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Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual
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Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual

Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual

Mitsubishi industrial robot, controller
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Mitsubishi Industrial Robot
CR1DA-7A1-S15 Controller
RP-1ADH/3ADH/5ADH-S15 Series
Standard Specifications Manual
BFP-A8921-B

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Summary of Contents for Mitsubishi Electric RP-1ADH-S15 Series

  • Page 1 Mitsubishi Industrial Robot CR1DA-7A1-S15 Controller RP-1ADH/3ADH/5ADH-S15 Series Standard Specifications Manual BFP-A8921-B...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) CAUTION Transport the robot with the designated transportation posture.
  • Page 5 CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm. CAUTION Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.
  • Page 6 ■ Revision history Date of print Specifications No. Details of revisions 2012-06-01 BFP-A8921 ・ First print. 2014-11-06 BFP-A8921-A ・ The note about the connection of the emergency stop was added. ・ The cover and corporate logo mark of this manual was changed. 2018-10-15 BFP-A8921-B ・...

  • Page 7: Table Of Contents

    Contents Page 1 General configuration ..................................1-1 1.1 Structural equipment ................................1-1 1.1.1 Standard structural equipment ..........................1-1 1.1.2 Special specifications ..............................1-1 1.1.3 Options ....................................1-1 1.1.4 Maintenance parts ................................1-1 1.2 Instruction manuals ................................1-1 1.3 Contents of the structural equipment ..........................1-2 1.3.1 Robot arm ...................................
  • Page 8 Contents Page 3.6 Emergency stop input and output etc.......................... 3-44 3.6.1 Connection of the external emergency stop ...................... 3-44 3.6.2 Special stop input(SKIP) ............................. 3-47 3.6.3 Door switch function ..............................3-49 3.6.4 Enabling device function ............................. 3-49 (1) When door is opening ............................... 3-49 (2) When door is closing ..............................
  • Page 9 ・ All other company names and production names in this document are the trademarks or registered trademarks of their respective owners. ・ Referenced Standard (Requirement of Chinese standardized law): This Product is designed and manufactured accordance with GB 11291.1. Copyright(C) 2012-2018 MITSUBISHI ELECTRIC CORPORATION...

  • Page 10: General Configuration

    1General configuration 1 General configuration 1.1 Structural equipment Structural equipment consists of the following types. 1.1.1 Standard structural equipment The following items are enclosed as a standard. (1) Robot arm (2) Controller (3) Machine cable (4) Robot arm installation bolts (5) Earth leakage breaker (6) Safety manual, Instruction manual, CD-ROM (Instruction manual) (7) Guarantee card...

  • Page 11: Contents Of The Structural Equipment

    1General configuration 1.3 Contents of the structural equipment 1.3.1 Robot arm The list of structural equipment is shown in Fig. 1-1. RP-1ADH, RP-3ADH or RP-5ADH Machine cable fixed type 5m ･ 1A-5CBL-1 Robot arm Machine cable extension ・ For fixing: 1A- □□ CBL-1 ・...

  • Page 12: Controller

    General configuration 1.3.2 Controller The devices shown below can be installed on the controller. The controllers that can be connected differ depending on the specification of the robot. Teaching pendant Controller （T/B） CR1DA-700 series R32TB *1) Corresponding to the sink or source to be used, setting of the controller is necessary.

  • Page 13: Contents Of The Option Equipment And Special Specification

    General configuration 1.4 Contents of the Option equipment and special specification A list of all Optional equipment and special specifications are shown below. Table 1-1 ： The list of Option equipment and special specification Classification Item Type Specifications Description Note1) Extended machine cables 1A- □□...
  • Page 14 KU-AMB530 SANWA SUPPLY INC. (USB A type-USB mini B type) USB-M53 ELECOM CO., LTD. GT09-C30USB-5P MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. USB adapter AD-USBBFTM5M ELECOM CO., LTD. (USB B type-USB mini B type) Caution Be careful to the USB cable to apply neither the static electricity nor the noise.

  • Page 15: Robot Arm

    2Robot arm 2 Robot arm 2.1 Standard specifications Table 2-1 ： Standard specifications of robot Item Unit Specifications Type RP-1ADH PR-3ADH RP-5ADH Degree of freedom of motion 4-axis Installation posture On floor Encoder/Drive system Absolute encoder/AC servo Motor capacity 100 (All axis) 200 (J1,J2,J3 axis), 100(J4 axis) Brake With brakes (All axes)

  • Page 16: Definition Of Specifications

    2 Robot arm 2.2 Definition of specifications The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows. 2.2.1 Pose repeatability For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

  • Page 17: Rated Load (Mass Capacity)

    ２ Robot arm 2.2.2 Rated load (mass capacity) (1) The acceleration/deceleration must be set appropriately in the program according to the loaded load mass. The relation of the optimum acceleration/deceleration in respect to the mass capacity is shown with a percentage in Fig.

  • Page 18: Names Of Each Part Of The Robot

    ２ Robot arm 2.3 Names of each part of the robot Fig.2-2 ： Names of each part of the robot Names of each part of the robot...

  • Page 19: Outside Dimensions ・ Operating Range Diagram

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RP-1ADH φ6h7 M5 screw, depth 6, φ3 hole drill Ｍ６ screw (φ18) φ8 (φ8) φ18 (Note) The dimensions shown in parentheses are for the robot arm's stopper section, and must not be used. The dimensions are provided for reference.
  • Page 20 ２ Robot arm 233.9 Fig.2-4 ： Operating range diagram (RP-1ADH) Outside dimensions ・ Operating range diagram 2-11...

  • Page 21: Rp-3Adh

    ２ Robot arm (2) RP-3ADH 13.5 (φ23) φ14h7 φ15h7 φ15h7 φ14h7 (φ23) φ11 Hole 13.5 (Note) The dimensions shown in parentheses are for the robot arm's stopper section, and must not be used. The dimensions are provided for reference. View from B View from A (L cut) 2-M4 screw, depth 6 Reverse side (Installation screw for tooling support, etc.)
  • Page 22 ２ Robot arm Fig.2-6 ： Operating range diagram (RP-3ADH) Outside dimensions ・ Operating range diagram 2-13...

  • Page 23: Rp-5Adh

    ２ Robot arm (3) RP-5ADH 13.5 (φ23) φ14h7 φ15h7 φ15h7 φ14h7 (φ 23) φ11 Hole 13.5 (Note) The dimensions shown in parentheses are for the robot arm's stopper section, and must not be used. The dimensions are provided for reference. View from B View from A (L cut) 2-M4 screw, depth 6 Reverse side...
  • Page 24 ２ Robot arm 450.9 Fig.2-8 ： Operating range diagram (RP-5ADH) Outside dimensions ・ Operating range diagram 2-15...

  • Page 25: Tooling

    ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand The wiring and piping for hand is shown below. Same as RP-1ADH/3ADH/5ADH. (1) Control with pneumatic hand interface (2A-RZ365/2A-RZ375: Option) ＊Hand output cable (Enclosed with solenoid valve set) ＊Solenoid valve set Secondary piping pneumatic hoseφ4×2～8 Primary piping pneumatic hoseφ6×1 (Prepared by customer)

  • Page 26: Control With Parallel I/O Unit (2A-Rz361/2A-Rz371: Standard, Or Expansion)

    ２ Robot arm (2) Control with parallel I/O unit (2A-RZ361/2A-RZ371: Standard, or expansion) Solenoid valve Primary piping pneumatic Secondary piping pneumatic hoseφ4×2～8 hoseφ6×1 (Prepared by customer ) (Prepared by customer ) ＊Hand input cable External I/O cable Parallel I/O Interface Controller (1) Hand input signal connector (white) （Connector name：HC）...

  • Page 27: Pneumatic Piping In Robot

    ２ Robot arm 2.5.2 Pneumatic piping in robot 1) Piping to supply air to the solenoid valves is not provided in the robot, so directly connect the primary piping from the air supply source to the solenoid valve. (The primary pneumatic hose must be prepared by the customer.) 2) The wrist section coupled axis is hollow, so air can be supplied to the end of the hand with the secondary piping from the solenoid valve.

  • Page 28: Wiring And Piping System Diagram For Hand

    ２ Robot arm 2.5.5 Wiring and piping system diagram for hand Shows the wiring and piping configuration for a standard-equipped hand. Robot controller Wiring relay boad of the robot arm Fig.2-11 ： Wiring and piping system diagram for hand and example the solenoid valve installation Tooling 2-19...

  • Page 29: Electrical Specifications Of Hand Input/Output

    ２ Robot arm 2.5.6 Electrical specifications of hand input/output Table 2-3 ： Electrical specifications of input circuit Item Specifications Internal circuit Type DC input <Sink type> No. of input points Insulation method Photo-coupler insulation Rated input voltage 12VDC/24VDC Rated input current Approx.

  • Page 30: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.7 Air supply circuit example for the hand Fig. 2-12 shows an example of pneumatic supply circuitry for the hand. (1) Place diodes parallel to the solenoid coil. (2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be damage to the work.

  • Page 31: Shipping Special Specifications, Options, And Maintenance Parts

    ２ Robot arm 2.6 Shipping special specifications, options, and maintenance parts 2.6.1 Shipping special specifications ■ What are sipping special specifications? Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to confirm the delivery date by the customer. To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.

  • Page 32: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension ■ Order type: ● Fixed type (10m) ... 1A-10CBL-1 ● Fixed type (15m) ... 1A-15CBL-1 ● Flexed type (5m) ... 1A-05LCBL-1 ● Flexed type (10m)..1A-10LCBL-1 ● Flexed type (15m)..1A-15LCBL-1 ■ Outline This cable is exchanged with the standard machine cable (5m) accessory to extend the distance between the controller and connector box enclosed with the robot arm.
  • Page 33 ２ Robot arm ■ Cable configuration The configuration of the flexed cable is shown in Table 2-7. Refer to this table when selecting the cable bare. Table 2-7 ： Cable configuration Motor signal cable Motor power cable Item 1E- □□ LCBL(S)-N 1A- □□...

  • Page 34: Options

    ２ Robot arm 2.7 Options ■ What are options? There are a variety of options for the robot designed to make the setting up process easier for customer needs. customer installation is required for the options. Options come in two types: "set options" and "single options". 1.

  • Page 35: Solenoid Valve Set

    ２ Robot arm (1) Solenoid valve set ■ Order type: 4 sets ....1A-VD04-RP (Sink type) 1A-VD04E-RP (Source type) ■ Outline This is a solenoid valve option used for controlling various tooling that is installed, such as the hand on the arm end. This solenoid valve set has a hand output cable connected to the solenoid valve.
  • Page 36 ２ Robot arm 4-φ4.5 Hole (1)(4) SOL2A SOL4A SOL3A SOL1A (12) (13) SOL1B SOL3B SOL2B SOL4B 35.6 10.3 (10)(11) 48.8 (20) (45) or less or less 56.8 Part no. Part name 4 sets Specification Solenoid valve ４ Manifold block １ Quick coupling ８...

  • Page 37: Hand Input Cable

    ２ Robot arm (2) Hand input cable ■ Order type: 1A-HC200-RP ■ Outline This cable is used when the customer is designing the pneumatic hand. It is used to retrieve the hand open/close confirmation signal or grasp confirmation signal to the controller.

  • Page 38: Hand Output Cable

    ２ Robot arm (3) Hand output cable ■ Order type: 1A-GR200-RP ■ Outline This cable is used when the customer is using a solenoid valve other than the optional solenoid valve set. One end has a connector connected to the input terminal in the robot arm. The other end is a cable bridge.

  • Page 39: About Overhaul

    Harmonic grease 4 BNo.2 As needed Reduction gears of J1,J2 axis Mitsubishi Electric Marutenpu PS No.2 Ball screw spline Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. About Overhaul 2-30...

  • Page 40: Controller

    3Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Table 3-1 ： Standard specifications of controller Item Unit Specification Remarks Type CR1DA-7A1 Number of control axis Simultaneously 4 Memory Programmed positions and No. point 13,000 capacity of steps step 26,000 Number of programs Robot language MELFA-BASIC V...

  • Page 41: Protection Specifications And Operating Supply

    3Controller 3.1.2 Protection specifications and operating supply A protection method complying with the IEC Standard IP20(Opened type) is adopted for the controller. The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.

  • Page 42: Names Of Each Part

    3 Controller 3.2 Names of each part Operating panel ⑯ (Right side) ① ⑰ ＜ Operating panel ＞ ⑧ ⑬ ② ⑥ ④ ⑤ ⑩ ⑫ ⑭ ⑪ ⑮ ⑦ ⑨ ③ Fig.3-1 ： Names of controller parts Note 1) ①...
  • Page 43 3 Controller ⑫ MODE key switch ......This changes the robot's operation mode. AUTOMATIC........operations from the controller 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.

  • Page 44: Padlock Specification

    3 Controller (1) Padlock specification If the robot is not used, the power switch can be locked with the padlock so that power supply ON cannot be done easily. The specification is shown in the following. Lock plate fixed screw POWER switch Enlarged Lock plate...
  • Page 45 3 Controller ⑫ ⑩ ⑪ ⑨ ① ② ⑧ ⑦ ⑬ ⑤ ③ ⑥ ④ ① Machine cable connector (motor power)(CN1) ... Connects to the robot arm base. (CN1 connector) ② Machine cable connector (motor signal)(CN2) .... Connects to the robot arm base. (CN2 connector) ③...
  • Page 46 3 Controller The installation conditions of the ferrite core and the line noise filter Note 1) CR1D/CR2D: The dimension from the connector of the controller 　　 CR3D: The dimension from the controller chassis. Note1) 500mm or less Line noise filter(attachments) Pass 8 times Robot controller ①...

  • Page 47: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions Fig.3-5 ： Outside dimensions of controller Outside dimensions/Installation dimensions 3-38...

  • Page 48: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions 50mm 20mm Intake vent 吸気口 170mm or more 170mm以上 *The connector of machine cable connection has some from which form differs. Fig.3-6 ： Installation of controller Outside dimensions/Installation dimensions 3-39...

  • Page 49: Cable Lead-In And Dimension

    3 Controller 3.3.3 Cable lead-in and dimension The controller has the openings parts for pulling out the cable as shown in Fig. 3-7. Input power supply lead-in (15x22) *The connector of machine cable connection has some from which form differs. Fig.3-7 ：...

  • Page 50: External Input/Output

    3 Controller 3.4 External input/output 3.4.1 Types (1) Dedicated input/output ......These inputs and outputs carry out the robot remote operation and status display. (2) General-purpose input/output ....These are inputs and outputs that the customer can program for peripheral device control. (3) Hand input/output ........

  • Page 51: Dedicated Input/Output

    3 Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi - cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.
  • Page 52 3 Controller Input Output Parameter Note1) name Name Function Level Name Function PRGSEL Program selection Designates the setting value for input signal the program No. with numeric value Ｅ None input signals. OVRDSEL Override selection Designates the setting value for input signal the override with the numeric value Ｅ...

  • Page 53: Emergency Stop Input And Output Etc

    3 Controller Note1) The level indicates the signal level. L: Level signal → The designated function is validated when the signal is ON, and is invalidated when the sig - nal is OFF. E: Edge signal → The designated function is validated when the signal changes from the OFF to ON state, and the function maintains the original state even when the signal then turns OFF.
  • Page 54 3 Controller CAUTION Be sufficiently careful and wiring so that two or more emergency stop switches work independently. Don't function only on AND conditions (Two or more emergency stop switch status are all ON). *The connector of machine cable connec - tion has some from which form differs.
  • Page 55 3 Controller Internal circuit structure （Customer） （Customer） （Controller） EMG. stop EMG. stop EMGOUT1 EMGIN1 +24V Short Robot error output External emergency input Mode output Relay (prepare by customer) Add. axis contacts Short control output （AXMC1） 24GND +24V Door switch input Relay (prepare by customer) +24V...

  • Page 56: Special Stop Input(Skip)

    3 Controller CAUTION Please be sure to install the emergency stop switch and it is connection to the controller, to stop the robot immediately at emergency CAUTION Be careful of the short circuit at cable connection. And, don't give plating solder to the electric wire. Loose connection may occur. 3.6.2 Special stop input(SKIP) The skip is the input signal to stop the robot.
  • Page 57 3 Controller *The connector of machine cable connection has some from which form differs. SKIP Special stop connector 専用停止入力コネクタ（SKIP） Electric wire plug area(AWG#24-18) Minus driver plug area 電線差込口（AWG#24-18） マイナスドライバ差込口 <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.

  • Page 58: Door Switch Function

    3 Controller 3.6.3 Door switch function This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur.

  • Page 59: Automatic Operation/Jog Operation/Brake Release And Necessary Switch Settings

    3 Controller (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings The following is a description of various operations performed on the robot and switch settings that are required. Table 3-5 ： Various operations and necessary switch settings Note1) Related switch settings Mode of Enabling Door switch...

  • Page 60: Additional Axis Function

    3 Controller 3.7 Additional Axis Function This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time by connecting a general-purpose servo amplifier (MR-J3-B series) that supports Mitsubishi's SSC Net Ⅲ...
  • Page 61 3 Controller *The connector of machine cable connection has some from which form differs. EMGOUT Servo amplifier Servo amplifier SSCNETⅢcable SSCNETⅢcable CN1A connector CN1A connector CN1B OPT connector connector CN1B connector Magnetic contact *It cannot communicate, if connection of CN1A and CN1B is mistaken. Fig.3-13 ：...
  • Page 62 3 Controller (1) Example of the installation of the noise filter 1) EMC filter (recommended) Please install the recommendation filter shown below according to the example of connection. Fig.3-14 ： Example of EMC noise filter installation Additional Axis Function 3-53...
  • Page 63 3 Controller 2) Line noise filter This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Fig.3-15 ：...

  • Page 64: Magnet Contactor Control Connector Output (Axmc) For Addition Axes

    3 Controller 3.8 Magnet contactor control connector output (AXMC) for addition axes When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open.
  • Page 65 3 Controller *The connector of machine cable connection has some from which form differs. EMGOUT EMGOUT connector Internal circuit EMGOUT2 EMGOUT1 EMGOUT1 Contactor control output for addition axes (AXMC1) EMGOUT2 Contactor control output for addition axes Electric wire plug area (AXMC1) Minus driver plug area AWG#24～#18...

  • Page 66: Options

    3 Controller 3.9 Options ■ What are options? There are a variety of options for the robot designed to make the setting up process easier for user needs. User installation is required for the options. Options come in two types: "set options" and "single options". 1．...

  • Page 67: Teaching Pendant (T/B)

    In ISO/10218 (1992) and JIS-B8433 (1993), this 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 Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Deadman switch".
  • Page 68 3 Controller 195.2 105.5 Enable/Disable switch Emergency stop Operetion key Body Enable switch Cable (with connector) <Back> <side> <Front> <Bottom> Fig.3-18 ： Outside dimensions of teaching pendant ■ Installation method The teaching pendant is connected to the T/B connector on the front of the controller. Teaching pendant (T/B) 3-59...
  • Page 69 3 Controller ■ Key layout and main functions ② ④ ① ③ ⑤ ⑤ ⑥ ⑥ ⑧ ⑦ ⑨ ⑩ ⑪ ⑰ ⑫ ⑱ ⑬ ⑭ ⑲ ⑮ ⑯ ⑳ 1) : [Emergency stop] switch....The robot servo turns OFF and the operation stops immediately. 2) : [Enable/Disable] switch....

  • Page 70: Pneumatic Hand Interface

    3 Controller (2) Pneumatic hand interface ■ Order type: 2A-RZ365(Sink type)/2A-RZ375(Source type) ■ Outline This interface is required to use the robot arm's hand output signals. ・ Up to eight hand output points can be used with this interface. ・ The eight hand input points can be used without this interface. ・...
  • Page 71 3 Controller ■ Installation method This is mounted in the controller. Attach the pneumatic hand interface (2A-RZ365/2A-RZ375) to the CNHNDOUT/CNHND connector of the hand interface relay card (2D-TZ315) securely. Refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance" for details on the installing method. *The connector of machine cable con - nection has some from which form differs.

  • Page 72: Parallel I/O Interface

    3 Controller (3) Parallel I/O interface ■ Order type ： ● 2D-TZ368 （Sink type） /2D-TZ378 （Source type） ■ Outline This is used to expand the external inputs and outputs ・ The connecting cable with external equipment is not attached. Since we are preparing the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.
  • Page 73 3 Controller Table 3-13 ： Electrical specifications for the output circuits Specification Internal circuit Item Type Transistor output <Sink type> No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage DC12V/DC24V Output Rated load voltage DC10.2 ～ 30V(peak voltage DC30V) range Max.
  • Page 74 3 Controller Controller rear コントローラ背面 *The connector of machine cable connection has some from which form differs. SLOT1 Fig.3-21 ： Parallel I/O interface installation position ■ Pin layout of connector Connector<2> Output 16 to 31 Input 16 to 31 (when station number 0) Connector<1>...
  • Page 75 3 Controller Table 3-15 ： Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1) Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common 0V ： For pins 5D-20D Black a 12V/24V ： For pins Orange/Red Orange/ 5D-20D...
  • Page 76 3 Controller <Reference> The example of connection with our PLC <Sink> QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (24/12V) Output Output Fuse (0V) External power supply QY41P (Mitsubishi programmable (Input) controller) (COM) +24V Input 3.3K Input 24G(24GND) External power supply Table 3-17 ：...

  • Page 77: External I/O Cable

    3 Controller (4) External I/O cable ■ Order type ： ● 2D-CBL □□ 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m） ■ Outline This is the dedicated cable used to connect an external peripheral device to the con - nector on the parallel I/O interface.
  • Page 78 3 Controller ■ Connections and outside dimensions The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color speci - fications in "Table 3-32: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...

  • Page 79: Parallel I/O Unit

    3 Controller (5) Parallel I/O unit ■ Order type: 2A-RZ361(Sink type) 2A-RZ371(Source type) ■ Outline This is used to expand the external inputs and outputs. One one equal with this unit is built into the control unit among controllers the standard. ・...
  • Page 80 3 Controller Table 3-24 ： Electrical specifications for the output circuits Item Specification Internal circuit Type Transistor output <Sink type> No. of output points Insulation method Photo-coupler insulation (24/12V) Rated load voltage 12VDC/24VDC Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC) Max.
  • Page 81 3 Controller NETcable-1 (Network cable) Pin No. RIO1/2 RIO1/2 Pin No. Note 2) １ TXRXH TXRXH １ ２ TXRXL TXRXL ２ ３ SG(GND) SG(GND) ３ DCcable-2 (Power cable) Pin No. DCIN Note 1) １ ＋ 24V Power ２ 24G(RG) － ３...
  • Page 82 3 Controller ■ Installation method The expansion parallel input/output unit is installed outside of the controller. Connect with the network connection cable (NETcable-1) from the RIO connector in the rear/into of the controller.(Terminator is connected at the time of shipment) *The connector of machine cable connection Controller rear has some from which form differs.
  • Page 83 3 Controller Controller rear コントローラ背面 Grounding terminal position *2)　ケーブルアースクランプ Sheath Sheath シース シース 20～30mm RIOコネクタ Metal braid section 金属製ブレード部 Peel the sheath in the position about 200-300mm from ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に the connector end of the cable, so you can install and ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。...
  • Page 84 3 Controller ■ Pin arrangement of the connector Channel No. setting LED display ＜CN300＞ Input 16 to 31 Output 16 to 31 ＜CN100＞ Input 0 to 15 Output 0 to 15 *2A-RZ361/2 A-RZ371 are 32/32 input-and-output units. (One-station occupancy) Fig.3-27 ： Pin arrangement of the parallel I/O unit ■...
  • Page 85 3 Controller ■ Parallel I/O interface (First expansion unit) Table 3-26 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A...
  • Page 86 3 Controller Table 3-27 ： Connector CN300pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A 0V:For pins 29-32, 35-38 White/Red A...
  • Page 87 3 Controller <Reference> The example of connection with our PLC <Sink> QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (24/12V) Output Output Fuse (0V) External power supply QY41P (Mitsubishi programmable (Input) controller) (COM) +24V Input 3.3K Input 24G(24GND) External power supply Table 3-28 ：...

  • Page 88: External I/O Cable

    3 Controller (6) External I/O cable ■ Order type: 2A-CBL □□ 　 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m） ■ Outline This is the dedicated cable used to connect an external peripheral device to the con - nector on the parallel input/output unit.
  • Page 89 3 Controller ■ Connections and outside dimensions The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci - fications in "Table 3-32: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...

  • Page 90: Personal Computer Cable

    3 Controller (7) Personal computer cable ■ Order type: ● For PC/AT ： 2D-232CBL03M ■ Outline This is the RS-232 interface cable used for connecting the controller with a personal com - puter. The personal computer on hand may be usable with the above interface cable. Con - firm the connection specifications when placing an order.

  • Page 91: Cc-Link Interface

    3 Controller (8) CC-Link interface ■ Order type: ● 2D-TZ576 ■ Outline The CC-Link interface is the optioninterface to not only add bit data to the robot controller. but also to add CC-Link field network function that allows cyclic transmission of word data. ■...
  • Page 92 3 Controller ■ Specifications Table 3-36 ： Specifications Item Specifications Remarks Communication function Bit data and word data can be transmitted. Word data are used by the registers. Note1) Station type Intelligent device station Support station Local station No master station function The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.
  • Page 93 3 Controller ■ Functions (1) Communication function ・ The number of usable points is 896 points maximum for bit control and 128 points maximum for word control. (2) Easy setup ・ The CC-Link interface card can be set by a rotary switch or DIP switch. ・No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can only be mounted into slot 2).

  • Page 94: Extension Memory Cassette

    3 Controller (9) Extension memory cassette ■ Order type: ● 2D-TZ454 ■ Outline Used to increase the total number of teaching points in the robot program. ■ Configuration Table 3-37 ： Configuration device Note1) Part name Type Qty. Remarks Mass(kg) Extension memory cassette 2D-TZ454 Note1) Mass indicates one set.

  • Page 95: Rt Toolbox2/Rt Toolbox2 Mini

    3 Controller (10) RT ToolBox2/RT ToolBox2 mini RT ToolBox2 ■ Order type ： ● *For windows CD-ROM : 3D-11C-WINE RT ToolBox2 mini ● *For windows CD-ROM : 3D-12C-WINE ■ Outline This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support (creation and editing of programs), start up support (execution, control and debugging of program), and maintenance (remote maintenance.)
  • Page 96 3 Controller ■ Functions Table 3-40 ： Functions Note1) Function Details Functional existence Compatible model ○ ○ Personal computer running Microsoft Windows2000/XP/Vista. Program editing Editing functions ・ MELFA BASIC V language compatible functions ・ Multiple editing screen simultaneously display ・ Command input, comment writing ・...

  • Page 97: Instruction Manual(Bound Edition)

    3 Controller (11) Instruction Manual(bound edition) ■ Order type ： ● 5S-AJ01-PE01 (RP-1ADH/3ADH/5ADH-S15) ■ Outline This is a printed version of the CD-ROM (instruction manual) supplied with this product. ■ Configuration Table 3-41 ： Product configuration (RP-1ADH/3ADH/5ADH-S15) Note1) Specifications Name Type Mass (kg) Instruction Manual...

  • Page 98: Maintenance Parts

    Lithium battery Q6BAT Front operation panel Mitsubishi Electric Sys - tem Service;Co.,Ltd Filter Front of the controller Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 3-89...

  • Page 99: Software

    4Software 4 Software 4.1 List of commands The available new functions in MELFA-BASIC V are given in Table 4-1. [Note] About the restricted function This robot is special specification. Some functions are restricted and cannot be used. The restricted func - tions are shown below.
  • Page 100 4Software Type Class Function Input format (example) Branching Branches unconditionally to the designated place. GoTo 120 Branches according to the designated conditions. If M1=1 Then GoTo *L100 Else GoTo 20 End If Repeats until the designated end conditions are satisfied. For M1=1 TO 10 Next M1 Repeats while the designated conditions are satisfied.
  • Page 101 4Software Type Class Function Input format (example) Definition Defines the integer type or real number type variable. Def Inte KAISUU Defines the character string variable. Def Char MESSAGE efines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3) Defines the joint variable. Def Jnt TAIHI Defines the position variable.

  • Page 102: List Of Parameters

    4Software 4.2 List of parameters show the main parameter in the Table 4-2. Table 4-2 ： List of parameters Parameter Details Standard tool coordinates. MEXTL Set the default value for the tool data. Unit: mm or deg. Standard base coordinates MEXBS Set the relation of the world coordinate system and robot coordinate system.
  • Page 103 4Software Parameter Details Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No. (Single/double = S/D) Set the signal No. after the hand type. Example) D900 Stop input B contact desig - Change the dedicated input (stop) between the A contact and B contact. nation User-designated origin USERORG...

  • Page 104: Instruction Manual

    5Instruction Manual 5 Instruction Manual 5.1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application. Instruction manuals enclosed in dashed lines in the list below are for optional products. For special specifications, a separate instruction manual describing the special section may be enclosed.

  • Page 105: Safety

    6Safety 6 Safety 6.1 Safety Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation Rules". Always follow these rules when using the robot to ensure safety. 6.1.1 Self-diagnosis stop functions This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2...

  • Page 106: External Input/Output Signals That Can Be Used For Safety Protection Measures

    6Safety 6.1.2 External input/output signals that can be used for safety protection measures Table 6-3 ： External input/output signals that can be used for safety protection measures Connection Signal Parameter Functions Usage method point External emer - Terminal This servo power is shut off, and the robot Externally installed emergency stop switch.

  • Page 107: Safety Measures For Automatic Operation

    6Safety 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 progress with lamps, etc. (2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the operator follows the signals.

  • Page 108: Examples Of Safety Measures

    6Safety 6.1.7 Examples of safety measures Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir - cuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emer - gency stop state.
  • Page 109 6Safety <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the robot controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 110 6Safety <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the robot controller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 111 6Safety <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two robot controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 112 6Safety <Wiring example 5>: Connect the safety relay to the robot controller. Use the emergency stop button of the robot controller as an input of the safety relay. Customer Equipment Robot Controller EMGIN1/2 No connection E-stop E-stop Safety Relay ex.) G9SX-AD series *OMRON Internal Relay No connection...

  • Page 113: External Emergency Stop Connection [Supplementary Explanation]

    6Safety (1) External emergency stop connection [supplementary explanation] (1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the safety fence's door. With a constantly open contact (a contact), wire to the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is opened) when the door is open.
  • Page 114 6Safety [Supplementary explanation regarding emergency stop circuit] The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly shuts off the emergency stop detection relay when the emergency stop button is pressed. 24V DC emergency emergency...

  • Page 115: Working Environment

    6Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures. (1) Power supply ・...
  • Page 116 6Safety (10) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro - gram data may be destroyed.

  • Page 117: 7Appendix

    7Appendix 7 Appendix Appendix 1 ： Specifications discussion material ■ Customer information Company name Name Address Telephone ■ Purchased mode Specification Type Standard specification □ RP-1ADH □ RP-3ADH □ RP-5ADH ■ Shipping special specifications (Settings can be made only at time of shipment) Item Standard specifications Special shipping specifications...
  • Page 144 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. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 Oct., 2018 MEE Printed in Japan on recycled paper.

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