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3 Controller

Instruction Manual(bound edition)

3-8

(13) Instruction Manual(bound edition)

■ Order type ： ● 4S-MAP-103

■ Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this
product.

■ Configuration

Table 3-

： Product configuration

Part name

Type

Mass(kg)

Note1)

Note1)Mass indicates one set.

Specifications

Instruction Manual

4A-MAP-103

2.4

Instruction manual set for theRV-3S/3SJ series

Safety Manual

BFP-A8006

Items relating to safety in handling the robot

Standard Specifications

BFP-A8387

Specification of the robot arm and controller

Robot Arm Setup & Maintenance

BFP-A8388

Installation method of the robot arm, jog operation, and
maintenance and inspection procedures

Controller Setup, Basic Operation and Maintenance

BFP-A8054

Installation method of the controller, basic operation, and
maintenance and inspection procedures

Detailed Explanation of Functions and Operations

BFP-A5992

Functions of the controller and T/B, operation method, and
explanation of MELFA-BASIC Ⅳ

Troubleshooting

BFP-A5993

Causes of errors occurred and their countermeasures

Explanations of MOVEMASTER COMMANDS

BFP-A8056

Explains details of the MOVEMASTER commands

Содержание RV-3S Series

Страница 1: ...Mitsubishi Industrial Robot RV 3S 3SJ Series Standard Specifications Manual CR1B 571 Controller BFP A8387 E...

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 o...

Страница 4: ...his could lead to mal functioning 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 robo...

Страница 5: ...al information of the robot controller may be damaged Precautions for the basic configuration are shown below When CR1 571 CR1B 571 is used for the controller Provide an earth leakage breaker that pac...

Страница 6: ...10 BFP A8387 B Error in writing correction 2009 06 23 BFP A8387 C The EC Declaration of Conformity was changed Correspond to the EMC directive 2004 108 EC 2009 07 29 BFP A8387 D The EC Statement of C...

Страница 7: ...nch or dealer Mitsubishi hopes that you will consider these standard specifications and use our robots Note that in this specification document the specifications related to the robot arm is described...

Страница 8: ...rotection specifications 2 11 2 About the use with the bad environment 2 12 2 2 6 Clean specifications 2 13 1 Types of clean specifications 2 13 2 3 Names of each part of the robot 2 14 2 4 Outside di...

Страница 9: ...ce 3 80 11 Additional axis interface 3 82 12 Personal computer support software Personal computer support software mini 3 84 13 Instruction Manual bound edition 3 86 3 9 Maintenance parts 3 87 4 Softw...

Страница 10: ...uarantee card 1 1 2 Shipping special specifications Part of the standard structural equipment is changed at the time of factory shipment Consequently kindly con firm the delivery date To make changes...

Страница 11: ...fications Manual BFP A8407 for details of the robot models with CE marking specifications Non CE marking specification CE marking specification Language setting Japanese JPN Language setting English E...

Страница 12: ...LNG is set to English ENG 1 5 Instruction manuals The instruction manuals supplied with the shipment are provided in electronic form in a CD ROM except for the Safety Manual This CD ROM electronic man...

Страница 13: ...ype 1S CBL 03 Flexed type 1S LCBL 03 Note1 refer the length Refer to Table 1 3 for datails Note2 Extend by adding to the arm side of the standard accessory cable for fastening Machine cable Fixed type...

Страница 14: ...371 Source External I O cable 2A CBL05 5m 2A CBL15 15m E x p a n s i o n option box CR1 EB3 E x t e n d e d serial I F 2A RZ581E ETHERNET I F 2A HR533E CC LINK I F 2A HR575E Additional axis I F 2A RZ5...

Страница 15: ...c hand interface 2A RZ365 DO 8 point Sink type It is necessary when the hand output signal of the robot arm is used Integrated in the controller Parallel I O Unit 2A RZ361 DO 32 point Sink type DI 32...

Страница 16: ...m sec 5 500 5 300 Load Maximum Note3 Note3 The maximum load capacity is the mass with the flange posture facing downword at the 10 limit kg 3 5 Rating 3 Pose repeatability Note4 Note4 The pose repeata...

Страница 17: ...urned 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...

Страница 18: ...pacity is greatly influenced by the operating speed of the robot and the motion posture Even if you are within the allowable range mentioned previously an overload or generate an overcurrnt alarm coul...

Страница 19: ...d Size Hand Conditions 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 WRKD...

Страница 20: ...y 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 pressu...

Страница 21: ...ty is invalid for any faults that occur when the robot is used under the following conditions Also if the cover and or other parts are damaged by interferences caused by the peripheral devices and the...

Страница 22: ...by the cus tomer Install the vacuum generating valve downstream of the downflow or install a filter in the exhaust air sec tion so that the exhaust air from the vacuum generating valve does not affec...

Страница 23: ...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...

Страница 24: ...for fixing wiring hookup M4 View D Detail of screw holes for fixing wiring hookup for customer use 65 72 70 102 80 32 48 50 80 20 29 View C Detail of screw holes for fixing wiring hookup Screw holes...

Страница 25: ...ion 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...

Страница 26: ...hookup M4 28 28 View D Detail of screw holes for fixing wiring hookup for customer use 80 32 48 50 View C Detail of screw holes for fixing wiring hookup Screw holes for fixing wiring hookup M4 for cu...

Страница 27: ...id 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 Not...

Страница 28: ...Solenoid valve set optional Use by connecting it with the hand output signal connector 2 6 quick coupling x 2 5 8 quick coupling Note1 Primary piping pneumatic hose Note1 For dust suction in the clean...

Страница 29: ...e pneumatic hand cable 2 The hand output primary cable extends from the connector PCB of the base section to the inside of the forearm AWG 24 0 2mm2 x 2 8 cables The cable terminals have connector bri...

Страница 30: ...5 6 7 8 A1 A2 A3 B1 B2 B3 A1 A2 A3 A4 B1 B2 B3 B4 Solenoid set option valve mounting section 6 quick coupling 6 quick coupling 6 hose 6 hose Primary piping pneumatic hoses Driving devices such as sole...

Страница 31: ...ent 8VDC or more 2mA 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...

Страница 32: ...circuit stop the robot in the event of air pressure drop If the pressure switch does not improve the situation use a device equipped with a mechanical lock mechanism or a mechanism that clamps by spr...

Страница 33: ...me of shipment from the factory Consequently customer need to confirm the delivery date To make changes to the specifications after shipment service work must be performed at the work site or the robo...

Страница 34: ...e 2 9 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 m...

Страница 35: ...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 36: ...tate items related to Table 2 11 and to the amount of silicon grease applied in the cable conduit Caution This option can be installed on clean type but its cleanliness is not under warranty Part name...

Страница 37: ...x with the nylon clamp to protect the cable from external stress Fig 2 10 Fixing the flexible cable Item Motor signal cable 1S LCBL S 01 Motor power cable 1S LCBL P 02 No of cores AWG 24 0 2mm2 4P AWG...

Страница 38: ...ioned 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 se...

Страница 39: ...ecifications Part name Type Q ty Mass kg Note1 Note1 Mass indicates one set Remark One set Two sets Three sets Four sets Solenoid valve set 1 set 1S VD01 02 1 pc 0 3 M4x8 four screws installation scre...

Страница 40: ...Black Red SOL3B SOL3A SOL4B SOL4A White A3 GR2 A4 A1 A2 B3 B4 B1 B2 GR5 GR6 24V COM Reserve GR7 GR8 Black Red Black Red Black Red Black Red Reserve Reserve Connector name Part no Part name 1 sets 2 se...

Страница 41: ...8 Configuration equipment Specifications Table 2 19 Specifications Fig 2 12 Outside dimensional drawing and pin assignment Caution This option can be installed on clean type but its cleanliness is not...

Страница 42: ...ion equipment Specifications Table 2 21 Specifications Fig 2 13 Outline dimensional drawing and pin assignment Part name Type Qty Mass kg Remarks Hand output cable 1S GR35S 01 1 cable 0 1 For four set...

Страница 43: ...2 23 Specifications Fig 2 14 Outline dimensional drawing Caution This option can be installed on clean type but its cleanliness is not under warranty Part name Type Qty Mass kg Remarks Hans curl tube...

Страница 44: ...d parts Thus confirm the part name robot arm and controller serial No and purchase the parts from the dealer Table 2 24 Consumable part list No Part name Type Note1 Note1 Confirm the robot arm serial...

Страница 45: ...ts by mounting the expansion option box Robot input output link channel 1 Used for general purpose input out put Max 240 240 Power source Input voltage range V 1 phase AC180 to 253 Note3 Note3 Please...

Страница 46: ...ater The IEC IP20 It indicates the protective structure that prevents an iron ball 12 0 0 05 mm diameter which is being pressed with the power of 3 1 kg 10 from going through the opening in the outer...

Страница 47: ...vo turns OFF 11 STATUS NUMBER display panel The alarm No program No override value etc are displayed 12 T B connection connector This is a dedicated connector for connecting the T B 13 Personal comput...

Страница 48: ...ODE switch to AUTO 3 Release the T B deadman switch When the mode is changed from AUTO to TEACH 1 While the ENABLE DISABLE switch on the T B is DISABLE hold down the deadman switch 2 While holding dow...

Страница 49: ...ensions Installation dimensions 3 3 1 Outside dimensions Fig 3 3 Outside dimensions of controller SVO OFF STOP END SVO ON MODE TEACH AUTO Ext AUTO Op START RESET DOWN UP STATUS NUMBER REMOVE T B EMG S...

Страница 50: ...ion dimensions 3 Controller 3 3 2 Installation dimensions Fig 3 4 Installation of controller 50mm SVO OFF STOP END SVO ON MODE TEACH AUTO Ext AUTO Op START RESET DOWN UP STATUS NUMBER REMOVE T B EMG S...

Страница 51: ...external devices The hand output is an option Refer to Page 54 2 Pneumatic hand interface for details The parallel input output unit can be expanded outside of the controller The expansion parallel in...

Страница 52: ...ction 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 er...

Страница 53: ...urpose outputs 910 to 917 Mechanism 3 Outputs the status of general purpose outputs 920 to 927 HNDSTS1 HNDSTS3 None Mechanism 1 hand input signal status Mechanism 3 hand input signal status Mechanism...

Страница 54: ...the emergency stop Single emergency line Input Door switch The servo turns OFF Output Emergency stop This output indicates that the emergency stop input or the door switch input is turned on RA1 RA2...

Страница 55: ...function according to the robot status are shown below During automatic operation When the door is opened the servo turns OFF and the robot stops An error occurs The process of the restoration Close t...

Страница 56: ...es prevent failure in case of load short circuit and improper connections Please do not connect loads that cause the current to exceed the maximum rated current If the maximum rated current is exceede...

Страница 57: ...C General purpose output 13 12 Gray Red C General purpose output 10 37 Gray Blue C General purpose output 14 13 White Red C General purpose output 11 38 White Blue C General purpose output 15 14 Yell...

Страница 58: ...e inputs other than for numeric value inputs The signals assigned as dedicated outputs cannot be used in the program An alarm will occur dur ing operation if used Fig 3 8 Parallel input output unit in...

Страница 59: ...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 60: ...is defined as an enable device These standards specify that the robot operation using the teaching pendant is enabled only when the enable device is at a specified position With the Mitsubishi Electr...

Страница 61: ...p Hand strap Enable Disable switch Emergency stop switch Cable with connection connector Contrast adjusting switch Dead man switch Side Back Front 55 153 203 Display LCD R28TB DISABLE EMG STOP TOOL ST...

Страница 62: ...sly with the jog operation key This also turns the Servo ON and carries out step jump 8 FORWD key This carries out step feed and increases the override 9 BACKWD key This carries out step return return...

Страница 63: ...n device Specifications Table 3 10 Specifications Part name Type Qty Mass kg Remarks Pneumatic hand interface 2A RZ365 1pc 0 1 Output 8 points expansion Item Specification Internal circuit Type Transi...

Страница 64: ...the pneumatic hand interface 2A RZ365 into the CNHNDOUT CNHND connector on the control unit Refer to separate Instruction Manual Controller setup basic operation and maintenance for details on the in...

Страница 65: ...ble clamps for your reference Table 3 13 Cable clamp for external emergency stop box recommendation Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Controller protection box CR1B...

Страница 66: ...ayout Fig 3 13 The outside dimension and controller layout Chassis cover Top board Corner type catch clip Window Front panel Rear panel Cable cover Machine cable for power Heat exchanger Cable cover M...

Страница 67: ...n dimensions Fig 3 15 Installation of controller Operation switch TOP 32 0 58 0 70 0 BOX cover BOX base BOX cover installation screw 23 0 conduit Knockout The M4 screw prepared by customer TOP 2 4 6 T...

Страница 68: ...Note1 Mass indicates one set Remarks Expansion option box CR1 EB3 1 1 7 With rubber foot Installation screw 4 Item Unit Specifications Remarks Number of slot slot 3 RT Bus 1 2 3 Power supply method Po...

Страница 69: ...bles required for the option card are lead out from the cable outlet on the rear side 38 290 13 299 7 87 5 151 15 42 Installation of expansion option box Positioning latch Positioning latch Installati...

Страница 70: ...utput unit for details Table 3 17 Electrical specifications of input circuits Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Parallel I O unit 2A RZ361 1 pc 0 7 Input output 32...

Страница 71: ...Insulation method Photo coupler insulation Rated load voltage 12VDC 24VDC Rated load voltage range 10 2 to 30VDC peak voltage 30VDC Max load current 0 1A point 100 Leakage current at OFF 0 1mA or les...

Страница 72: ...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 73: ...ble NETcable 1 from the RIO1 connector in the rear of the controller Fig 3 18 Installing the parallel input output unit RIO1 connector The controller outside installation 60 54 6 Radiation wiring spac...

Страница 74: ...I O unit 7 Station No setting 1 6 NETcable 1 cable Note RIO2 connector RIO2 connector RIO1 connector R TM terminator Station No setting 7 I O unit the bottom Connecta layout DCIN connector Connect the...

Страница 75: ...al purpose input 39 47 Gray Blue E General purpose input 47 23 White Red E Reserved 48 White Blue E Reserved 24 Yellow Red E Reserved 49 Yellow Blue E Reserved 25 Pink Red E Reserved 50 Pink Blue E Re...

Страница 76: ...nnel No of 8 to F is used for the maker test If any value of 8 to F is set it may be dangerous since the robot unexpectedly moves Don t set any value of 8 to F 50 26 25 1 Channel No setting TXD LED di...

Страница 77: ...ral purpose input 71 47 Gray Blue E General purpose input 79 23 White Red E Reserved 48 White Blue E Reserved 24 Yellow Red E Reserved 49 Yellow Blue E Reserved 25 Pink Red E Reserved 50 Pink Blue E R...

Страница 78: ...d I O Signal Assignment Unit No Station number setting CN100 CN300 1st unit 1 Input 32 47 Output 32 47 Input 48 63 Output 48 63 2nd unit 2 Input 64 79 Output 64 79 Input 80 95 Output 80 95 3rd unit 3...

Страница 79: ...ernal I O cable 2A CBL 1pc 0 7 5m 1 84 15m 5m or 15m Items Specifications Number of cables x cable size 50 pairs x AWG 28 Total length 5m or 15m Pin no Cable colors Pin no Cable colors Pin no Cable co...

Страница 80: ...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 81: ...ansion option box Configuration Table 3 27 Configuration device Specifications Fig 3 23 Personal computer cabe connection Part name Type Qty Mass kg Remarks Personal computer cable for PC AT RS MAXY C...

Страница 82: ...er Fig 3 24 Personal computer cabe connector RS MAXY CBL RS AT RCBL 31 54 39 15 15 54 15 15 39 31 1 13 25 14 1 13 25 14 Robot side P C side Type 17JE 23250 02 D8A6 CG DDK Robot side P C side Type 17JE...

Страница 83: ...ote1 Note1 Mass indicates one set Remarks Extended serial interface card RZ581 1 0 6 The show the version of card Instruction Manual BFP A8106 1 Tracking Function Manual BFP A8524 1 Refer to this manu...

Страница 84: ...n Data can be exchanged one to one by specifying the COM number at the communication open destination Pin assignment 1 RS 232C pin assignment Refer to Page 72 7 Personal computer cable 2 RS 422 pin as...

Страница 85: ...3 Controller Extended serial interface 3 76 10 DSR CSA Data set ready 22 DSR CSB Data set ready Pin no Abbreviated signal name Signal name Signal direction 2A RZ581 Device on other end...

Страница 86: ...later Configuration Table 3 32 Configuration deviceon Table 3 33 Procured by the customer Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks CC Link interface 2A HR575 E 1 0 4 Instr...

Страница 87: ...ntable CC Link interface cards 1 Multiple CC Link interface cards cannot be inserted Note2 Note2 This product cannot be used together with a PROFIBUS interface card Number of stations 1 to 64 stations...

Страница 88: ...als need to be connected Dedicated commands have been added to MELFA BASIC IV robot programming language thus no complex interface programming is required 3 High speed response The link scan time when...

Страница 89: ...onnected to the same network as that of the robot controller Be cautious about safety and response performance in this case Part name Type Qty Mass kg Note1 Note1 Mass indicates one set Remarks Ethern...

Страница 90: ...ion The real time external control function loads the position command data and performs operation in control cycle units of the robot The joint orthogonality and motor pulse can be specified as the p...

Страница 91: ...per Series servo amplifiers use the servo amplifiers with software version of B0 or later MR J2S B ABS must be designated 0 3 Mitsubishi Electric Part name Type Qty Remarks Additional interface 2A RZ5...

Страница 92: ...od and MOVEMASTER command method User created mechanisms can only be controlled using the MELFA BASIC IV language Item Specifications Specification of user mechanism Number of controllable robots mech...

Страница 93: ...eful 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 the on site startup...

Страница 94: ...ent 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 Tact time measu...

Страница 95: ...tandard Specifications BFP A8387 Specification of the robot arm and controller Robot Arm Setup Maintenance BFP A8388 Installation method of the robot arm jog operation and maintenance and inspection p...

Страница 96: ...the maker s standard parts Thus confirm the part name robot arm and controller serial No and purchase the parts from your dealer Table 3 47 Contloller consumable parts list No Part name Type Note1 No...

Страница 97: ...area Operation function P1 P1 P2 Relative calculation of position data M1 M1 M2 Multiplication of numerical variable P1 X 10 Operation of the position element data Conditional branching SELECT CASE M...

Страница 98: ...e accelera tion deceleration LOADSET 1 1 Operation Adds a process unconditionally to the operation WTH Adds a process conditionally to the operation WTHIF Designates smooth operation CNT 1 100 200 Des...

Страница 99: ...gnated hand HCLOSE 1 Input output Assignment Defines the input output variables DEF IO PORT1 BIT 0 Input Retrieves the general purpose input signal M1 M_IN 1 Output Calls out the general purpose outpu...

Страница 100: ...alid 2 invalid 1 1 0 User defined area An area cube defined with two XYZ coordinate points can be designated and that area set as the outside operation range Furthermore a signal can be output when th...

Страница 101: ...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 Des...

Страница 102: ...ity More the caution seals that stuck on the robot arm and the controller are made based on the language of the order specification Use it carefully when selecting the other language LCD Table 4 4 Tab...

Страница 103: ...xplained Explains the procedures required to operate the robot arm unpacking transportation installation confirmation of operation and the maintenance and inspection procedures Explains the procedures...

Страница 104: ...s and operations of the ETHERNET interface optional Explains the specifications functions and operations of the additional axis interface optional Explains the specifications functions and operations...

Страница 105: ...an error occurs in the CPU The drive circuit is shut off The robot stops and an alarm displays 7 Overrun prevention function Software limit detection This is the limit provided by the software to enab...

Страница 106: ...or more years 6 1 4 Safety measures for automatic operation 1 Install safety fences so that operators will not enter the operation area during operation and indicate that automatic operation is in pro...

Страница 107: ...and cable length so refer to the following and install Switch contact capacity Use a contact that operates with a switch contact capacity of approx 1mA to 100mA 24V Cable length The length of the wire...

Страница 108: ...an excessive regeneration error may occur 2 Noise Where a surge voltage exceeding 1000V 1 s may be applied on the primary voltage Near large inverters high output frequency oscillator large contactors...

Страница 109: ...an be borrowed from the maker Order to dealer when need 10 Do not attach a tape or a label to the robot arm and the controller If a tape or a label with strong adhesive power such as a packaging tape...

Страница 110: ...flexed type 15m flexed type Solenoid valve set 1S VD0 02 1 set 2 set 3 set 4 set Hand input cable 1S HC25C 01 Not provided Provided Hand output cable 1S GR35S 01 Not provided Provided Hand curl tube...

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Страница 120: ...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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