Table Of Contents - Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual

Mitsubishi industrial robot, controller

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 ........................................................................................................................................................................... 1-2

1.3.2 Controller ............................................................................................................................................................................ 1-3

1.4 Contents of the Option equipment and special specification .............................................................................. 1-4

2 Robot arm ........................................................................................................................................................................................... 2-6

2.1 Standard specifications ........................................................................................................................................................ 2-6

2.2 Definition of specifications .................................................................................................................................................. 2-7

2.2.1 Pose repeatability ............................................................................................................................................................ 2-7

2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-8

2.3 Names of each part of the robot ...................................................................................................................................... 2-9

2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-10

(1) RP-1ADH ...................................................................................................................................................................... 2-10

(2) RP-3ADH ...................................................................................................................................................................... 2-12

(3) RP-5ADH ...................................................................................................................................................................... 2-14

2.5 Tooling ........................................................................................................................................................................................ 2-16

2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-16

(1) Control with pneumatic hand interface (2A-RZ365/2A-RZ375: Option) .......................................... 2-16

(2) Control with parallel I/O unit (2A-RZ361/2A-RZ371: Standard, or expansion) ............................ 2-17

2.5.2 Pneumatic piping in robot ........................................................................................................................................... 2-18

2.5.3 Wiring of pneumatic hand output cable in robot ............................................................................................... 2-18

2.5.4 Wiring of hand check input cable in robot ........................................................................................................... 2-18

2.5.5 Wiring and piping system diagram for hand ......................................................................................................... 2-19

2.5.6 Electrical specifications of hand input/output .................................................................................................. 2-20

2.5.7 Air supply circuit example for the hand ............................................................................................................... 2-21

2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-22

2.6.1 Shipping special specifications ................................................................................................................................. 2-22

(1) Machine cable extension ........................................................................................................................................ 2-23

2.7 Options ....................................................................................................................................................................................... 2-25

(1) Solenoid valve set ..................................................................................................................................................... 2-26

(2) Hand input cable ........................................................................................................................................................ 2-28

(3) Hand output cable ..................................................................................................................................................... 2-29

2.8 About Overhaul ...................................................................................................................................................................... 2-30

2.9 Maintenance parts ................................................................................................................................................................. 2-30

3 Controller .......................................................................................................................................................................................... 3-31

3.1 Standard specifications ...................................................................................................................................................... 3-31

3.1.1 Standard specifications ............................................................................................................................................... 3-31

3.1.2 Protection specifications and operating supply ................................................................................................ 3-32

3.2 Names of each part .............................................................................................................................................................. 3-33

(1) Padlock specification ............................................................................................................................................... 3-35

3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-38

3.3.1 Outside dimensions ....................................................................................................................................................... 3-38

3.3.2 Installation dimensions ................................................................................................................................................. 3-39

3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-40

3.4 External input/output .......................................................................................................................................................... 3-41

3.4.1 Types .................................................................................................................................................................................. 3-41

3.5 Dedicated input/output ...................................................................................................................................................... 3-42

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