1 1 1903131 6 1903112 2 1 1827864 6 1827587 2 AMP 2 Connector 4 SMP 02V BC BHF 001GI 0 8BS SMR 02V B BYM 001T 0 6 Japan solderless terminal MFG Co LTD 3 Coupling 4 KJS04 M3 SMC Co LTD 4 Coupling 4 UKB4 Koganei 3 1 to 4 Secondary piping couplings φ4 1 Hand input signal connectors Solenoid valve set optional installation section Secondary piping hoses φ4 4 GR1 to GR4 Connect to...

Страница 27: ...2V BC BHF 001GI 0 8BS SMR 02V B BYM 001T 0 6 Japan solderless terminal MFG Co LTD 3 Coupling 4 KJS04 M3 SMC Co LTD 4 Coupling 4 UKB4 Koganei 1 Hand input signal connectors CON1H Secondary piping hoses φ4 4 GR1 to GR4 Connect to the b Hand output connector Primary piping pneumatic hoses φ6 1 Note2 Magnification Note1 When using the hand output signal it is necessary to use the optional pneumatic ha...

Страница 28: ...hen the controller uses the optional pneumatic hand interface 2A RZ365 2A RZ375 the hand output signal works as the pneumatic hand cable The hand output cable extends from the connector of the base section to the back side of the base section AWG 24 0 2mm2 x 2 8 cables The cable terminals have connector bridges for four hand out puts The connector names are GR1 to GR4 2 5 4 Internal wiring for the...

Страница 29: ... １４ AIR OUT1 AIR OUT2 AIR OUT3 AIR OUT4 リスト部ベース部 900 24V 901 24V 902 24V 903 24V GR1 GR2 GR3 GR4 １２１２１２１２ B3 1次エアー供給口へ接続汎用入力900 汎用入力901 汎用入力902 汎用入力903 B4 B5 B6 予約 φ４クイック継手渡し１４予約 Refer to Fig 2 10 for air supply circuit example Hand check 1 Hand check 2 Hand check 3 Hand check 4 General purpose input No 900 901 902 903 General purpose input No Robot controller φ4 quick coupling brid...

Страница 30: ...1 24GND 902 24GND 903 24GND GR1 GR2 GR3 GR4 １２１２１２１２ B3 1次エアー供給口へ接続汎用入力900 汎用入力901 汎用入力902 汎用入力903 B4 B5 B6 予約 φ４クイック継手渡し１４予約 Refer to Fig 2 10 for air supply circuit example Hand check 1 Hand check 2 Hand check 3 Hand check 4 General purpose input No 900 901 902 903 General purpose input No Robot controller φ4 quick coupling bridge 1 to 4 φ4 quick coupling bridge 1 to 4 φ4 hose 4 hos...

Страница 31: ...A or more OFF voltage OFF current 4VDC or less 1mA or less Input resistance Approx 3 3kΩ Response time OFF ON 10ms or less DC24V ON OFF 10ms or less DC24V Item Specification Internal circuit Type Transistor output Sink type Source type GRn GR1 GR8 No of output points 8 Insulation method Photo coupler insulation Rated load voltage DC24V Rated load voltage range DC21 6 to 26 4VDC Max current load 0 ...

Страница 32: ...hat the robot stops when pressure drops Use a hand with a spring pressure clamp or a mechanical lock type hand that can be used in cases where the pressure switch becomes dam aged 3 The optional hand and solenoid valve are of an oilless type If they are used don t use any lubricator 4 If the air supply temperature primary piping used for the tool etc is lower than ambient air temperature the dew c...

Страница 33: ...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 34: ...rd specification CE marking S16 specification Fixed Set of signal and power cables 1S CBL 11 1 set 7 6 10m 10 9 15m 10m or 15m each standard specification CE marking S16 specification Motor signal cable 1S CBL S 11 1 cable Motor power cable 1S CBL P 11 1 cable Flexed Set of signal and power cables 1S LCBL 11 1 set 6 2 5m 11 0 10m 15 4 15m 5m 10m or 15m each standard specification CE marking S16 sp...

Страница 35: ...ed 2000mm s or less Guidance of life count 7 5 million times Environmental proof Oil proof specification sheath for silicon grease cable sliding lubricant type Cable configuration Motor signal cable Standard specification CE marking S16 specification φ6 x 6 CE marking S15 specification φ6 x 5 φ8 5 x 1 φ1 7 x 1 Motor power cable Standard CE marking S15 CE marking S16 specification φ6 5 x 10 Item Mo...

Страница 36: ...0mm ﾛﾎﾞｯﾄ本体ｺﾈｸﾀ面ﾄﾞﾗｲﾌﾞﾕﾆｯﾄｺﾈｸﾀ面 300 400mm ナイロンクランプ NK 18N ナイロンクランプ NK 14N Drive unit DU1A 772 DU1A 771 S16 Motor power cable Nylon clamp Nylon clamp Nylon clamp Nylon clamp Nylon clamp Silicon rubber Motor power Motor signal Robot arm Opposite side of figure Connection ring fixing Connection latch For fixing Right and left Connection latch For fixing Right and left Motor signal cable Connection r...

Страница 37: ...er etc so that the connector latch part may not touch easily Drive unit DU1A 771 S15 Motor power cable Nylon clamp Nylon clamp Nylon clamp Nylon clamp Silicon rubber Motor power Motor signal Robot arm Opposite side of figure Connection latch Motor signal cable Connector surface for the robot arms Extension section Connection latch Connection latch Connection latch Nylon clamp Extended flexible cab...

Страница 38: ...ngeable 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 Operations for details Part name Type Qty Mass kg Remarks Stopper for changing the operat ing range 1S DH 11J1 2 pcs 0 1 Stopper bl...

Страница 39: ...ame Type Q ty Remark One set Two sets Solenoid valve set 1 set 1E VD01 1E VD01E 1 pc M3 x 25 two screws installation screws Solenoid valve set 2 sets 1E VD02 1E VD02E 1 pc Item Specifications Number of positions 2 Port 5 Note1 Note1 Couplings of unused solenoid valves must be blocked with plugs If they are not blocked supplied air will blow out from the couplings lowering the air pressure of the s...

Страница 40: ... GR3 GR4 Connector name SOL1A SOL1B SOL2A SOL2B 24V 24V 24V Black Red Black Red Black Red Black Red Sink type General purposes output 900 General purposes output 901 General purposes output 902 General purposes output 903 28 4 35 6 36 4 以下 20 以下 45 1 4 2 6 5 3 10 11 1 12 2 φ3 3 28 24 30 82 GR1 GR3 GR2 GR4 SOL1A SOL2A SOL2B SOL1B Part no Part name 1 sets 2 sets Specifications 1 Solenoid valve １２ 2...

Страница 41: ... 2 14 Configuration equipment Specifications Table 2 15 Specifications Fig 2 14 Outside dimensional drawing and pin assignment Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Hand input cable 1S HC30C 11 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 370mm Including the curl section 15 200 3...

Страница 42: ... 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 1E GR35S 1 cable 0 1 Item Specifications Remarks Size x Cable core AWG 22 0 3mm2 8 cores One side connector and one side cable connection Total length 350mm 1 2 1 2 1 2 1 2 GR1 GR2 GR3 GR4 Connector White Blac...

Страница 43: ... Specifications Table 2 19 Specifications Fig 2 16 Outline dimensional drawing 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 Item Specifications Material Urethane Size Outside diameter φ4 x Inside diameter φ2 5 250 ツーリング側 180 200 ロボット側 Tooling side Rob...

Страница 44: ... 17 For specific information about parts to be replaced and timing of overhaul contact your local service representative Fig 2 17 Periodic inspection overhaul periods 2 8 Maintenance parts The consumable parts used in the robot arm are shown in Table 2 20 Purchase these parts from the designated maker or dealer when required Some Mitsubishi designated parts differ from the maker s standard parts T...

Страница 45: ...utting 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 input output point Input 4 point Output 0 point Up to 4 output points can be added as an optionNote3 Note3 It is when an pneumatic h...

Страница 46: ... 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 the input power voltage The power consumption in the specific operation pattern with the RV 2SQ is approx 0 33kW The short circuit breaker should use the following Operate by the current leakage under the comme...

Страница 47: ...st oil and water Information The IEC IP20 It indicates the protective structure that prevents an iron ball 12 0 0 05mm diameter which is being pressed with the power of 3 1 kg 10 from going through the opening in the outer sheath of the supplied equipment Refer to the section Page 96 6 2 Working environment for details on the working environment Item Unit Specification Remarks Type Q172DRCPU Inter...

Страница 48: ...ble leading out side Power indicator Key switch interface To change the right of operation Refer to Page 65 3 9 Key switch interface Only for the DU1A 772 drive unit for specification POWER switch Lock plate Power switch lock mechanism Refer to Page 39 1 Padlock specification for specification Filter intake vent T B connection connector DU1A 772 Standard specification ...

Страница 49: ...oller or external equipment are valid Operations for which the operation mode must be at the external device or T B are not possible It is necessary to set the parameter for the rights of operation to connection between the operation panel and external equipment For details please refer to INSTRUCTION MANUAL Detailed explanations of functions and operations of the separate volume MANUAL When the T...

Страница 50: ...ixed 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 padlock 2...

Страница 51: ... the robot Emergency stop output EMGOUT 1 The robot s error condition is outputted Hand slot HND Install the pneumatic hand interface optional Special stop input SKIP 1 Stops the robot immediately OPT 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 attached 1 Please use insta...

Страница 52: ...error condition is outputted Hand slot HND Install the pneumatic hand interface optional Special stop input SKIP 1 Stops the robot immediately OPT1A CON3 DCOUT CNDISP Connecting with the robot CPU unit Grounding terminal 3 places The screw for grounding of the cable Peel the sheath of the cable and fix with cable clamp attached 1 Please use installing the attached ferrite core Refer to each descri...

Страница 53: ...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 54: ...s Installation dimensions 3 Controller 3 3 Outside dimensions Installation dimensions 3 3 1 Outside dimensions 1 Drive unit outside dimension Fig 3 7 Outside dimensions of controller DU1A 772 DU1A 772 Standard specification ...

Страница 55: ...3 Controller Outside dimensions Installation dimensions 3 44 Fig 3 8 Outside dimensions of controller DU1A 771 S15 DU1A 771 S15 CE marking specification ...

Страница 56: ...3 45 Outside dimensions Installation dimensions 3 Controller Fig 3 9 Outside dimensions of controller DU1A 771 S16 DU1A 771 S16 CE marking specification ...

Страница 57: ...3 Controller Outside dimensions Installation dimensions 3 46 2 Outside dimensions of robot CPU unit Fig 3 10 Outside dimensions of robot CPU ...

Страница 58: ...3 47 Outside dimensions Installation dimensions 3 Controller 3 Battery unit outside dimension Fig 3 11 Outside dimensions of battery unit 2 Φ5 5 hole ...

Страница 59: ...lation dimensions of drive unit Fig 3 12 Installation of controller DU1A 772 Fig 3 13 Installation of controller DU1A 771 S15 S16 170mm以上 20mm 50mm 吸気口 170 mm or more Intake vent DU1A 772 Standard specification 170mm以上 20mm 50mm 吸気口 DU1A 771 S15 S16 CE marking specification Intake vent 170mm or more ...

Страница 60: ...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 61: ...sion The controller has the openings parts for pulling out the cable as shown in Fig 3 15 Fig 3 15 Cable lead in and dimension of the controller DU1A 700 series Input power supply lead in 15x22 DU1A 700 series Although the figure is standard specification CE marking specification is the same ...

Страница 62: ...is an option The Page 71 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 54 3 6 Emergency stop input and output etc and on Page 91 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 63: ...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 64: ... 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 65: ...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 66: ...ies CAUTION 300mm以内 EMGINコネクタフェライトコア付属品２回通し Pin allotment of EMGIN and the EMGOUT connector is shown in Fig 3 16 Within 300mm Ferrite core attachments Pass twice EMGIN DU1A 700 series Note Install one ferrite core on the emergency stop line of both of the input signal and output signal between peripheral equipment each However when wiring by the input output signal line is bundled install two f...

Страница 67: ...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 68: ...own in Page 58 Fig 3 18 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 69: ...currently stuck on the connector and connect 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 300mm or less Ferrite core attachments Pass twice DU1A 700 series The figure is ...

Страница 70: ...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 71: ...put is set to Close On the state of door switch input does not matter 2 Jog operation Note3 Note3 Jog operation if door switch input is set for Close Door Close must be performed outside the safety bar rier Manual Enable ON Open OFF Close Door Close If the enabling device input is set to Open Off door switch input must be in a state of Close 3 Brake release Note4 Note4 It is imperative that brake ...

Страница 72: ...connection example con figuration example The magnet contactor control connector for additional axes AXMC1 is designed to accom modate circuit connection with improved safety in Mitsubishi s industrial robot systems connecting additional axes Please implement the appropriate circuit connection by refer to Page 63 3 8 Magnet contactor control connec tor output AXMC for addition axes Table 3 8 Dedic...

Страница 73: ... SW Q172DRCPU ACFAIL RIO MPG TU I F DISPLAY I F フェライトコア CE仕様のみ２回通し Robot CPU Q172DRCPU SSCNET Ⅲ cable CN1A connector Servo amplifier Servo amplifier SSCNET Ⅲ cable CN1A connector CN1B connector CN1B connector Cap CN2 connector Magnetic contact It cannot communicate if connection of CN1A and CN1B is mistaken CN1A connector CN1A connector CN1A connector CN1A connector DU1A 700 series Ferrite core O...

Страница 74: ...itional 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 22 Example of circuit for addition axes of Magnet contactor control output MC2 NV MC MC1 NV 5B 6B AXMC2 AXMC1 5A 6A 88 EM...

Страница 75: ... タイコエレクトロニクスアンプ型名 1 1871940 6 EMGOUT1 EMGOUT2 Reference The connection method of the electric wire is the same as connection of the emergency stop Please refer to Page 54 3 6 1 Connection of the external emergency stop Minus driver plug area Electric wire plug area Contactor control output for addition axes AXMC2 Contactor control output for addition axes AXMC1 Controller Custmer EMGOUT EMGOUT co...

Страница 76: ...e performed Fig 3 24 Mode changeover switch image figure 1 Specification of the key switch interface The function and specification of the key switch interface are shown below Table 3 10 Specification of the key switch interface Item Specification Remarks Rated voltage DC24V Supply from the drive unit Current rating Approx 10mA Select the switch or button which operates normally in 24V 10mA Input ...

Страница 77: ...erminal opening and closing lever with the minus driver etc and open the terminal 2 Insert the electric wire in the terminal Insert certainly to the back 3 Detach the terminal opening and closing lever The electric wire is connected Terminal opening and closing lever Push the lever by the minus driver recommendation size 2 0 3 0mm etc and insert the electric wire in the terminal Terminal Connect t...

Страница 78: ...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 79: ...ses 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 o...

Страница 80: ...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 81: ...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 82: ... 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 83: ...ction Manual Controller setup basic operation and maintenance for details on the installing method Fig 3 28 Installation of the pneumatic hand interface DU1A 700 series 矢視A CNHNDOUT CNHND エアハンドインタフェース CNHND CNHNDOUT エアハンドインタフェース 2A RZ365 2A RZ375 ハンドインタフェース中継カード 2D TZ315 M4ネジ 2箇所 A Pneumatic hand interface 2A RZ365 RZ375 Pneumatic hand interface Hand interface relay card View A M4x2 The figure is ...

Страница 84: ...tch interface Installation connection specification 1 Installation specification operation panel of customer preparation Fig 3 30 Installation of the key switch extension cable Part name Type Qty Remarks Key switch extension cable 2D KEY CBL05M 2D KEY CBL10M 2D KEY CBL15M Either one pc The key switch with the connecting cable Key switch maker IDEC Type HAIK 2C2A 2 TK2469 Indication seal BU764D213H...

Страница 85: ...the lever by the minus driver recommendation size 2 0 3 0mm etc and insert the electric wire in the terminal Terminal Connect the electric wire Peel sheathing about 10mm The connection method of the electric wire 1 Push the terminal opening and closing lever with the minus driver etc and open the terminal 2 Insert the electric wire in the terminal Insert certainly to the back 3 Detach the terminal...

Страница 86: ...ve unit The connector side which connects the T B can be fixed to the operation panel of customer preparation Configuration Table 3 16 Configuration device Specifications Fig 3 32 TB extension cable outline Part name Type Qty Remarks TB extension cable 2D EXTB CBL05M 2D EXTB CBL10M 2D EXTB CBL15M Either one pc Indication seal BU764D213H02 One sheet The indication of TB TB extension cable installat...

Страница 87: ...o the scalpel side connector fixed to the operation panel etc of customer preparation Pasting the indication seal Notes The board thickness which can be installed is 0 5mm to 2 3mm Installation of TB extension cable Fix the scalpel side connector to the operation panel etc of customer preparation 4 M3 screws Connector installation hole size Indication seal accessories Indication seal Installation ...

Страница 88: ...he Windows standard is used for windows operation so the controller initialization and startup operations can be carried out easily by following the instructions given on the screen Even a beginner can easily carry out the series of operations from program creation to execution 2 Increased work efficiency with ample support functions The work efficiency is greatly improved with the multi window me...

Страница 89: ...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 90: ...oller Robot Arm Setup Maintenance BFP A8778 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 A8661 Functions of the controller and T B operation met...

Страница 91: ...hus confirm the part name robot arm and controller serial No and purchase the parts from your dealer Table 3 20 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 ...

Страница 92: ...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 93: ... 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 94: ...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 95: ...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 96: ...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 97: ...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 98: ...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 99: ...e 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 robot stops and an alarm d...

Страница 100: ...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 101: ...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 102: ...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 56 Fig 3 17 External emergency stop connection Wiring example 1 Connect the emergency stop switch of peripheral equipment to the robot controller The power supply for emergency stop input uses the power supply in the robot controller Operatio...

Страница 103: ...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 104: ...r 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 59 3 6 4 Enabling device function for the enabling device Caution Since we have omitted the information in pa...

Страница 105: ...eously 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 fact...

Страница 106: ...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 107: ...er dust and oil mist present 6 3 Precautions for handling 1 RV 2SQ has brakes of J2 J3 and J5 axes RV 2SQB has brakes of all axes The precision of the robot may drop looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brakes applied Moreover when the axis without the brake is servo off take care to falling by the self weight 2 Avoid moving the robot...

Страница 108: ... 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 which moving angle or moving distance move minutely or not moves Fretting is that the required oil film becomes hard to be formed if the moving angle is small and wear occurs The axis which not moved is ...

Страница 109: ...xtension CE marking S15 specification 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 1E VD01 1E VD01E 1E VD02 1E VD02E Not provided １ E VD01 １ E VD01E Not provided １ E VD02 １ E VD02E Hand input cable 1S HC30C 11 Not provided Provided Hand output cable 1E GR35S Not provided Provided Hand curl tube 1E ST040 C Not p...

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Страница 138: ... 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 ELECTRIC EUROPE B V GERMANY Gothaer Str 8 40880 Ratingen P O Box 1548 40835 Ratingen Germany ...

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