Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Manuals
  4. Robotics
  5. MELFA RH-3FH-D Series
  6. Special specifications manual
Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual

Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Mitsubishi Industrial Robot
RH-3FH-D Series
Special Specifications Manual
(CR750-D/CR751-D Controller)
BFP-A8878-J

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi MELFA RH-3FH-D Series

Summary of Contents for Mitsubishi MELFA RH-3FH-D Series

  • Page 1 Mitsubishi Industrial Robot RH-3FH-D Series Special Specifications Manual (CR750-D/CR751-D Controller) BFP-A8878-J...
  • 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 CAUTION Be careful of interference with peripheral equipment. Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged. Take care also of the following items.
  • Page 7 ■Revision history Date of print Specifications No. Details of revisions 2012-03-13 BFP-A8878 ・ First print. 2012-03-21 BFP-A8878-A ・ The painting color was corrected. (Error in writing) ・Notes were added to the example of safety measures. (The measure against the noise, The electric specification of the output terminal) 2012-04-04 BFP-A8878-B...
  • Page 8 This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the cus- tomer's need to achieve a compact manufacturing facility capable of highly flexible production, as neces- sitated by the diffusion of high-density product groups and the shorter product life cycles that have become common-place in recent years.

  • Page 9: 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 10 Contents Page 2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) ....... 2-40 (1) Example of wiring and piping <1> ........................2-41 (2) Wiring and piping example <2> ..........................2-42 (3) Precautions for the clean specification ......................2-42 2.5.7 Wiring and piping system diagram for hand ......................
  • Page 11 Contents Page (2) CR751 controller ............................... 3-97 3.10 Magnet contactor control connector output (AXMC) for addition axes ..........3-100 (1) CR750 controller ..............................3-101 (2) CR751 controller ..............................3-102 3.11 Options ....................................3-103 (1) Teaching pendant (T/B) ............................3-104 (2) Parallel I/O interface ............................3-107 (3) External I/O cable ..............................

  • Page 12: 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) Safety manual, CD-ROM (Instruction manual) (6) Guarantee card 1.1.2 Special specifications...

  • Page 13: Model Type Name Of Robot

    1General configuration 1.2 Model type name of robot This robot has arranged the type name corresponding to load mass, arm length, and environment specification. Details are shown below, please select the robot suitable for the customer's use. 1.2.1 How to identify the robot model RH - ◇◇...

  • Page 14: Combination Of The Robot Arm And The Controller

    1General configuration 1.2.2 Combination of the robot arm and the controller Table 1-1 ： Combination of the robot arm and the controller J3-axis stroke Robot arm Note1) Protection specification length Controller (mm) (mm) Stand alone type controller General-purpose environment RH-3FH3515-1D RH-3FH4515-1D CR751-03HD-0 RH-3FH5515-1D...

  • Page 15: Contents Of The Structural Equipment

    1.6 Contents of the structural equipment 1.6.1 Robot arm The list of structural equipment is shown in below. Horizontal four-axis multiple-jointed type Machine cable （Standard product: （RH-3FH series） 5m attachment） No-CE specifications CE specifications Machine cable (Fix type ： 2m) ･...

  • Page 16: 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. (Refer to Page 2, "1.2 Model type name of robot".) Controller Teaching pendant (T/B) No-CE specifications CE specifications R32TB/R33TB...

  • Page 17: Contents Of The Option Equipment And Special Specification

    General configuration 1.7 Contents of the Option equipment and special specification A list of all Optional equipment and special specifications are shown below. Table 1-3 ： The list of robot option equipment and special specification Note1) Classification Item Type Specifications Description CR750 CR751...
  • Page 18 General configuration Table 1-4 ： The list of controller option equipment and special specification Classification Note1) Item Type Specifications Description CR750 CR751 Simple teaching pendant R32TB Cable length 7m ○ With 3-position enable switch IP65 R32TB-15 Cable length 15m ○ R33TB Cable length 7m ○...
  • Page 19 Type name Supplier USB cable KU-AMB530 SANWA SUPPLY INC. (USB A type-USB mini B type) USB-M53 ELECOM CO., LTD. MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., GT09-C30USB-5P 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 20: Robot Arm

    2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications (1) Standard specification Table 2-1 ： Standard specifications of robot arm Item Unit Specifications RH-3FH3515 RH-3FH4515 RH-3FH5515 Type Environment Standard specification Installation posture On floor Degree of freedom Structure Horizontal, multiple-joint type Drive system AC servo motor...
  • Page 21 2Robot arm Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg. ･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

  • Page 22: Clean Specification

    2Robot arm (2) Clean specification Table 2-2 ： Standard specifications of robot arm (Clean specification) Item Unit Specifications RH-3FH3512C RH-3FH4512C RH-3FH5512C Type Environment Standard specification Installation posture On floor Degree of freedom Structure Horizontal, multiple-joint type Drive system AC servo motor Position detection method Absolute encoder Motor capacity...

  • Page 23: The Counter-Force Applied To The Installation Surface

    2Robot arm Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg. ･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

  • Page 24: 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 25: 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 26: Relationships Among Mass Capacity, Speed, And Acceleration/Deceleration Speed

    ２ Robot arm 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to the load capacity and size that have been set, and operates using these automatically set speeds. To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used.

  • Page 27: Vibration Of Shaft (J3 Axis) Position And Arm End

    ２ Robot arm 2.2.5 Vibration of shaft (J3 axis) position and arm end Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes long.

  • Page 28: Relationship Between Height Of Shaft (J3 Axis) And Acceleration/Deceleration Speed

    ２ Robot arm (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-3, Fig. 2-4) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig.

  • Page 29: Relation Between Offset Length And The Maximum Speed

    ２ Robot arm (3) Relation between offset length and the maximum speed 加 減 速 度 割 合 0 20 Offset length (mm) オフセット量（mm） Fig.2-5 ： Relationship of the offset length and maximum velocity [Supplementary explanation 1]: The setting which shortens execution time The execution time can be improved by using the following methods.

  • Page 30: Time To Reach The Position Repeatability

    ２ Robot arm (4) Time to reach the position repeatability When using this robot, the time to reach the position repeatability may be prolonged due to the effect of residual vibration at the time of stopping. If this happens, take the following measures: 1) Change the operation position of the Z axis to the location near the top as much as possible.

  • Page 31: Protection Specifications

    ２ Robot arm 2.2.7 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 2-6. Table 2-6 ： Protection specifications and applicable fields Protection Type specifications...
  • Page 32 ２ Robot arm 3) Remove the CONBOX cover on the robot arm rear and install the attached ventilation duct (refer to Fig. 2- 8). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out of the robot’s ventilation duct opening.

  • Page 33: Names Of Each Part Of The Robot

    ２ Robot arm 2.3 Names of each part of the robot J2 axis J2軸 － ＋ No.2 arm 第2アーム No.1 arm 第１アーム J1 axis J1軸 － ＋ ＋ J3 axis J3軸 Note1) － ブレーキ解除スイッチ Brake release switch － ＋ ベース Base シャフト...

  • Page 34: Outside Dimensions ・ Operating Range Diagram

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram 2.4.1 Outside dimensions ・ Operating range diagram (1) Standard Specification Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping.
  • Page 35 ２ Robot arm Installation surface Fig.2-11 ： Operating range diagram of RH-3FH3515 Outside dimensions ・ Operating range diagram 2-24...
  • Page 36 ２ Robot arm Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface. *3) Minimum radius of bending the machine cable.
  • Page 37 ２ Robot arm Installation surface Fig.2-13 ： Operating range diagram of RH-3FH4515 Outside dimensions ・ Operating range diagram 2-26...
  • Page 38 ２ Robot arm Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface. *3) Minimum radius of bending the machine cable.
  • Page 39 ２ Robot arm Installation surface Fig.2-15 ： Operating range diagram of RH-3FH5515 Outside dimensions ・ Operating range diagram 2-28...

  • Page 40: Clean Specification

    ２ Robot arm (2) Clean Specification Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface. The duct of *3 is attached to the clean and oil mist specification.
  • Page 41 ２ Robot arm Installation surface Fig.2-17 ： Operating range diagram of RH-3FH3512C Outside dimensions ・ Operating range diagram 2-30...
  • Page 42 ２ Robot arm Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/ piping. Six places on both-sides of No.2 arm, Two places on front surface. The duct of *3 is attached to the clean and oil mist specification.
  • Page 43 ２ Robot arm Installation surface Fig.2-19 ： Operating range diagram of RH-3FH4512C Outside dimensions ・ Operating range diagram 2-32...
  • Page 44 ２ Robot arm Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface. The duct of *3 is attached to the clean and oil mist specification.
  • Page 45 ２ Robot arm Installation surface Fig.2-21 ： Operating range diagram of RH-3FH5512C Outside dimensions ・ Operating range diagram 2-34...

  • Page 46: Mechanical Interface And Installation Surface

    ２ Robot arm 2.4.2 Mechanical interface and Installation surface <Detail of Mechanical interface> <ハンド取り付けフランジ部詳細> φ90 φ37.5 φ16h7 Standard specification Clean specification 標準仕様 クリーン仕様 Section Z-Z 断面Z-Z <Details of installation dimensions> <ベース裏面据付寸法詳細> 2-φ6 hole 2-φ6穴 Pilot hole (positioning pin φ8) (φ8位置決めピン用下穴) 4-φ9 installation reference hole 4-φ9据付用穴...

  • Page 47: Change The Operating Range

    ２ Robot arm 2.4.3 Change the operating range The operating ranges of J1 axis can be limited. Change the mechanical stopper and the operating range to be set inside of that area. If the operating range must be limited to avoid interference with peripheral devices or to ensure safety, set up the operating range as shown below.

  • Page 48: The Change Method Of The Operating Range

    ２ Robot arm (2) The change method of the operating range ■ Installation of the mechanical stopper 1) Turn off power to the controller. 2) Install the hexagon socket bolt in the screw hole to the angle to set up referring to Table 2-9 Fig.

  • Page 49: 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. Primary piping pneumatic hose (AIR OUT, RETURN) Secondary piping pneumatic hose (Option, or customer prepared) (4)Hand input signal connector (HC1, 2) φ4 hose (Max.

  • Page 50: Internal Air Piping

    ２ Robot arm 2.5.2 Internal air piping (1) Standard type 1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. The base and No.2 arm sides of the hose end are two air joints for φ6 hoses. 2) The solenoid valve set (optional) can be installed to the side on No.2 arm.

  • Page 51: About The Installation Of Tooling Wiring And Piping (Examples Of Wiring And Piping)

    ２ Robot arm 2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) The customer is required to provide tooling wiring, piping and metal fixtures. Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to Fig.

  • Page 52: Example Of Wiring And Piping <1

    ２ Robot arm (1) Example of wiring and piping <1> By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact. 2次配管エアホースなど Secondary piping air hose, etc 　・ケーブル内装配線・配管セット(オプション) ・ Internal Wiring/Piping set for hand (Option) 　　(ハンドチューブ：φ3×4本、ハンド入力ケーブル(信号用4本、電源用2本)) (Hand tube: φ3 x 4 hoses, Hand input cable (For signal: 4 cable, For power: 2 cable)) 　または...

  • Page 53: Wiring And Piping Example <2

    ２ Robot arm (2) Wiring and piping example <2> This is an effective method in cases where the wiring and piping is often changed, or when the hand rotation is minimal (within ±90°), etc. Wiring/Piping (Customer preparation) 配線・配管(お客様準備) Fixing plate (Customer preparation) 固定金具(お客様準備) または...

  • Page 54: Wiring And Piping System Diagram For Hand

    ２ Robot arm 2.5.7 Wiring and piping system diagram for hand Shows the wiring and piping configuration for a standard-equipped hand. Hand signal output connector (GR1) ハンド信号出力用コネクタ（GR1コネクタ） White 白 <+24V(COM)> Black 黒 <Reserved> <予約> White 白 <GR 1> Black 黒 <GR 2>...
  • Page 55 ２ Robot arm Hand signal output connector (GR1) ハンド信号出力用コネクタ（GR1コネクタ） White 白 <24GND(COM)> Black 黒 <予約> <Reserved> White 白 <GR 1> Black 黒 コ <GR 2> ロ White 白 Hand output signal ン <GR 3> ボ Black 黒 ト ッ <GR 4> Connect to the optional solenoid ロ...

  • Page 56: Electrical Specifications Of Hand Input/Output

    ２ Robot arm 2.5.8 Electrical specifications of hand input/output Table 2-11 ： Electrical specifications of input circuit Item Specifications Internal circuit Type DC input <Sink type> No. of input points +24V +24V Insulation method Photo-coupler insulation Rated input voltage 24VDC Rated input current approx.

  • Page 57: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.9 Air supply circuit example for the hand Fig. 2-30 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 58: Shipping Special Specifications, Options, And Maintenance Parts

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

  • Page 59: Machine Cable

    ２ Robot arm (1) Machine cable ■ Order type ： ● Fixed type ..CR750 controller: 1S-02UCBL-03 (2m: For CE specification) CR751 controller: 1F-02UCBL-02 (2m) ■ Outline This cable is exchanged for the machine cable (5 m for fixed type) that was supplied as standard to shorten the distance between the controller and the robot arm.

  • Page 60: Options

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

  • Page 61: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension ■ Order type: ● CR750 controller ..Fixed type: 1S- □□ CBL-03 (CE specification extension type) Flexed type: 1S- □□ LUCBL-03 (CE specification direct type) Flexed type: 1S- □□ LCBL-03 (CE specification extension type) ●...
  • Page 62 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 2-15. Table 2-15 ： Conditions for the flexed type cables Item Specifications Minimum flexed radius 100R or more...
  • Page 63 ２ Robot arm ■ Fixing the flexible cable (1) Connect the connector to the robot arm. (2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten- sion section as shown in Fig.
  • Page 64 ２ Robot arm <CR751 controller> Robot arm ロボット本体 Nylon clamp ナイロンクランプ Silicon rubber シリコンゴム Controller コントローラ AMP1・AMP2 Motor power (CN1) Motor signal (CN2) モータ電源(CN1) モータ信号(CN2) AMP1 AMP2 BRK 300～ ネジ 400mm Two fixing screws (固定用 2本) Nylon clamp ナイロンクランプ Two fixing ネジ...

  • Page 65: Changes J1 Axis Operating Range

    ２ Robot arm (2) Changes J1 axis operating range ■ Order type: J1 axis: 1F-DH-01 ■ Outline The operating range of J1 axis is limited by the robot arm's mechanical stopper and the controller parameters. If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.

  • Page 66: Solenoid Valve Set

    ２ Robot arm (3) Solenoid valve set ■ Order type: One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type) Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type) Three sets: 1F-VD03-01(Sink type)/1F-VD03E-01(Source type) Four sets: 1F-VD04-01(Sink type)/1F-VD04E-01(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 67 ２ Robot arm 50mm 80mm ④ ① ② ③ <Sink type> <Source type> <シンクタイプ> <ソースタイプ> Connector name Connector name コネクタ名 コネクタ名 <GR1> <GR1> White 白 White 白 +24V (COM) 24GND (COM) Reserved Reserved 予約 予約 Black クロ アカ SOL1A クロ SOL1A Black アカ...

  • Page 68: Hand Input Cable

    ２ Robot arm (4) Hand input cable ■ Order type: 1F-HC35C-01 ■ 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 69: Hand Output Cable

    ２ Robot arm (5) Hand output cable ■ Order type: 1F-GR60S-01 ■ Outline The hand output cable (solenoid valve connection cable) is an option that is used when a 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 70: Hand Curl Tube

    ２ Robot arm (6) Hand curl tube ■ Order type: Four sets....1E-ST0408C-300 ■ Outline The hand curl tube is a curl tube for the pneumatic hand. ■ Configuration Table 2-26 ： Configuration equipment Note1) Type Qty. Remarks Mass (kg) Hand curl tube (Four set: 8 pcs.) 1E-ST0408C-300 1 pc.

  • Page 71: Internal Wiring/Piping Set For Hand

    ２ Robot arm (7) Internal Wiring/Piping set for hand ■ Order type: 1F-HS304S-01 ■ Outline This set, consisting of air hoses and cables, is for feeding air hoses and hand input signal cables from the No. 2 arm through to the shaft tip. A plate is already attached to be fixed onto the No.

  • Page 72: External Wiring/Piping Box

    ２ Robot arm (8) External Wiring/Piping box ■ Order type: 1F-UT-BOX ■ Outline Pull out Wiring/Piping This is a very useful option when removing the air hoses and signal lines from the rear of the No. 2 arm, and pulling hand wiring and piping out to the robot’s exterior. The joint for connects to the external hose is prepared, and the holes which fixes the signal cable to pull out with cable clamp are prepared.
  • Page 73 ２ Robot arm ① ⑤ ③ ② ④ Configuration Part name Qty. Specification ① External Wiring/Piping box housing ② Quick coupling φ4 (Elbow) ③ Quick coupling φ6 (Elbow) The grommet is attached to each hole. ④ φ21 hole (Two holes are in the right and the left.) ⑤...

  • Page 74: About Overhaul

    ２ Robot arm 2.8 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 speci - fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin - ued use.

  • Page 75: Maintenance Parts

    Front section of the base Timing belt J3 axis J4 axis motor side Mitsubishi Electric J4 axis shaft side Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-64...

  • Page 76: Controller

    3Controller 3 Controller 3.1 Standard specifications Table 3-1 ： Specifications of controller Item Unit Specification Remarks Type CR750-03HD1-1-S15 CR751-03HD-0 Number of control axis Simultaneously 4 Memory Programmed positions point 39,000 capacity No. of steps step 78,000 Number of program Robot language MELFA-BASIC V Note1) Teaching method...

  • Page 77: Protection Specifications And Operating Supply

    3Controller 3.2 Protection specifications and operating supply A protection method complying with the IEC Standard IP20 (Opened type) is adopted for the controller. The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.

  • Page 78: Names Of Each Part

    3 Controller 3.3 Names of each part 3.3.1 Controller (1) CR750 controller Controller (Front side) <15> <16> <17> <3> <18> Fan, Air suction <6> <20> Controller (Rear side) <10> <4> <5> <7> <8> <9> Attached cover <19> Exhaust downward (Bottom) <14>...
  • Page 79 3 Controller <1> ACIN terminal ..........The terminal box for AC power source (single phase or single phase/ three phase, AC200V) input. (Inner side of a cover) <2> PE terminal .............The screw for grounding of the cable. (M4 screw x 2 place) <3>...

  • Page 80: Cr751 Controller

    3 Controller (2) CR751 controller Controller (Front side) <4> <7> <10> <15> <9> <2> <1> <3> <5> <6> <14> <13> <12><11> <8> Controller (Rear side) Exhaust Fig.3-2 ： Names of controller parts (CR751) <1> ACIN connector ........The connector for AC power source (1-phase, AC200V) input (a socket housing and a terminal are attached) <2>...
  • Page 81 3 Controller <11>USB connecting connector (USB)..For USB connection <12>LAN connector (LAN) ......For LAN connection <13>ExtOPT connector (ExtOPT)....Connect the cable for addition axis control. <14>RIO connector (RIO)......Connect the extension parallel input/output unit. <15>Option slot ..........Install the interface optional. (Install the cover, when not using.) (SLOT1、...

  • Page 82: Outside Dimensions/Installation Dimensions

    3 Controller 3.4 Outside dimensions/Installation dimensions 3.4.1 Outside dimensions (1) CR750 controller Fig.3-3 ： Outside dimensions of controller (CR750) Outside dimensions/Installation dimensions 3-71...

  • Page 83: Cr751 Controller

    3 Controller (2) CR751 controller Fig.3-4 ： Outside dimensions of controller (CR751) Outside dimensions/Installation dimensions 3-72...

  • Page 84: Installation Dimensions

    3 Controller 3.4.2 Installation dimensions (1) CR750 controller <Placed horizontally> 145mm 145mm Intake vent 吸気口 250mm or more 250mm 以 上 <Placed vertically> 250mm or more 250mm以上 20mm or more 50mm or more 20mm以上 50mm以上 Fig.3-5 ： Installation of controller (CR750) CAUTION Fixing installation section sure for prevention from the fall, when using the controller placing vertically.
  • Page 85 3 Controller hole hole (Controller fixation hole) hole Fig.3-6 ： Metal plate for fixation to placing vertically (Reference for CR750) Outside dimensions/Installation dimensions 3-74...

  • Page 86: Cr751 Controller

    3 Controller (2) CR751 controller <Placed horizontally> 145mm 145mm Intake vent 吸気口 250mm or more 250mm 以上 <Placed vertically> 50mm以上 50mm or more 20mm or more 20mm以上 250mm or more 250mm以上 Fig.3-7 ： Installation of controller (CR751) CAUTION Fixing installation section sure for prevention from the fall, when using the controller placing vertically.
  • Page 87 3 Controller hole hole hole (Controller fixation hole) Fig.3-8 ： Metal plate for fixation to placing vertically (Reference for CR751) Outside dimensions/Installation dimensions 3-76...

  • Page 88: External Input/Output

    3 Controller 3.5 External input/output 3.5.1 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 89: Dedicated Input/Output

    3 Controller 3.6 Dedicated input/output Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi - cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.
  • Page 90 3 Controller Input Output Parameter Note1) name Name Function Level Name Function S1STOP Outputs that each slot is temporarily Stop input Stops each slot. In wait output stopped. S32STOP PRGSEL Program selection Designates the setting value for input signal the program No. with numeric value None input signals.
  • Page 91 3 Controller Input Output Parameter Note1) name Name Function Level Name Function AIRERR1 Pneumatic pressure Pneumatic pressure error 1 input signal error 1 output signal. Request the pneumatic pressure Outputs that a pneumatic pressure error occurrence. error is occurring. Pneumatic pressure Pneumatic pressure AIRERR3 error 3 input signal...

  • Page 92: Emergency Stop Input And Output Etc

    3 Controller 3.7 Emergency stop input and output etc. Do wiring of the external emergency stop, the special stop input, the door switch, and the enabling device from the "special input/output" terminal connector. Table 3-3 ： Special input/output terminal Item Name Function Input...
  • Page 93 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 94 3 Controller (1) CR750 controller CNUSR11 connector CNUSR11コネクタ CNUSR12 connector CNUSR12コネクタ Within 30 cm 30cm以内 Ferrite core フェライトコア Pass twice 2回通し Fig.3-9 ： Emergency stop cable connection (CR750) Emergency stop input and output etc. 3-83...
  • Page 95 3 Controller Internal circuit structure 内部回路構成 内部回路構成 (Controller side) （お客様配線側） (Customer) ( 側 ) （お客様配線側） (Customer) （コントローラ側） OP emer - TB emer - gency stop 非常停止 非常停止 gency stop CNUSR11 +24V CNUSR11 短絡 Short モード出力 Mode output Emergency External emergency 非常停止出力...
  • Page 96 3 Controller <CR750 controller> CNUSR11 CNUSR11/12 connector CNUSR12 Reference: CNUSR13 (Connect the encoder, when using the tracking function) Driver Connector for user wiring *Recommendation driver size: 2.5mm. Connector fixing screw Cable fixing screw (Two places) Pin number of connector Cable insert point View A Connecting cable (AWG #26-16 (0.14mm-1.5mm...
  • Page 97 3 Controller <CR750 controller> CNUSR2 connector Cover fixing screw (Two places) CNUSR2 Connector cover View A Plug Pin number of plug Soldering Connector for user wiring Remove the connector cover Connecting cable (AWG #30-24 (0.05mm -0.2mm Connection procedure Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the CNUSR2 connector at the back of the controller.

  • Page 98: Cr751 Controller

    3 Controller (2) CR751 controller CNUSR1コネクタ CNUSR1 connector Within 30 cm 30cm以内 Ferrite core フェライトコア Pass twice 2回通し Fig.3-13 ： Emergency stop cable connection (CR751) Emergency stop input and output etc. 3-87...
  • Page 99 3 Controller Internal circuit structure 内部回路構成 (Customer) (Customer) （お客様配線側） (Controller side) （コントローラ側） （お客様配線側） 非常停止 TB emergency stop +24V CNUSR1 CNUSR1 Mode output Short 短絡 モード出力 External emergency Emergency 非常停止出力 外部非常停止入力 Relay stop input stop output Mode output Short モード出力 短絡 Emergency 非常停止出力...
  • Page 100 3 Controller <CR751 controller> CNUSR1/2 connector CNUSR1 CNUSR2 Cover fixing screw (Two places) Connector cover View A Plug Pin number of plug Connector for Soldering Remove the connector cover user wiring Connecting cable (AWG #30 ～ #24(0.05mm ～ 0.2mm Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 or CNUSR2 connector at the back of the controller.

  • Page 101: Cr750 Controller

    3 Controller 3.7.2 Special stop input (SKIP) The skip is the input signal to stop the robot. The pin 9, 34 of the CNUSR2 connector shown in Fig. 3-16 (CR750) or Fig. 3-17 (CR751). Table 3-4 ： Special stop input electric specification Item Specifications Internal circuit...
  • Page 102 3 Controller CR751 controller Within 30cm 30cm以内 CNUSR2 connector CNUSR2コネクタ * Connects with CNUSR2 connector with soldering. Refer to Page 89 "Fig. 3-15: Method of wiring for external emergency stop Ferrite core フェライトコア connection (CR751 (CNUSR1/2))". Pass twice 2回通し Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con - nect to the controller.

  • Page 103: Enabling Device Function

    3 Controller 3.7.3 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 104: When Door Is Closing

    3 Controller (2) When door is closing You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the safeguard sure. (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings The following is a description of various operations performed on the robot and switch settings that are required. Table 3-5 ：...

  • Page 105: Mode Changeover Switch Input

    3 Controller 3.8 Mode changeover switch input Connect the key switch of customer prepared and change the right of robot’s operation by switch operation. The key switch can be installed in the operation panel of customer preparation. <Right of operation (mode)> AUTOMATIC ......The operation from external equipment becomes available.

  • Page 106: Connection Of The Mode Changeover Switch Input

    3 Controller (2) Connection of the mode changeover switch input CNUSR1 Cover fixing screw (Two places) View A Connector cover Plug Pin number of plug Soldering Connector for Remove the connector cover user wiring Connecting cable (AWG #30 ～ #24(0.05mm to 0.2mm Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the...

  • Page 107: 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, MR-J4-B series) that supports Mitsubishi's SSCNET III.

  • Page 108: Cr751 Controller

    3 Controller (2) CR751 controller ExtOPT CNUSR1 connector CNUSR1 (Emergency stop output) (非常停止出力) Servo amplifier Servo amplifier サーボアンプ サーボアンプ SSCNET III cable SSCNETⅢケーブル SSCNET III cable SSCNETⅢケーブル To CN1A To CN1A connector connector CN1Aコネクタへ CN1Aコネクタへ To CN1B To CN1B To ExtOPT connector ExtOPTコネクタへ...
  • Page 109 3 Controller (3) Example of the installation of the noise filter 1) EMC filter (recommended) Please install the recommendation filter shown below according to the example of connection. Note1) 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 110 3 Controller 2) Line noise filter This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Fig.3-25 ：...

  • Page 111: Magnet Contactor Control Connector Output (Axmc) For Addition Axes

    3 Controller 3.10 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 112: Cr750 Controller

    3 Controller (1) CR750 controller CNUSR2 connector CNUSR2コネクタ Within 30cm 30cm以内 *Connects with CNUSR2 connector with soldering. Refer to Page 86 "Fig. 3-12: Method of wiring for external emergency stop connection (CR750 (CNUSR2))" Ferrite core フェライトコア Pass twice 2回通し Fig.3-27 ： AXMC terminal connector (CR750) Magnet contactor control connector output (AXMC) for addition axes 3-101...

  • Page 113: Cr751 Controller

    3 Controller (2) CR751 controller Within 30cm 30cm以内 CNUSR2 connector CNUSR2コネクタ * The CNUSR2 connector is connected by soldering. Refer to Page 89 "Fig. 3-15: Method of wiring for external emergency Ferrite core フェライトコア stop connection (CR751 (CNUSR1/2))". Pass twice 2回通し...

  • Page 114: Options

    3 Controller 3.11 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 115: 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 "Enable switch".
  • Page 116 3 Controller 195.2 105.5 Enable/Disable switch Emergency stop Operetion key Body Enable switch Cable (with connector) <Back> <side> <Front> <Bottom> Fig.3-29 ： 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) 3-105...
  • Page 117 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...

  • Page 118: Parallel I/O Interface

    3 Controller (2) 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 119 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 range DC10.2 ～ 30V (peak voltage DC30V) Max.
  • Page 120 3 Controller <CR751 controller> SLOT1 SLOT2 Fig.3-32 ： Parallel I/O interface installation position (CR751) ■ 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.3-33 ：...
  • Page 121 3 Controller Table 3-15 ： Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1) Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common 0V ： For pins 5D-20D Black a 12V/24V ： For pins Orange/Red Orange/ 5D-20D...
  • Page 122 + 24G(24GND) side is grounded, it will lead to External power supply failure of controller. Table 3-17 ： Connection with a Mitsubishi PLC (Example of sink type) <Source> Parallel I/O interface (Output) QX41 (Output) (Mitsubishi programmable...

  • Page 123: External I/O Cable

    3 Controller (3) 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 124 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 125: Parallel I/O Unit

    3 Controller (4) 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 126 3 Controller Table 3-24 ： Electrical specifications for the output circuits Item Specification Internal circuit Type Transistor output <Sink type> No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage 12VDC/24VDC Output 出力 Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC) Max.
  • Page 127 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 128 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) <CR750 controller>...
  • Page 129 3 Controller <CR751 controller> RIO connector RIOコネクタ Upside 天 (4 0 ) (1 7 5 ) Wiring space 配 線 余 裕 1 2 8 2-M5 screw 2 - Ｍ ５ ネ ジ < 2 A - R Z 3 6 1 > Control panel installation dimensions 制...
  • Page 130 3 Controller <CR750 controller> 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 Metal braid section 金属製ブレード部 Peel the sheath in the position about 200-300mm from the connector 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。 end of the cable, so you can install and remove the cover. ※ｼｰﾙﾄﾞ線に傷をつけないようにご注意願います。...
  • Page 131 3 Controller <CR751 controller> 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 Metal braid section 金属製ブレード部 Peel the sheath in the position about 200-300mm from the connector 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 end of the cable, so you can install and remove the cover. ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。...
  • Page 132 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.3-40 ： Pin arrangement of the parallel I/O unit ■...
  • Page 133 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 134 3 Controller Table 3-27 ： Connector CN300pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A 0V:For pins 29-32, 35-38 White/Red A...
  • Page 135 + 24G(24GND) side is grounded, it will lead to External failure of controller. power supply Table 3-28 ： Connection with a Mitsubishi PLC (Example of sink type) <Source> Parallel I/O interface (Output) QX41 (Output) (Mitsubishi programmable...

  • Page 136: External I/O Cable

    3 Controller (5) 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 137 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 138: Cc-Link Interface

    3 Controller (6) 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 139 3 Controller ■ Specifications Table 3-35 ： 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 140 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 141 3 Controller (7) 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 142: Rt Toolbox2/Rt Toolbox2 Mini

    3 Controller ■ Functions Table 3-37 ： Functions Note1) Function Details Functional existence Note2) Compatible model ○ ○ Personal computer running Microsoft Windows2000/XP/Vista/7. Program editing Editing functions ・ MELFA BASIC V language compatible functions ・ Multiple editing screen simultaneously display ・...

  • Page 143: Instruction Manual(Bookbinding)

    3 Controller (8) Instruction Manual(bookbinding) ■ Order type: ● 5F-FA01-PE01 ....RH-3FH-D series ■ Outline This is a printed version of the CD-ROM (instruction manual) supplied with this product. ■ Configuration Table 3-38 ： Product configuration Note1) Name Type Mass (Kg) Specifications Instruction Manual 5F-FA01-PE01...

  • Page 144: Maintenance Parts

    Inside of the filter cover Mitsubishi Electric Filter CR750 controller: BKOFA0773H42 Inside the filter cover CR751 controller: BKOFA0773H41 Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 3-133...

  • Page 145: 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 146 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 147 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 148: 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 149 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) to either of normal open or normal close. nation User-designated origin USERORG...

  • Page 150: 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 151: 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 152: 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 - Connector This servo power is shut off, and the Externally installed emergency stop switch.

  • Page 153: Safety Measures For Automatic Operation

    6Safety ・ Only trained and registered operators must operate the robot. Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com - mittee, etc., is recommended for safety training. (5) Daily inspection and periodic inspection ・...

  • Page 154: 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 155 6Safety <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the 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 156 6Safety <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. 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 157 6Safety <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two 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 158 6Safety <Wiring example 5>: Connect the controller to the safety relay Use the controller’s emergency stop button command as an input to the safety relay. Controller Customer equipment お客様装置 CNUSR11 No connection 24V DC E-stop E-stop 安全リレー Safety relay External emergency stop switch 外部非常停止スイッチ...

  • Page 159: Cr751 Controller

    6Safety (2) CR751 controller <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. <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 160 6Safety <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the 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 161 6Safety <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. 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 162 6Safety <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two 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 163 6Safety <Wiring example 5>: Connect the controller to the safety relay Use the controller’s emergency stop button to input safety relay. Customer equipment Controller お客様装置 CNUSR1 No connection 24V DC E-stop E-stop Safety relay 安全リレー External emergency stop switch 外部非常停止スイッチ 例）オムロン社　G9SX-AD G9SX-AD series *OMRON Internal relay...

  • Page 164: External Emergency Stop Connection [Supplementary Explanation]

    6Safety (3) 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 165 6Safety The electric-current value limitation when connecting the coils, such as the Relays (CR750 controller) Internal fuse 非常停止スイッチ Emergency stop switch Robot controller ロボットコントローラ （2接点タイプ） (2- contact type) ロボットコント CNUSR11/12 Power supply in the 周辺装置 ローラ内電源 robot controller Peripheral equipment Emergency OP非常停止...
  • Page 166 6Safety [Supplementary explanation regarding emergency stop circuit] The controller’s internal circuit is as shown in the below diagram. Be sure to build a circuit that properly shuts off the emergency stop detection relay when the emergency stop button is pressed. emergency emergency 非常停止...

  • Page 167: 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 168 6Safety (8) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc. Take care to prevent interference with the workpiece or peripheral devices during operation. (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 169: Emc Installation Guideline

    Therefore, please confirm by the customer eventually. 6.4.2 EMC directive The Mitsubishi Electric industrial robot follows the European EMC directive. This technical standard regulates the following two items. (1) Emission (EMI ： Electromagnetic Interference) ....The capacity not to generate the disturbance noise which has a bad influence outside.

  • Page 170: Emc Measures

    E04SR401938 19.0 E04SR301334 13.0 Maker: TAKACHI ELECTRONICS ENCLOSURE CO., LTD. Outside dimension (mm) Diameter of the Type adaptation cable [max] (mm) TFT-274015S 43.8 27.4 20.7 φ26.5 (2) Line noise filter Type ： FR-BLF （Mitsubishi Electric Corp.） EMC installation guideline 6-159...
  • Page 171 7Appendix 7 Appendix Appendix 1 ： Specifications discussion material ■ Customer information Company name Name Address Telephone ■ Purchased mode Item Type Arm length Stroke Controller General specification RH-3FH □□ 15-1D □ 350 　 □ 450 　 □ 550 ■ 150 CR751-03HD-0 Clean specification RH-3FH □□...

  • Page 172: 7Appendix

    7Appendix ■ Robot selection check list Work description □ Material handling □ Assembly □ Machining L/UL □ Sealing □ Testing and inspection □ Other ( ) ｇ Atmosphere □ General environment, □ Clean Workpiece mass ( ) ｇ Hand mass ( □...
  • Page 188 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 Jan., 2013 MEE Printed in Japan on recycled paper.

Table of Contents