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Mitsubishi Electric MELFA RV-2SD Standard Specifications Manual
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Mitsubishi Electric MELFA RV-2SD Standard Specifications Manual

Mitsubishi Electric MELFA RV-2SD Standard Specifications Manual

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MITSUBISHI ELECTRIC
MELFA Robots
Industrial Robot
Standard Specifications Manual
RV-2SD/2SDB
(CR1DA-700 series Controller)
BFP-A8790
INDUSTRIAL AUTOMATION
MITSUBISHI ELECTRIC
17 06 2010
Version C

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Summary of Contents for Mitsubishi Electric MELFA RV-2SD

  • Page 1 MITSUBISHI ELECTRIC MELFA Robots Industrial Robot Standard Specifications Manual RV-2SD/2SDB (CR1DA-700 series Controller) BFP-A8790 INDUSTRIAL AUTOMATION MITSUBISHI ELECTRIC 17 06 2010 Version C...
  • 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 2010-02-04 BFP-A8790 First print. 2010-02-12 BFP-A8790-A Power capacity was corrected.(old value: 0.2kVA) 2010-03-30 BFP-A8790-B CE specification of the CR1DA controller was added. Specification of RV-2SQB (all the axis have brakes) was added. 2010-06-17 BFP-A8790-C Error in writing was corrected...

  • 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 Model type name of robot ..............................1-2 1.2.1 How to identify the robot model ..........................
  • Page 8 Contents Page 3.3.1 Outside dimensions ............................... 3-42 3.3.2 Installation dimensions ..............................3-44 3.3.3 Cable lead-in and dimension ............................. 3-46 3.4 External input/output ................................3-47 3.4.1 Types ....................................3-47 3.5 Dedicated input/output ..............................3-48 3.6 Emergency stop input and output etc.......................... 3-50 3.6.1 Connection of the external emergency stop ......................
  • Page 9 Please contact your nearest dealer if you find any doubtful, wrong or skipped point. ・ This specifications is original. ・ Microsoft, Windows, Microsoft Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Copyright(C) 2009-2010 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 (CR1DA-700 series only) (6) Safety manual, Instruction manual, CD-ROM (Instruction manual) (7) Guarantee card...

  • Page 11: Model Type Name Of Robot

    1General configuration 1.2 Model type name of robot 1.2.1 How to identify the robot model RV-2SD B -Sxx ( ａ ) ( ｂ ) (c ) (a). Ｒ Ｖ - ２ Ｓ Ｄ ....... Indicates the RV-2SD series (b). B ..........Indicates the existence of the brake. Examples) Blank: J1,J4,J6 axis has no brake.

  • Page 12: Contents Of The Structural Equipment

    1General configuration 1.6 Contents of the structural equipment 1.6.1 Robot arm The list of structural equipment is shown in Fig. 1-1 Vertical six-axis multiple-jointed type Machine cable Machine cable extension (Fixed type: 5m) <Standard specification> Fix type: ・ 1S- □□ CBL-11 Flex type: ・...

  • Page 13: Controller

    General configuration 1.6.2 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. Controller Teaching pendant CR1DA-700 series （T/B） R32TB R56TB Parallel I/O interface Parallel I/O unit Pneumatic hand interface 2D-TZ368 (Sink)

  • Page 14: Contents Of The Option Equipment And Special Specification

    1.7 Contents of the Option equipment and special specification A list of all Optional equipments and special specifications are shown below. Table 1-3 ： The list of Option equipment and special specification Classification Item Type Specifications Descripsion Note1) J1 axis Stopper for changing the 1S-DH-11J1 + side: +210、...
  • Page 15 KU-AMB530 SANWA SUPPLY INC. (USB A type-USB mini B type) USB-M53 ELECOM CO., LTD. GT09-C20USB-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 16: Robot Arm

    2Robot arm 2 Robot arm 2.1 Standard specifications Table 2-1 ： Standard specifications of robot Item Unit Specifications Note1) Type RV-2SD/2SDB Degree of freedom ６ Installation posture On floor, hanging Note2) (against wall Structure Vertical, multiple-joint type Drive system AC servo motor (RV-2S : J2, J3, J5 axes have the brake) (RV-2S...

  • Page 17: 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 18: Rated Load (Mass Capacity)

    ２ Robot arm 2.2.2 Rated load (mass capacity) The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions. When designing the tooling or when selecting a robot, consider the fol - lowing issues.

  • Page 19: Protection Specifications

    ２ Robot arm 2.2.3 Protection specifications (1) Types of protection specifications The robot arm has protection specifications that comply with the IEC Standards. The protection specifications and applicable fields are shown in Table 2-2. Table 2-2 ： Protection specifications and applicable fields Protection Type specifications...

  • Page 20: Names Of Each Part Of The Robot

    ２ Robot arm 2.3 Names of each part of the robot Fore arm フォアアーム ＋ Wrist リスト J4 axis J4軸 Twist ツイスト － J5 axis J5軸 ＋ ＋ J3 axis J3軸 － － － ＋ － Roll エルボ J6 axis J6軸...

  • Page 21: Outside Dimensions ・ Operating Range Diagram

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RV-2SD (standard specification) screw depth 6 screw screw screw depth 6 depth 6 depth 6 View C screw screw depth 6 (Grounding) Minimum depth 8 depth 8 installation hole (Installation) Rz 25 depth 6...

  • Page 22: Rv-2Sdb-S15 (Ce Marking Specification)

    ２ Robot arm (2) RV-2SDB-S15 (CE marking specification) screw depth 6 screw screw 2-M3 screw depth 6 depth 6 depth 6 View C screw screw depth 6 (Grounding) Minimum depth 8 screw depth 8 depth 6 View A installation hole (Installation) Detail of mechanical interface View B...

  • Page 23: Operating Range (Common To The Standard/Ce Marking)

    ２ Robot arm (3) Operating range (Common to the standard/CE Marking) P-point path Flange downward limit line P-point path Control point (R-point) Flange upward limit line Flange downward Note) The posture of side view The case where the angle of each axis is the following is shown singular point limit J1=0 degree, J2=0 degree, J3=90 degree, J4=0 degree, J5=0 degree., J6=0 degree.

  • Page 24: Tooling

    ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a standard-equipped hand. (1) RV-2SD(Standard specification) (1)Hand input signal connectors ハンド入力信号コネクタ Hand input signal cables ハンド入力信号ケーブル (CON1H)　 Solenoid valve set(optional) 電磁弁セット（オプション） （ AWG#24(0.2mm2) x 2芯4本{） Opposite side of figure 注)図の反対側...

  • Page 25: Rv-2Sdb(Ce Marking Specification)

    ２ Robot arm (2) RV-2SDB(CE marking specification) (1)Hand input signal connectors (1)ハンド入力信号コネクタ Hand input signal cables ハンド入力信号ケーブル (CON1H)　 Solenoid valve set(optional) 電磁弁セット（オプション） Note) Opposite side of figure （ AWG#24(0.2mm2) x 2芯4本{） 注)図の反対側 AWG24 (0.2mm ) x 2 core: Four installation section 取付部分...

  • Page 26: Internal Air Piping

    ２ Robot arm 2.5.2 Internal air piping 1) The robot has four φ4 x 2.5 urethane hoses from the pneumatic entrance on the base section to the fourearm side. The hose end section has four coupling bridges for a φ4 hose on both the base and forearm side 2) The robot can have up to two pneumatic valve sets on the side of base (optional).

  • Page 27: 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. General-purpose General-purpose input No. input No. <Hand check 1> ＜ハンドチェック　１＞ 汎用入力900 <Hand check 2> ＜ハンドチェック　２＞ 汎用入力901 <Hand check 3> ＜ハンドチェック　３＞...
  • Page 28 ２ Robot arm General-purpose General-purpose input No. input No. <Hand check 1> ＜ハンドチェック　１＞ 汎用入力900 <Hand check 2> ＜ハンドチェック　２＞ 汎用入力901 <Hand check 3> ＜ハンドチェック　３＞ 汎用入力902 <Hand check 4> ＜ハンドチェック　４＞ 汎用入力903 Robot ロボット controller コントローラ Reserve 予約 ＜+24V＞ ＜24GND＞ Reserve 予約 １ 24GND ２...

  • 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. 2-10 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: Options

    ２ Robot arm 2.6 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 32: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension ■ Order type : <Standard specification> ● Fixed ....1S- □□ CBL-11 ● Flexed.... 1S- □□ LCBL-11 Note) The numbers in the boxes □□ refer the length. <CE marking specification> ● Fixed ....1S- □□ CBL-03 ●...
  • Page 33 ２ Robot arm ■ Specifications The specifications for the fixed type cables are the same as those for standard cables. Shows usage conditions for flexed type cables in Table 2-5. Table 2-5 ： Conditions for the flexed type cables Item Specifications Minimum flexed radius 100R or more...
  • Page 34 ２ Robot arm ■ Cable configuration The configuration of the flexible cable is shown in Table 2-6. Refer to this table when selecting the cable bare. Table 2-6 ： Cable configuration Motor signal cable Motor power cable Item 1S- □□ LCBL(S)-11 1D- □□...
  • Page 35 ２ Robot arm <RV-2SDB-S15(CE marking specification)> Motor power モータパワー Robot controller CR1DA-771 （CN1） コントローラ　（背面） Robot arm Connection latch ラッチ ロボット本体 (Opposite side of figure) （ベース部背面） Motor signal モータ信号 （CN2） Nylon clamp ナイロンクランプ NK-14N ラッチ Motor signal cable モータ信号ケーブル Connection latch ラッチ...

  • Page 36: Changing The Operating Range

    ２ Robot arm (2) Changing the operating range ■ Order type J1 axis: 1S-DH-11J1 J2 axis: 1S-DH-11J2 J3 axis: 1S-DH-11J3 ■ Outline J3 axis The J1 , J2 or J3 axis operating range is limited by the robot arm's mechanical stop - per and the controller parameters.

  • Page 37: Solenoid Valve Set

    ２ Robot arm (3) Solenoid valve set ■ Order type ： One set ： 1E-VD01(Sink type)/1E-VD01E(Source type) Two sets ： 1E-VD02(Sink type)1E-VD02E(Source type) ■ Outline The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm.
  • Page 38 ２ Robot arm (1)(4) 35.6 SOL2A SOL1A (12) 2-φ 3.3 SOL1B SOL2B 28.4 (45) or less 以下 36.4 (20) or less (45) (20) 以下 (10)(11) <Sink type> Connector name Part Black General purposes Part name 1 sets 2 sets Specifications 　...

  • Page 39: Hand Input Cable

    ２ Robot arm (4) Hand input cable ■ Order type: 1S-HC30C-11 ■ Outline The hand input cable is used for customer-designed pneumatic hands. It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller. One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand.

  • Page 40: Hand Output Cable

    ２ Robot arm (5) Hand output cable ■ Order type: 1E-GR35S ■ Outline The hand output cable (solenoid valve connection cable) is an option that is used when an solenoid valve other than one of the solenoid valve set options, is used. One end of the cable has a connector that connects to the input terminal inside the robot.

  • Page 41: Hand Curl Tube

    ２ Robot arm (6) Hand curl tube ■ Order type: One set :1E-ST0402C Two sets :1E-ST0404C ■ Outline The hand curl tube is a curl tube for the pneumatic hand. ■ Configuration Table 2-17 ： Configuration equipment Note1) Part name Type Qty.

  • Page 42: Maintenance Parts

    Reduction gears of each axis As needed Mitsubishi Electric Lithium battery In the battery cover 4 pcs. Note1)Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-33...

  • Page 43: Controller

    3Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Table 3-1 ： Standard specifications of controller (CR1DA-700 series) Item Unit Specification Remarks Type CR1DA-771 Number of control axis Simultaneously 6(Maximum) Memory Programmed positions and No. point 13,000 capacity of steps step 26,000 Number of programs...

  • Page 44: Protection Specifications And Operating Supply

    3Controller 3.1.2 Protection specifications and operating supply A protection method complying with the IEC Standard 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 45: Names Of Each Part

    3 Controller 3.2 Names of each part <CR1DA-771/CR1DA-771-S15> ＜ Operating panel ＞ ⑯ (Right side) ① * The figure is CR1DA-771. CR1DA-771-S15 is the same. ⑰ ＜ Operating panel ＞ ⑬ ⑧ ② ⑥ ④ ⑤ ⑩ ⑫ ⑭ ⑪ ⑮...
  • Page 46 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 47: 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. ＜ CR1DA-700 series ＞ CE marking specification Lock plate fixed screw POWER switch...
  • Page 48 3 Controller ＜ CR1DA-771 ＞ ⑫ ⑪ ⑨ ⑩ standard specification ① ② Back cover 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 49 3 Controller ＜ CR1DA-771-S15 ＞ CE marking specification ⑫ ⑪ ⑨ ⑩ ① ② Back cover 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 50 3 Controller The installation conditions of the ferrite core and the line noise filter Note1) CR1DA/CR2DA: The dimension from the connector of the controller. Note 1) CR1D/CR2D: The dimension from the connector of the controller CR3D: The dimension from the controller chassis. 　　...

  • Page 51: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions <CR1DA-771> Standard specification 4-M3 screw Fig.3-6 ： Outside dimensions of controller (CR1DA-771) Outside dimensions/Installation dimensions 3-42...
  • Page 52 3 Controller <CR1DA-771-S15> CE marking specification 4-M3 screw Fig.3-7 ： Outside dimensions of controller (CR1DA-771-S15) Outside dimensions/Installation dimensions 3-43...

  • Page 53: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions <CR1DA-771> Standard specification 50mm 20mm Intake vent 吸気口 170mm or more 170mm以上 Fig.3-8 ： Installation of controller (CR1DA-771) Outside dimensions/Installation dimensions 3-44...
  • Page 54 3 Controller <CR1DA-700 series> CE marking specification 50mm 20mm Intake vent 吸気口 170mm or more 170mm以上 Fig.3-9 ： Installation of controller (CR1DA-700 series) Outside dimensions/Installation dimensions 3-45...

  • Page 55: 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. 3-10. <CR1DA-771/CR1DA-771-S15> Input power supply lead-in (15x22) * Although the figure is CR1DA-771, CR1DA-771-S15 (CE specification) is the same. Fig.3-10 ：...

  • Page 56: 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 57: Dedicated Input/Output

    3 Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-3. 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 58 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 59: 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 60 3 Controller <CR1DA-771/CR1DA-771-S15> * The figure is CR1DA-771 controller. (CR1DA-771-S15 is the same.) EMGIN EMGINコネクタ Within 300mm 300mm以内 Ferrite core フェライトコア（付属品） The emergency-stop-input line from external equipment (attachments) ２回通し 外部装置からの非常停止入力信号線 Pass twice The emergency-stop-output line to external equipment 外部装置への非常停止出力信号線 Pin allotment of EMGIN and the EMGOUT connector is shown in Fig.
  • Page 61 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 62: 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 63 3 Controller <CR1DA-771/CR1DA-771-S15> * The figure is CR1DA-771. (CR1DA-771-S15 is the same.) within 300mm 300mm以内 Ferrite core フェライトコア（付属品） (attachments) ２回通し SKIP Pass twice Special stop connector (SKIP) 専用停止入力コネクタ（SKIP） * Please remove the contact capacity seal currently stuck on the connector, and connect.

  • Page 64: 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 65: 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 66 3 Controller <CR1DA-771/CR1DA-771-S15> * The figure is CR1DA-771. (CR1DA-771-S15 is the same.) EMGOUT Servo amplifier Servo amplifier サーボアンプ サーボアンプ SSCNET Ⅲ cable SSCNETⅢケーブル Ferrite core SSCNET Ⅲ cable SSCNETⅢケーブル (Only for the CE フェライトコア specification) CN1A connector CN1A connector CN1Aコネクタへ CN1Aコネクタへ...

  • Page 67: 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 68 3 Controller * The figure is CR1DA-771. <CR1DA-771/CR1DA-771-S15> (CR1DA-771-S15 is the same.) <Reference> The connection method of the electric wire is EMGOUT EMGOUTコネクタ the same as connection of the emergency stop. Please refer to Page 50, "3.6.1 Connection of the external emergency stop" Internal circuit EMGOUT connector EMGOUTコネクタ配列図...

  • Page 69: 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 70: 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 71 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) 3-62...
  • Page 72 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 73: 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 74 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 figure is CR1DA-771.

  • Page 75: 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 76 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 77 3 Controller * The figure is CR1DA-771. <CR1DA-771/CR1DA-771-S15> (CR1DA-771-S15 is the same.) コントローラ背面 Controller rear SLOT1 Fig.3-21 ： Parallel I/O interface installation position （CR1DA-771/CR1DA-771-S15） Parallel I/O interface 3-68...
  • Page 78 3 Controller ■ Pin layout of connector Connector<2> Output 16 to 31 Input 16 to 31 (when station number 0) Connector<1> Output 0 to 15 Input 0 to 15 (when station number 0) Fig.3-22 ： Pin layout of connector ■ Connector pin No. and signal assignment The station number is fixed by the slot to install and the allocation range of the general-purpose input-and- output signal is fixed.
  • Page 79 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 General-purpose power supply, common General-purpose power supply, common 0V ： For pins 5D-20D Black a 12V/24V ： For pins Orange/Red Orange/ 5D-20D...
  • Page 80 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 81: 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 82 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 83: 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 84 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 85 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 86 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) <CR1DA-771/CR1DA-771-S15>...
  • Page 87 3 Controller <CR1DA-771/CR1DA-771-S15> 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 * The figure is CR1DA-771. Peel the sheath in the position about 200-300mm from the 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 ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。 connector end of the cable, so you can install and remove (CR1DA-771-S15 is the same.) ※ｼｰﾙﾄﾞ線に傷をつけないようにご注意願います。...
  • Page 88 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 89 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 90 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 91: 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 92 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 93: 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 94: 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 95 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 96 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 97: 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 98: 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...
  • Page 99 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 100: Instruction Manual(Bound Edition)

    3 Controller (11) Instruction Manual(bound edition) ■ Order type ： ● 5S-DJ00-PE01 (RV-2SD) ■ Outline This is a printed version of the CD-ROM (instruction manual) supplied with this product. ■ Configuration Table 3-41 ： Product configuration(RV-2SD/2SDB) Note1) Specifications Name Type Mass(kg) Instruction Manual 5S-DJ00-PE01...

  • Page 101: 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 3-92...

  • Page 102: Software

    4Software 4 Software 4.1 List of commands The available new functions in MELFA-BASIC Ⅴ are given in Table 4-1. Table 4-1 ： List of MELFA-BASIC Ⅴ commands Type Class Function Input format (example) Joint interpolation Moves to the designated position with joint interpolation. Mov P1 Linear interpolation Moves to the designated position with linear interpolation.
  • Page 103 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 104 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 105: 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 106 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 107: 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 108: 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 109: 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 110: 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 111: 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 112 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 113 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 114 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 115 6Safety [Supplement] (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 116: 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 117 6Safety (9) 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, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

  • Page 118: 7Appendix

    7Appendix 7 Appendix Appendix 1 ： Specifications discussion material ■ Customer information Company name Name Address Telephone ■ Purchased mode Note1) Specification Type Standard specification □ RV-2SD □ RV-2SDB Note2) CE Marking specification □ Not provided □ "-S12"specification(CR1DA-700-S15)　 Note1) Refer to the Page 2, "1.2 Model type name of robot"...
  • Page 135 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 July., 2010 MEE Printed in Japan on recycled paper.
  • Page 136 Phone: +31 (0)180 – 46 60 04 Fax: +31 (0)180 – 44 23 55 MITSUBISHI ELECTRIC Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com FACTORY AUTOMATION...

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