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Mitsubishi Electric RV-8CRL Standard Specifications Manual

Industrial robot
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Mitsubishi Electric Industrial Robot
CR800-D Controller
RV-8CRL
Standard Specifications Manual
BFP-A3678-C

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Summary of Contents for Mitsubishi Electric RV-8CRL

  • Page 1 Mitsubishi Electric Industrial Robot CR800-D Controller RV-8CRL Standard Specifications Manual BFP-A3678-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. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. CAUTION Never carry out modifications based on personal judgments, or use non- designated maintenance parts.
  • Page 6 CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, cus- tomer emergency stop, and door switch) are working properly after the wiring setup is completed.
  • Page 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. Controller rear Single phase ACIN cable connection AC200V Groove for main <1>...
  • Page 8 ■Revision history Date of print Specifications No. Details of revisions 2019-06-24 BFP-A3678 • First print. 2019-07-26 BFP-A3678-A • Added "External magnetic field" to "2.1 Standard specifications". • Added the procedure for enabling the safety diagnosis function (STO function). 2019-10-31 BFP-A3678-B •...
  • 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) 2019-2020 MITSUBISHI ELECTRIC CORPORATION...

  • Page 10: 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 11 Contents Page 3.3.1 Outside dimensions ......................3-35 3.3.2 Installation dimensions ..................... 3-36 3.4 External input/output ....................... 3-38 3.4.1 Types ..........................3-38 3.5 Dedicated input/output ......................3-39 3.6 Emergency stop input and output etc..................3-42 3.6.1 Connection of the external emergency stop and mode selector switch ......3-42 3.6.2 Special stop input (SKIP) ....................
  • Page 12 Contents Page (2) Noise ..........................6-105 (3) Temperature and humidity ....................6-105 (4) Vibration .......................... 6-105 (5) Installation environment ....................6-105 6.3 Precautions for handling ....................... 6-105 6.4 EMC installation guideline ..................... 6-107 6.4.1 Outlines ........................... 6-107 6.4.2 EMC directive ......................... 6-107 6.4.3 EMC measures .......................

  • Page 13: General Configuration

    1 General 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) CD-ROM (Instruction manual) 1.1.2 Special specifications For the special specifications, some standard configuration equipment and specifications have to be...

  • Page 14: Model Type Name Of Robot

    Arm length Brake specification constitution Long arm Note1) RV-8CRL All axes 6-axis type CR800-CVD IP rating Note1) This robot arm's protective structure is IP65. The protective structure of all the controllers is IP20 (open type). To protect a controller, use the optional controller protection box (IP54).

  • Page 15: Contents Of The Structural Equipment

    1 General configuration 1.3 Contents of the structural equipment 1.3.1 Robot arm The list of structural equipment is shown in below. 6-axis vertical multi-joint robot (RV-8CRL) Machine cable (Fixed type: 5m) Machine cable (replaceable type) • Fixed type: 1F-□□UCBL-43 • Flexed type: 1F-□□LUCBL-43 Note 1)□□...

  • Page 16: Controller

    1 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. (Refer to Page 2, "1.2 Model type name of robot".) Controller Controller protection box Teaching pendant (T/B) •...

  • Page 17: Function Extension Device

    1 General configuration 1.3.3 Function extension device These devices (option) are used to extend the function of the robot. Force sensor set MELFA-3D Vision • 4F-3DVS2-PKG3 • 4F-FS002H-W200 Note 1) • 4F-FS002H-W1000 Note 1) Use the sensor attachment adapter "1F-FSFLGSET-01". Fig.1-3: Function extension device...

  • Page 18: Contents Of The Option Equipment And Special Specification

    1 General configuration 1.4 Contents of the Option equipment and special specification A list of all Optional equipment and special specifications are shown below. 1.4.1 List of the robot arm option equipment and special specification Table 1-2: The list of robot option equipment and special specification Classification Item Type...

  • Page 19: Function Extension Device

    DVD-ROM Windows XP, Windows Vista, Windows ○ 7, Windows 8, Windows 8.1, Windows 10 Supporting English. Instruction Manual 5F-BR01-PE01 RV-8CRL ○ Note1) ○: option. 1.4.3 Function extension device Table 1-4: The list of function extension device Classification Item Type name...
  • Page 20 [Reference]:The recommendation products of the USB cable are shown below Table 1-5: Recommendation article of the USB cable Outside Name Type name Supplier dimensions USB cable MITSUBISHI ELECTRIC SYSTEM & SERVICE GT09-C30USB-5P Fig. 1-4 (USB A type-USB mini B type) CO., LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. Fig. 1-5 CAUTION Be careful to the USB cable to apply neither the static electricity nor the noise.

  • Page 21: Robot Arm

    2 Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications Table 2-1: Standard specifications of RV-8CRL robot Item Unit Specifications Type RV-8CRL Environment Oil mist specification Degree of freedom Note1) Installation posture On floor, hanging, (against wall Structure...

  • Page 22: The Counter-Force Applied To The Installation Surface

    2 Robot arm Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.) Note6) The protection specification details are given in Page 14, "2.2.6 Protection...

  • Page 23: 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 fol- lows. 2.2.1 Pose repeatability For this robot, the pose repeatability is given in accordance with JIS B 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

  • Page 24: 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 following issues.

  • Page 25: Relationships Among Mass Capacity, Speed, And Acceleration/Deceleration Speed

    (warm-up), or use the warm-up operation mode. Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related parameter. Table 2-3: Factory-shipments condition JOG operation Automatic RV-8CRL Invalid Invalid 2-13...

  • Page 26: Protection Specifications

    Protection Type specifications Classification Applicable field Remarks (IEC Standards value) Note that if the cutting Machine tool (cutting) RV-8CRL IP65 machine is using Oil mist specifi- Machine shop with heavy abrasive materials, cations oil mist the robot's life will be...

  • Page 27: About The Use With The Bad Environment

    2 Robot arm (2) About the use with the bad environment This robot has protection methods that conform to IEC IP65 standards. Usage conditions are shown below. 1) The robot is designed for use in combination with machining device. 2) We have confirmed that the robot arm meets the protection specifications by testing it using our spec- ified cutting oil.

  • Page 28: Names Of Each Part Of The Robot

    2 Robot arm 2.3 Names of each part of the robot For arm (No.2 arm) J4 axis Wrist J5 axis Mechanical interface J3 axis (Hand installariton flange surface) Elbow J6 axis Upper arm (No.1 arm) J2 axis J1 axis Base Fig.2-2: Names of each part of the robot 2-16 Names of each part of the robot...

  • Page 29: Outside Dimension • Operating Range Diagram

    2 Robot arm 2.4 Outside dimension • Operating range diagram Rev. * 250 or more (maintenance space) Minimum 310 *3) (160) 4-φ9 installation hole φ5H7 depth 8 4-M5 screw depth 8 *1) Rz25 (Installation View A: Detail of mechanical interface View B: Detail of installation dimension surface) *1) The depth in which the screw is tightened is 7.5 to 8mm.
  • Page 30 2 Robot arm The following figure shows a robot at the position of: J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0° Rev. * P-point path P point Operating range for each axis: The area which P point J1 ： ±170° cannot be moved J2 ：...

  • Page 31: Outside Dimensions Of Machine Cables

    2 Robot arm 2.4.1 Outside dimensions of machine cables [Controller side] Mass: 3.1kg Approx. 113 Minimum bending radius: 90mm Cable [Rorbot arm side] 90mm Note) When using machine cables (replaceable type), refer to Page 25, "(1) Machine cable (replaceable): Fixed type" for the cable diameter.

  • Page 32: 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. Wiring and piping system (1) φ6 pneumatic (2) Connector for tool coupling No.2 wiring (D-sub 15 pins) AWG#24 (0.2mm ) ×...

  • Page 33: Internal Wiring And Piping

    2 Robot arm 2.5.2 Internal wiring and piping The robot has two φ6 air hoses between the pneumatic inlet on the base and the top part of the forearm. The hose end section has four coupling bridges for a φ6 hose on both the base and forearm side. 2.5.3 Internal wiring for the hand cable The cables for the hand run from the base to the top part of the forearm (AWG #24 (0.2 mm ) x 15 cores).

  • Page 34: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.4 Air supply circuit example for the hand An example of pneumatic supply circuitry for the hand is shown below. 1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in parallel.
  • Page 35 2 Robot arm Rev. * 2-M4 depth 8 2x3-M4 depth 8 2x2-M4 2x2-M4 depth 8 depth 8 2-M4 depth 8 Fig.2-7: Location of screw holes for fixing wiring/piping 2-23...

  • Page 36: 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. 2-24 Options...

  • Page 37: Machine Cable (Replaceable): Fixed Type

    2 Robot arm (1) Machine cable (replaceable): Fixed type Fixed type ■Order type: ● 1F-□□UCBL-43 Note) The numbers in the boxes □□ refer the length. ■Outline The fixed type machine cable can be used instead of the supplied one (5 m) to extend the distance between the controller and the robot.

  • Page 38: Machine Cable (Replaceable): Flexed Type

    2 Robot arm (2) Machine cable (replaceable): Flexed type Flexed type ■Order type: ● 1F-□□LUCBL-43 Note) The numbers in the boxes □□ refer the length. ■Outline These cables consist of flexed cables, and used for extending the distance between the controller and the robot arm. Replace the enclosed standard cables (5m) with these cables.
  • Page 39 2 Robot arm ■Cable configuration The configuration of the flexible cable is shown in Table 2-8. Refer to this table when selecting the cableveyor. Table 2-8: Cable configuration (Flexed type) Item Motor signal cable Motor power cable No. of cores AWG #24 (0.2mm )-4P AWG #28 (0.08mm...

  • Page 40: About Overhaul

    2 Robot arm 2.7 About Overhaul Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of specified service life or other parts which have been damaged, so that the robots may be put back in shape for continued use.

  • Page 41: Maintenance Parts

    Part name Usage place Qty. Supplier Type Grease Reduction gears of each axis Mitsubishi Electric needed Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-29...

  • Page 42: Controller

    3 Controller 3 Controller 3.1 Standard specifications 3.1.1 Basic specifications Table 3-1: Specifications of controller Item Unit Specification Remarks Type CR800-CVD Note1) Number of control axis Simultaneously 6 Additional 8 axes available. Memory Programmed positions point 39,000 capacity No. of steps step 78,000 Number of program...
  • Page 43 3 Controller Item Unit Specification Remarks Ambient In use 45 to 85 Without dew drops humidity At transport/storage 90 or less Note10) II or less Overvoltage category 2 or less Note11) Pollution level Altitude 1000 or less Grounding Ω 100 or less or less (class D Ω...

  • Page 44: Protection Specifications And Operating Supply

    3 Controller 3.1.2 Protection specifications and operating supply (1) Protection specifications A protection method complying with the IEC Standard IP20 (Opened type) is adopted for CR800 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 3.2.1 Controller Controller front Air intake for fan <18> <19> <20> <6> <21> <7> <8> <9> <10> <11> <12> <13> <14> <15> <16> <17> Controller rear Air exhaust <1> <3> <2> Air exhaust <5>...
  • Page 46 3 Controller <7> LED ..........Four LEDs indicating the controller status. Details POWER Indicates the control power status. On: Control power ON Off: Control power OFF AUTO Indicates the controller mode. On: AUTOMATIC mode Off: MANUAL mode ERROR Indicates the error status. On: Error occurred.

  • Page 47: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions (30) Fig.3-2: Outside dimensions of controller Outside dimensions/Installation dimensions 3-35...

  • Page 48: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions The following figures show the dimensions required installing the controller. For the placement of the controller on its side (the horizontal installation), two stacks is permitted. Horizontal installation Air intake 145mm 145mm 170mm 150mm Vertical installation 20mm 50mm 150mm...
  • Page 49 3 Controller 4-φ6.5 hole 4-φ10 hole 4-φ4.5 hole 21.7 4-C3 (10) (t2) Fig.3-4: Reference figure of the fixing metal plate for vertical installation Outside dimensions/Installation dimensions 3-37...

  • 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 indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No.
  • Page 52 3 Controller Input Output Parameter Note1) name Name Function Level Name Function S1START Outputs the operating state for each Start input Starts each slot. In operation output slot. S32START S1STOP Outputs that each slot is temporarily Stop input Stops each slot. In wait output stopped.
  • Page 53 3 Controller Input Output Parameter Note1) name Name Function Level Name Function AIRERR1 Pneumatic Pneumatic pressure pressure error 1 error 1 output input signal signal. Request the pneumatic pressure Outputs that a pneumatic pressure error occurrence. error is occurring. AIRERR3 Pneumatic Pneumatic pressure pressure error 3...

  • Page 54: Emergency Stop Input And Output Etc

    3 Controller 3.6 Emergency stop input and output etc. Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector switch from the "special input/output" terminal connector. Table 3-3: Special input/output terminal Item Name Function Input...
  • Page 55 3 Controller CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.
  • Page 56 3 Controller Internal circuit structure (Customer) (Customer) (Controller side) T/B emergency stop +24V +24V +3.3V CNUSR11 +3.3V External emergen- cy stop input +3.3V +3.3V Control circuit 1 +3.3V +24V Door switch input CNUSR11 Mode output +3.3V +24V Mode selector Emergency stop switch input output Robot error output...
  • Page 57 3 Controller CNUSR12 connector CNUSR11 connector Wiring to a connector View A: Pin number of connector User wiring connector Lever CNUSR11 connector Cable Lever Latch Cable insertion hole Flathead screwdriver CNUSR12 connector Connection procedure Wire cables to the CNUSR11 and CNUSR12 user wiring connectors (attachment), and fit them into the corresponding connectors (ports) located on the rear side of the controller.

  • Page 58: Special Stop Input (Skip)

    3 Controller 3.6.2 Special stop input (SKIP) The SKIP is the input signal to stop the robot. Please connect the pin 4, 13 of the CNUSR12 connector shown in Fig. 3-8. Table 3-4: Special stop input electric specification Item Specifications Internal circuit Type DC input...

  • Page 59: Door Switch Function

    3 Controller 3.6.3 Door switch function This function acquires the status of the switches attached on the door of the safety fence, and it turns OFF the servo to stop the robot when the door is opened. Perform wiring so that the contact opens when the door is opened.

  • Page 60: Automatic Operation/Jog Operation/Brake Release And Necessary Switch Settings

    3 Controller (1) 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 3-6: Various operations and necessary switch settings Note1) Related switch settings Mode selector Door switch Operation...

  • Page 61: 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-J4-B series) that supports Mitsubishi's SSCNET III.

  • Page 62: Example Of The Installation Of The Noise Filter

    3 Controller 3.7.2 Example of the installation of the noise filter ■EMC filter (recommended) Please install the recommendation filter shown below according to the example of connection. Table 3-8: Combination of a servo amplifier and filter (Soshin Electric) Recommended filter (Soshin Electric) Servo amplifier Mass [kg] Rated voltage...

  • Page 63: Line Noise Filter

    3 Controller ■Installing an EMC noise filter EMC filter Servo amplifier MCCB Note 1) Power supply Note 2) Surge protector Note 1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120 VAC power supply.

  • Page 64: Additional Axis Synchronization Output

    3 Controller 3.8 Additional axis synchronization output 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: Image Of How To Connect The Controller Connector

    3 Controller (2) Image of how to connect the controller connector CNUSR11 connector * Refer to Page 45 "Fig. 3-7: Wiring method to the user wiring connector" for more details about how to wire a connector. Fig.3-15: AXMC terminal connector Additional axis synchronization output 3-53...

  • 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. 3-54...

  • Page 67: Teaching Pendant (T/B)

    "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 "Enable switch". The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
  • Page 68 3 Controller 195.2 105.5 Enable/Disable switch Emergency stop Operetion key Body Enable switch Cable (with connector) <side> <Back> <Front> <Bottom> Fig.3-16: Outside dimensions of teaching pendant ■Installation method The teaching pendant is connected to the TB connector on the front of the controller. 3-56...
  • Page 69 3 Controller ■Key layout and main functions 1) [Emergency stop] switch ....The robot servo turns OFF and the operation stops immediately. 2) [TB ENABLE] switch....... This switch changes the T/B key operation between enable and disable. 3) Enable switch ......... When the [Enable/Disable] switch "2)" is enabled, and this key is released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.

  • Page 70: High Efficient Teaching Pendant (T/B)

    "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 "Enable switch". The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
  • Page 71 3 Controller ■Outside dimensions and main functions ) 9) 19) 20) 37.2 55.3 21.5 1) TEACH button......This changeover switch is used to enable or disable the T/B key operations. The lamp (white) lights up during enabling state. 2) Wheel........Move the cursor to select the menu and so on. 3) Emergency stop button .....

  • Page 72: Controller Protection Box

    3 Controller (3) Controller protection box ■Order type: CR800-MB ■Outline Storing the controller in this box protects the controller from dust and water. Use this option, when the controller is installed where environment is oil mist such as machine shop etc. ■Configuration Table 3-14: Configuration equipment and types Mass...
  • Page 73 3 Controller ■Outside dimension Cable cover Controller setting position Cable cover Rubber foot fixation screw for (10) (10) placing vertically (45) (45) (Four places) (85) (85) Fig.3-19: Outside dimension 3-61...
  • Page 74 3 Controller ■Names of each part Cable cover T/B connector Label for serial number (attachment) + Transparent seal (attachment) Front view ACIN cable Controller Fixing le FG terminal (M4 screw) (supplied with controller) Power supply relay terminal (M4 screw) Power supply cable, Front side Grounding cable (customer...
  • Page 75 3 Controller ■Wiring system diagram Relay terminal block ACIN cable (supplied with controller) Controller (M4 screw) Machine cable Power supply cable (CN1) Grounding cable (customer preparation) External emergency stip wiring (customer preparation) Controller Heat exchanger protection box AC fan FG terminal (M4 screw) Fig.3-21: Wiring system diagram [ Note] The figure above is a diagrammatic illustration.
  • Page 76 3 Controller ■Installation dimensions Horizontal installation 150mm or more 30mm or more 150mm or more Vertical installation 150mm or 150mm or more 150mm or more more 150mm or 30mm or more more Fig.3-22: Installation dimensions 3-64...

  • Page 77: Melsoft Rt Toolbox3/Melsoft Rt Toolbox3 Mini/Melsoft Rt Toolbox3 Pro

    This function can reduce the time required for recovery. *1) The maintenance forecast function cannot be used with the RV-8CRL. 3-65...
  • Page 78 3 Controller ■Functions Table 3-17: Functions Note1) Function Details Functional existence Compatible model Personal computer running Windows XP, Windows Vista, ○ ○ ○ Note2) Windows 7, Windows 8, Windows 8.1, or Windows 10. Program editing Editing • MELFA BASIC V, VI language compatible functions functions •...

  • Page 79: Instruction Manual (Bookbinding)

    3 Controller (5) Instruction Manual (bookbinding) ■Order type: • 5F-BR01-PE01: Instruction manuals of RV-8CRL ■Outline This is a printed version of the CD-ROM (instruction manual) supplied with this product. ■Configuration Table 3-18: Product configuration Note1) Name Type Mass (Kg) Specifications...

  • Page 80: Parallel I/O Interface

    3 Controller (6) 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 81 3 Controller Table 3-21: Electrical specifications for the output circuits Specification Internal circuit Item <Sink type> Type Transistor output No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage DC12V/DC24V Output Rated load voltage range DC10.2 to 30V (peak voltage DC30V) Max.
  • Page 82 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.3-24: 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 83 3 Controller Table 3-23: 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 24G/12G: For pins Black a +24V/+12V(COM): Orange/Red Orange/ 5D-20D For pins 5D-20D COM: For pins Black a Reserved...
  • Page 84 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 (24G/12G) *The input/output circuit external External power supply (24 VDC) must be power supply QY41P prepared by the customer. (Mitsubishi programmable (Input) controller)

  • Page 85: External I/O Cable

    3 Controller (7) 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 connector on the parallel I/O interface. For parallel I/O unit is another option 2A- CBL□□.
  • Page 86 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 specifications in "Table 3-36: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication Orange / Red / a Type of dot mark (see figure...

  • Page 87: Parallel I/O Unit

    3 Controller (8) 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. • The connection cable is not included. .Prepare the optional external input/ output cable (2A-CBL05 or 2A-CBL15). • Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2A-RZ371 for source type signal logic.
  • Page 88 3 Controller Table 3-29: Electrical specifications of input circuits Item Specification Internal circuit <Sink type> Type DC input Number of input points +24V/+12V Insulation method Photo coupler insulation (COM) Rated input voltage 12VDC 24VDC Rated input current Approx 3mA Approx 7mA Input 入力...
  • Page 89 3 Controller NET cable-1 (Network cable) Pin No. RIO1/2 Pin No. TXRXH TXRXDH TXRXL TXRXDL SG(GND) SG(GND) Connector: 1-178288-3 Connector: J21DF-06V-KX-L DCcable-2 (Power cable) Pin No. RIO1/2 +24V Power 24G(RG) FG(PE) Connected the frame Connector: 2-178288-3 ground or protect ground R-TM (Terminator) Pin No.
  • Page 90 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 front of the controller. Upside 天 (4 0 ) (1 7 5 ) Wiring space 配...
  • Page 91 3 Controller RIOコネクタ Parallel I/O unit 7 Parallel I/O unit 1 . . . 6 パラレル入出力ユニット7 パラレル入出力ユニット 1 ..6 Within 100mm Station No. Station No. 100mm以 内 局番設定 局番設定 setting setting 1 . . . 6 1 .
  • Page 92 3 Controller ■Pin arrangement of the connector Channel No. setting LED display *1)TXD LED display Indicator for the ＜CN300＞ Input 16 to 31 communication status. The Output 16 to 31 dimly lit lamp indicates that ＜CN100＞ the unit is in the normal Input 0 to 15 condition.
  • Page 93 3 Controller Table 3-32: CN100 connector signal assignment/external I/O cable 2A-CBL□□ wire color list (station number "0") Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A 26 Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A 0V:For pins 29-32, 35-38...
  • Page 94 3 Controller Table 3-33: CN300 connector signal assignment/external I/O cable 2A-CBL□□ wire color list (station number "0") 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 95 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 (24G/12G) External *The input/output circuit external power supply QY41P power supply (24 VDC) must be (Mitsubishi programmable (Input) prepared by the customer.

  • Page 96: External I/O Cable

    3 Controller (9) 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 connector on the parallel input/output unit. One end matches the connector on the parallel input/output unit, and the other end is free.
  • Page 97 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 specifications in "Table 3-36: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication Orange / Red / A Type of dot mark (see figure...

  • Page 98: Cc-Link Interface

    3 Controller (10) 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. ■Configuration Table 3-37: Configuration device Part name...
  • Page 99 3 Controller ■Specifications Table 3-39: Specifications Item Specifications Remarks Communication function Bit data and word data can be transmitted. Word data are used by the registers. Station type Note1) 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 100 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. •...

  • Page 101: Sd Memory Card

    3 Controller (11) SD memory card ■Order type: 2F-2GBSD ■Outline This card is used as an extended memory. To save logging data, insert an SD card into the SD card slot on the front of the robot controller. ■Configuration Table 3-40: Configuration device Part name Type Qty.

  • Page 102: Maintenance Parts

    Table 3-41: Controller consumable parts list Note1) Name Qty. Usage place Supplier Type Filter BKOFA0773H42 Inside the filter cover Mitsubishi Electric Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. 3-90 Maintenance parts...

  • Page 103: Software

    4 Software 4 Software 4.1 List of commands The available new functions in MELFA-BASIC VI are given in Table 4-1. Table 4-1: List of MELFA-BASIC VI commands Type Class Function Input format (example) Struc- Function procedure Defines the Function procedure. Function M Func(M1, M2) tured pro- Function procedure summarizes a series of processing...
  • Page 104 4 Software Type Class Function Input format (example) Position Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1 and oper- Operates the pallet grid point position. Plt 1,M1 ation con- Singular point pas- Move to a specified position using linear interpolation passing Mvs P1 Type 0,2 trol sage...
  • Page 105 4 Software Type Class Function Input format (example) Others Definition Defines the integer type or real number type variable. Def Inte KAISUU Defines the character string variable. Def Char MESSAGE Defines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3) Defines the joint variable.

  • Page 106: List Of Parameters

    4 Software 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 107 4 Software Parameter Details User-designated origin USERORG Designate the user-designated origin position. Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will be entered when not set. Communication setting CBAU232 Set the baud rate. CLEN232 Set the character length.

  • Page 108: Instruction Manual

    5 Instruction 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. For special specifications, a separate instruction manual describing the special section may be enclosed. Manual name Description Safety Manual...

  • Page 109: Safety

    6 Safety 6 Safety 6.1 Safety Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanita- tion 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...

  • Page 110: External Input/Output Signals That Can Be Used For Safety Protection Measures

    6 Safety 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- Connector This servo power is shut off, and the Externally installed emergency stop gency stop CNUSR11...

  • Page 111: Training

    6 Safety (4) Training • Train the operators about the operations, maintenance and safety required for the robot work. • Only trained and registered operators must operate the robot. Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Committee, etc., is recommended for safety training.

  • Page 112: Examples Of Safety Measures

    6 Safety 6.1.7 Examples of safety measures Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. The safety measure examples are shown in Fig. 6-1 Fig. 6-4. Create a circuit as shown below for safety measures.
  • Page 113 6 Safety <Wiring example 2>: Connect the emergency stop switch, and door switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 114 6 Safety <Wiring example 3>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. 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 115 2 systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)). 2) When connecting emergency stop button output to an exterior safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram.

  • Page 116: External Emergency Stop Connection [Supplementary Explanation]

    6 Safety (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 (normal open), 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 117: Working Environment

    6 Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambi- ent environment conditions. When using in the following conditions, the customer must pay special atten- tion to the preventive measures. (1) Power supply •...
  • Page 118 For parts replacement, contact Mitsubishi Electric or your local sales rep- resentative. If the robot is continued to be used with damaged mechanical parts or reduction gear, the degree of their damage may increase.

  • Page 119: Emc Installation Guideline

    6.4.2 EMC directive The Mitsubishi Electric industrial robot follows the European EMC directive. This technical standard regu- lates the following two items. (1) Emission (EMI: Electromagnetic Interference)..The capacity not to generate the disturbance noise which has a bad influence outside.

  • Page 120: Component Parts For Emc Measures

    6 Safety 6.4.4 Component parts for EMC measures (1) Ferrite core The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable. This has the effect in the common-mode noise. The measures against the noise are made not influ- ential in the quality of the signal.

  • Page 121: Appendix 1: Inertia Calculation Method

    7 Appendix 7 Appendix Appendix 1: Inertia calculation method An allowable moment of inertia in the mechanical interface at the tip of the robot arm is determined. If a load exceeding the allowable moment of inertia is put, on the tip of the arm, vibration during operation and an overload alarm may occur.

  • Page 122: Appendix 2: Classification Of Functions Using External Input/Output Signals

    7 Appendix Appendix 2: Classification of functions using external input/output signals Before using the functions, note the following. Table 7-1: Classification of functions using external input/output signals Classification Function Description Safety signal Emergency stop input Detects emergency stop inputs. The safety diagnosis function for the emergency stop input circuit makes the STO function meet the requirements of Category 4, Performance Level e.

  • Page 123: Appendix 3: Safety Diagnosis Function (Test Pulse Diagnosis)

    7 Appendix Appendix 3: Safety diagnosis function (Test pulse diagnosis) This function enables diagnosis of external wiring by pulse signals output from the emergency stop ports (EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off-pulses regularly. The width of output pulses is always approximately 20 ms. Checking regularly the test pulses inside the robot controller enables confirming the correct operation of the emergency stop lines.

  • Page 124: Appendix 4: Safety Block Diagram

    7 Appendix Appendix 4: Safety block diagram Robot arm Converter Inverter Current Motor sensor AC power Encoder PWM gate circuit Current feedback Servo CPU block Encoder feedback Gate control Gate control Servo block signal signal Position data Gate status Encoder feedback Emergency stop Safety function input...
  • Page 125 Company name Name Address Telephone ■Purchased model Note1) Type Controller RV-8CRL-D CR800-CVD Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name. ■Options (Installable after shipment) Item Type Provision, and specifications when provided.

  • Page 126: Appendix 5: Specifications Discussion Material

    7 Appendix Appendix-114 Specifications discussion material...
  • Page 128 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 Jan. 2020 MEE Printed in Japan on recycled paper.

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