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Mitsubishi RV-3SJ Series Standard Specifications Manual
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Mitsubishi RV-3SJ Series Standard Specifications Manual

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Mitsubishi Industrial Robot
RV-3S/3SJ Series
Standard Specifications Manual
(CR1B-571 Controller)
BFP-A8387-E

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Summary of Contents for Mitsubishi RV-3SJ Series

  • Page 1 Mitsubishi Industrial Robot RV-3S/3SJ Series Standard Specifications Manual (CR1B-571 Controller) BFP-A8387-E...
  • 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 control- ler's main power OFF. If the robot controller main power is turned OFF dur- ing 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.
  • Page 6 ■ Revision history Date of print Specifications No. Details of revisions 2005-04-13 BFP-A8387 First print. 2006-07-12 BFP-A8387-A Error in writing correction. 2007-07-10 BFP-A8387-B Error in writing correction. 2009-06-23 BFP-A8387-C The EC Declaration of Conformity was changed. (Correspond to the EMC directive; 2004/108/EC) 2009-07-29 BFP-A8387-D The EC-Statement of Compliance was added.
  • Page 7 When creating these standard specifications, we have edited them so that the Mitsubishi robot's characteristics and specifications can be easily understood by users considering the implementation of robots. However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.

  • Page 8: 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 Shipping special specifications ........................... 1-1 1.1.3 Options ....................................1-1 1.1.4 Maintenance parts ................................1-1 1.2 Robot models .................................... 1-2 1.2.1 How to identify the robot model ..........................1-2 1.3 CE marking specifications ..............................
  • Page 9 Contents Page 3.1.1 Standard specifications .............................. 3-36 3.1.2 Protection specifications and operating supply ....................3-37 3.2 Names of each part ................................3-38 3.3 Outside dimensions/Installation dimensions ......................3-40 3.3.1 Outside dimensions ..............................3-40 3.3.2 Installation dimensions ..............................3-41 3.4 External input/output ................................. 3-42 3.4.1 Types ....................................

  • Page 10: General Configuration

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

  • Page 11: Robot Models

    1General configuration 1.2 Robot models 1.2.1 How to identify the robot model RV-3S J C -S** (a). RV-3S........Indicates the RV-3S series. (b). J..........Indicates axis configuration. Examples) Blank: 6-axis type. J: 5-axis type. (c). C..........Indicates environment specification. Examples) Blank: Standard Specifications (IP65) C: Clean Specifications (d).

  • Page 12: Indirect Export

    1General configuration 1.4 Indirect export If you intend to export robots bought from us, be sure to choose robots whose language setting parameter (LNG) is set to English (ENG). 1.5 Instruction manuals The instruction manuals supplied with the shipment are provided in electronic form in a CD-ROM, except for the Safety Manual.

  • Page 13: Contents Of The Structural Equipment

    1General configuration 1.6 Contents of the structural equipment 1.6.1 Robot arm The list of structural equipment is shown in Fig. 1-1. Machine cable Vertical six-axis Vertical five-axis (Fixed type: 5m) multiple-jointed type multiple-jointed type Machine cable (Fixed type: 2m) ・ 1S-02UCBL-03 Machine cable extension Fixed type: ・...

  • Page 14: Controller

    1General configuration 1.6.2 Controller The devices shown below can be installed on the controller. Controller ・ CR1B-571 Teaching pendant Controller protection box ・ CR1-MB (T/B) ・ R28TB *1) This is provided as standard for the specification with the controller protection box. Pneumatic I/F Parallel I/O unit External I/O cable...

  • Page 15: Contents Of The Option Equipment And Special Specification

    1General configuration 1.7 Contents of the Option equipment and special specification A list of all Optional equipments and special specifications are shown below. Table 1-3 ： The list of Option equipment and special specification Classificati Item Type Specifications Descripsion Note1) Stopper part Stopper for changing the 1S-DH-03...

  • Page 16: Robot Arm

    2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Standard specifications Table 2-1 ： Tab Standard specifications of robot Item Unit Specifications Type RV-3S RV-3SC RV-3S-SM RV-3SJ RV-3SJC RV-3SJ-SM Type of robot 6-axis 5-axis With the con - With the con - Environment Standard Standard...

  • Page 17: Definition Of Specifications

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

  • Page 18: Rated Load (Mass Capacity)

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

  • Page 19: 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 20: Protection Specifications And Working Environment

    The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective structure against the entry of oil or water. The evaluation regarding oil mist specifications has been confirmed with Mitsubishi's standard testing methods using the cutting oils shown in Table 2-3.

  • Page 21: 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's IP65(all axis) standards (splashproof type). It has pro - tection structure designed to prevent harmful effects caused by splashing water coming from various directions, as the robot is operating.

  • Page 22: Clean Specifications

    * If any vacuum pump is prepared by the customer, assure on the vacuum side flow rate 30 liters/min.(ANR) or more . 3) When using the Mitsubishi standard option solenoid valve set, use the spare piping (Φ6 pneumatic hose) of the primary piping to exhaust the air.

  • Page 23: Names Of Each Part Of The Robot

    ２ Robot arm 2.3 Names of each part of the robot Fore arm Note1) Wrist J4 axis Elbow block ＋ * This part doesn't exist for the 5-axis type. － J5 axis ＋ ＋ J6 axis ＋ － － － Elbow J3 axis Mechanical interface...

  • Page 24: Outside Dimensions ・ Operating Range Diagram

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RV-3S/3SC (6-axis type) φ5H7 depth 9 4-M5 screw, depth 9 Screw holes for fixing wiring hookup (M4) (for customer use) View A: Detail of mechanical interface View C: Detail of screw holes for fixing wiring hookup Machine cable φ190 * Dimensions when installing a solenoid valve (optional)
  • Page 25 ２ Robot arm P-point path (solid line) The range which P-point cannot enter Flange downward limit line P-point path (solid line) (dotted line) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note4) The range which P-point cannot enter...

  • Page 26: Rv-3Sj/3Sjc (5-Axis Type)

    ２ Robot arm (2) RV-3SJ/3SJC (5-axis type) φ5H7 depth 9 4-M5 screw, depth 9 Screw holes for fixing wiring hookup (M4) (for customer use) View A: Detail of mechanical interface View C: Detail of screw holes for fixing wiring hookup Machine cable φ190 * Dimensions when installing a solenoid valve (optional)
  • Page 27 ２ Robot arm P-point path (solid line) The range which P-point cannot enter Flange downward limit line P-point path (solid line) (dotted line) Restriction on wide angle in the rear section Note2) The range which P-point cannot enter Restriction on wide angle in the front section Note1) <Restriction on wide angle in the front section>...

  • Page 28: Tooling

    ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a standard-equipped hand. (1)φ4 quick coupling Secondary piping pneumatic hose (φ4) (customer-prepared) Solenoid valve set (optional) * Use by connecting it with the hand output signal connector.

  • Page 29: Internal Air Piping

    ２ Robot arm 2.5.2 Internal air piping (1) General-purpose envi-ronment/Oil mist specifications 1) The robot has two φ6 x 4 urethane hoses from the pneumatic entrance on the base section to the shoulder cover. 2) One hose is the primary piping for the pneumatic equipment. The remaining pipe is used for air exhaust. 3) The optional solenoid is provided with a maximum of eight couplings for the φ4 air hose.

  • Page 30: Wiring And Piping System Diagram For Hand

    ２ Robot arm 2.5.6 Wiring and piping system diagram for hand Shows the wiring and piping configuration for a standard-equipped hand. Hand signal input connection connector 1-1318115-3 (Tyco Electronics AMP) Hand signal input connector (HC1 connector) 1-1717834-3 (Tyco Electronics AMP) White <+24V>...

  • Page 31: Electrical Specifications Of Hand Input/Output

    ２ Robot arm 2.5.7 Electrical specifications of hand input/output Table 2-7 ： Electrical specifications of input circuit Item Specifications Internal circuit Type DC input No. of input points Insulation method Photo-coupler insulation Rated input voltage 12VDC/24VDC Rated input current Approx. 3mA/approx. 7mA HCn * Working voltage range DC10.2 to 26.4V(ripple rate within 5%)

  • Page 32: Air Supply Circuit Example

    2 Robot arm 2.5.8 Air supply circuit example Fig. 2-9 shows an example of pneumatic supply circuitry . (1) Place diodes parallel to the solenoid coil. (2) If the factory's air pressure decreases, it may adversely affect the actual operations. As a preventive mea - sure, attach a pressure switch to the air source as shown in Fig.

  • Page 33: 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 at the time of shipment from the factory. Consequently, customer need to confirm the delivery date. 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 34: Machine Cable

    ２ Robot arm (1) Machine cable ■ Order type: ● Fixed type 1S-02UCBL-03 (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 35: 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 36: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension ■ Order type : ● Fixed type 1S- □□ CBL-03 ● Flexed type 1S- □□ LCBL-03 Note) The numbers in the boxes □□ refer the length. ■ Outline This cable is exchanged for the machine cable (5 m) that was supplied as standard to extend the distance between the controller and the robot arm.
  • Page 37 ２ Robot arm ■ Cable configuration The configuration of the flexible cable is shown in Table 2-12. Refer to this table when selecting the cable bare. Table 2-12 ： Cable configuration Motor signal cable Motor power cable Item 1S- □□ LCBL(S)-01 1S- □□...

  • Page 38: Changing The Operating Range

    ２ Robot arm (2) Changing the operating range ■ Order type: 1S-DH -03 ■ Outline The J1 axis operating range 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 39: Solenoid Valve Set

    ２ Robot arm (3) Solenoid valve set ■ Order type: One set: 1S-VD01-02 Two sets: 1S-VD02-02 Three sets: 1S-VD03-02 Four sets: 1S-VD04-02 ■ 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. All have double sole - noid specification, and either one or two or three sets can be selected.
  • Page 40 ２ Robot arm <7><8> <9> <3> <6> <2> <1> <5> <4> 13.5 Connector name <GR1> Part White +24V (COM) Part name Specifications sets sets sets sets Reserve <1> Solenoid valve Black SOL1B <2> Manifold block Black <3> Quick coupling φ4 SOL1A <4>...

  • Page 41: Hand Input Cable

    ２ Robot arm (4) Hand input cable ■ Order type: 1S-HC25C-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 42: Hand Output Cable

    ２ Robot arm (5) Hand output cable ■ Order type: Four sets:1S-GR35S-01 ■ Outline The hand output cable (solenoid valve connection cable) is an option that is used when an solenoid valve other than one of the solenoid valve set options, is used. One end of the cable has a connector that connects to the input terminal inside the robot.

  • Page 43: Hand Curl Tube

    ２ Robot arm (6) Hand curl tube ■ Order type: One set :1E-ST0402C Two sets :1E-ST0404C Three sets :1E-ST0406C Four sets :1E-ST0408C ■ Outline The hand curl tube is a curl tube for the pneumatic hand. ■ Configuration Table 2-22 ： Configuration equipment Part name Type Qty.

  • Page 44: Maintenance Parts

    As needed Mitsubishi Electric System & Service;Co.,Ltd. Lithium battery A6BAT In the battery cover A 5 pcs. Note1)Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-35...

  • Page 45: Controller

    3Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Table 3-1 ： Standard specifications of controller Item Unit Specification Remarks Type CR1B-571 Number of control axis Simultaneously 6(Maximum) 64 bit RISC, and DSP Memory Programmed positions and No. point 2,500 capacity of steps step...

  • Page 46: Protection Specifications And Operating Supply

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

  • Page 47: Names Of Each Part

    3 Controller 3.2 Names of each part <Front> <Front side of operation panel> 7) 4) EMG.STOP STATUS NUMBER CHANG DISP DOWN MODE SVO ON START RESET TEACH AUTO AUTO REMOVE T/B (Op.) (Ext.) SVO OFF STOP Front operation panel 13) 3) Fig.3-1 ：...
  • Page 48 3 Controller CAUTION Note) The servo will turn OFF when the controller's [MODE] switch is changed. Note that axes not provided with brakes could drop with their own weight. Carry out the following operations to prevent the servo from turning OFF whenthe [MODE] switch is changed.

  • Page 49: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions EMG.STOP STATUS NUMBER CHANG DISP DOWN MODE SVO ON START RESET TEACH AUTO AUTO REMOVE T/B (Op.) (Ext.) SVO OFF STOP (31) (31) (2.5) (2.5) Fig.3-3 ： Outside dimensions of controller Outside dimensions/Installation dimensions 3-40...

  • Page 50: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions 50mm 50mm EMG.STOP STATUS NUMBER CHANG DISP DOWN MODE SVO ON START RESET TEACH AUTO AUTO REMOVE T/B (Op.) (Ext.) SVO OFF STOP 170mm or more Fig.3-4 ： Installation of controller Outside dimensions/Installation dimensions 3-41...

  • Page 51: 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. Moreover, it is possible to use parallel input/ output units and input/output signals via CC-Link.

  • Page 52: Dedicated Input/Output

    3 Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi - cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.
  • Page 53 3 Controller Input Output Parameter Note1) name Name Function Level Name Function IODATA Numeric value input Used to designate the program Used to output the program name, Numeric value output Note2) (start No., end No.) name, override value., mechanism Ｌ override value., mechanism No.

  • Page 54: Emergency Stop Input/Output

    3 Controller 3.6 Emergency stop input/output This signal is input from the "emergency stop input" terminal in the controller. Table 3-3 ： Dedicated input terminals in controller Class Name Details Input Emergency stop Applies the emergency stop (Single emergency line.) Input Door switch The servo turns OFF.

  • Page 55: Door Switch Function

    3 Controller 3.6.2 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 56: Parallel Input/Output Unit

    3 Controller 3.7 Parallel input/output unit ・ A parallel input/output card is mounted as a standard in the controller's control unit. ・ The external input/output circuit specifications are shown in Table 3-4 Table 3-5. ・ The correspondence of the external input/output connector pin No. and the colors of the connected "external input/output cable"...
  • Page 57 External power supply Fig.3-7 ： Connection with a Mitsubishi PLC (Example of sink type) *The input/output circuit external power supply (24 VDC) must be prepared by the customer. Table 3-6 ： Standard parallel I/O interface CN100pin No. and signal assignment list (2A-CBL □□...
  • Page 58 3 Controller ・The signals assigned as dedicated inputs can be used as general-purpose inputs during program execution. Note that for safety proposes, these should not be shared with the general-purpose inputs other than for numeric value inputs. The signals assigned as dedicated outputs cannot be used in the program. An alarm will occur dur - ing operation if used.

  • Page 59: Options

    3 Controller 3.8 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 60: Teaching Pendant (T/B)

    In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Deadman switch".
  • Page 61 3 Controller Hand strap Contrast adjusting switch Enable/Disable switch Display LCD DISABLE ENABLE R28TB TOOL JOINT MENU STOP =＊ / ( )？ $" : # % ! SVO ON EMG.STOP STEP － ＋ MOVE (J1) (J1) Emergency stop － ＋ ＋...
  • Page 62 3 Controller ■ Key layout and main functions DISABLE ENABLE R28TB TOOL JOINT MENU STOP Back = ＊/ ( )？ $" : # % ! SVO ON EMG.STOP STEP － ＋ MOVE (J1) (J1) － ＋ ＋ ↑ (J2) (J2) FORWD －...

  • Page 63: Pneumatic Hand Interface

    3 Controller (2) Pneumatic hand interface ■ Order type: 2A-RZ365 ■ Outline This interface is required to use the robot arm's hand output signals. This interface is pre-installed on the controller. ・ Up to eight hand output points can be used with this interface. ・...
  • Page 64 3 Controller ■ Installation method This is mounted on the control unit (RZ386 card) in the controller. Securely insert the pneumatic hand interface (2A-RZ365) into the CNHNDOUT/CNHND connector on the control unit. Refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance" for details on the installing method.

  • Page 65: Controller Protection Box

    3 Controller (3) Controller protection box ■ Order type ： ● CR1B-MB ■ Outline The controller protection box is used to protect the controller from an oil mist or other operating environment. Put the controller and the earth leakage breaker, etc. in controller protection box, and use it.
  • Page 66 3 Controller ■ Names of each part <Front> <Rear> Cable cover Chassis cover (Top board) (Machine cable for power) Rear panel Heat exchanger Window Front panel Cable cover Corner type catch clip (Machine cable for signal) Fig.3-12 ： Names of controller parts ■...
  • Page 67 3 Controller ■ The outside dimensions and installation dimensions of emergency stop box Operation switch BOX cover BOX base φ23.0 conduit 32.0 58.0 BOX cover installation screw (Knockout) 2-φ4.6 *The M4 screw prepared by customer (Two M4 installation screw holes) 58.0 Panel installation dimension Fig.3-14 ：...

  • Page 68: Expansion Option Box

    3 Controller (4) Expansion option box ■ Order type ： ● CR1-EB3 ■ Outline By installing this expansion option box to the side of the controller, the expansion serial interface, CC-Link interface, Ethernet interface, Addtional interface and PROFIBUS interface can be used. Up to three option cards can be mounted.
  • Page 69 3 Controller Installation of expansion option box Controller Expansion option box Positioning latch Positioning latch Rear side cable outlet 299.7 （38） 87.5 （13） Installation screw Four positions Layout of expansion option box Slot１ Plates with rails Controller connection connector Slot２ (Two positions) Slot３...

  • Page 70: Parallel I/O Unit

    3 Controller (5) Parallel I/O unit ■ Order type: 2A-RZ361 ■ 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). ■ Configuration Table 3-16 ：...
  • Page 71 3 Controller Table 3-18 ： Electrical specifications for the output circuits Item Specification Internal circuit Type Transistor output No. of output points Insulation method Photo-coupler insulation (24/12V) Rated load voltage 12VDC/24VDC Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC) Max.
  • Page 72 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 73 3 Controller ■ Installation method The expansion parallel input/output unit is installed outside of the controller. Connect with the network connec - tion cable (NETcable-1) from the RIO1 connector in the rear of the controller. RIO1 connector upside (40) (175) Wiring space 2-Ｍ５...
  • Page 74 3 Controller RIO1 connector Parallel I/O unit 1 . . . 6 Parallel I/O unit 7 Controller back side Station No. setting Station No. setting 1 . . . 6 Note) NETcable-1 cable ＜CN300＞ ＜CN300＞ ＜CN100＞ ＜CN100＞ RIO2 connector RIO1 connector RIO1 connector RIO2 connector DCIN...
  • Page 75 3 Controller ■ Parallel I/O interface (First expansion unit) Table 3-19 ： 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 76 3 Controller [*1] (Set channel No. to 1.) Channel No. setting LED display ＜CN300＞ Input 48 to 63 Output 48 to 63 ＜CN100＞ Input 32 to 47 Output 32 to 47 *The 2A-RZ361 has 32 input and 32 output points unit (Occupies one channel) Fig.3-20 ：...
  • Page 77 3 Controller ■ Parallel I/O interface (Second expansion unit) Table 3-21 ： 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 78 3 Controller [*1] (Set channel No. to 2.) Channel No. setting LED display ＜CN300＞ Input 80 to 95 Output 80 to 95 ＜CN100＞ Input 64 to 79 Output 64 to 79 *The 2A-RZ361 has 32 input and 32 output points unit (Occupies one Channel) Fig.3-21 ：...

  • Page 79: External I/O Cable

    3 Controller (6) External I/O cable ■ Order type: 2A-CBL □□ 　 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m） ■ Outline This is the dedicated cable used to connect an external peripheral device to the connector on the parallel input/output unit.
  • Page 80 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 3-26: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...
  • Page 81 3 Controller (7) Personal computer cable ■ Order type: ● For PC/AT ： RS-MAXY-CBL RS-AT-RCBL (For expansion option box(CR1-EB3).) ■ Outline This is the RS-232C interface cable used for connecting the controller with a personal computer. The personal computer on hand may be usable with the above interface cable. Confirm the connection specifications when placing an order.

  • Page 82: Personal Computer Cable

    3 Controller RS-MAXY-CBL P/C side Robot side Type:17JE-23250-02(D8A6)-CG(DDK) RS-AT-RCBL P/C side Robot side Type:17JE-23250-02(D18A1)-CG (DDK) Fig.3-24 ： Personal computer cabe connector Personal computer cable 3-73...

  • Page 83: Extended Serial Interface

    3 Controller (8) Extended serial interface ■ Order type: ● 2A-RZ581-E ■ Outline The extension serial interface is the option to add a serial communication function to the robot controller. One channel of RS-232C interface is provided in the front of the controller.
  • Page 84 3 Controller Note2)Nonprocedural: Nonprocedural protocol with the personal computer support software Procedural: Procedural protocol with the personal computer support software Data link: Nonprocedural (ASCII data) protocol for data link between robot programs and a personalcom - puter/PLC/vision sensor, etc. Three cards can be installed on one controller. (The communication line of maximum 6 channels cable connected.) Table 3-31 ：...
  • Page 85 3 Controller Signal direction Pin no. Abbreviated signal name Signal name 2A-RZ581 ⇔ Device on other end DSR+(CSA) Data set ready (+) DSR-(CSB) Data set ready (-) Extended serial interface 3-76...

  • Page 86: Cc-Link Interface

    3 Controller (9) CC-Link interface ■ Order type: ● 2A-HR575-E ■ Outline The CC-Link interface is the option 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 87 3 Controller Display Sequencer I/O unit Robot arm Inverter Partner manufacturers' devices Personal computer Cc-Link interface (this option) Controller Fig.3-26 ： Example of CC-Link Product Configuration ■ Specifications Table 3-34 ： 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...
  • Page 88 3 Controller ・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). ・ Easy wiring since only four terminals need to be connected. ・ Dedicated commands have been added to MELFA-BASIC IV (robot programming language); thus, no complex interface programming is required.

  • Page 89: Ethernet Interface

    Hub (Required for use in LAN environment) (Commercially sold) Windows compatible robot controller (Separately sold) Personal computer support software programming support tool for Mitsubishi CRn- 500 series controllers Windows compatible development tool (Commercially sold) Microsoft Visual C++, Visual Basic, etc.
  • Page 90 3 Controller ■ Functions (1) Controller communication function ・ This function allows communication with the robot controller via Ethernet. (Program upload/download, status monitoring, etc.) The personal computer support software (sold separately) is available as a robot controller programming support tool. ・...

  • Page 91: Additional Axis Interface

    ■ Outline The additional axis interface is an interface, which uses the general-purpose servo amplifier of Mitsubishi and the corresponding servomotors in order to allow the plural above servomotors to be controlled from the robot controller. The extended option box (CR1-EB3) is required separately. Refer to Page 59, "(4) Expansion option box"...
  • Page 92 3 axes Applicable amplifier MELSERVO-J2-Super series Applicable encoder ABS method only (absolute value encoder) Communication method SSCNET (differential communication) of Mitsubishi Mountable optional slots Slot 1 or 3 Number of mountable interface cards Control function Synchronous interpolation control Path control method...

  • Page 93: Personal Computer Support Software/Personal Computer Support Software Mini

    3 Controller (12) Personal computer support software/Personal computer support software mini (MELSOFT RT ToolBox) ■ Order type ： ● Personal computer support software *For windows CD-ROM : 3A-01C-WINE ● Personal computer support software mini *For windows CD-ROM : 3A-02C-WINE ■ Outline This is handy software that fully uses the personal computer functions.
  • Page 94 3 Controller ■ Functions Table 3-45 ： Functions Note1) Function Details Functional existence Compatible model ○ ○ Personal computer running Microsoft Windows98/2000/NT 4.0/Me/XP. Program editing Editing functions ・ MELFA BASIC IV language compatible functions ・ Multiple editing screen simultaneously display ・...

  • Page 95: Instruction Manual(Bound Edition)

    3 Controller (13) Instruction Manual(bound edition) ■ Order type ： ● 4S-MAP-103 ■ Outline This is a printed version of the CD-ROM (instruction manual) supplied with this product. ■ Configuration Table 3-46 ： Product configuration Note1) Part name Type Specifications Mass(kg) Instruction Manual 4A-MAP-103...

  • Page 96: Maintenance Parts

    Note1) Part name Qty. Usage place Manufacturer Type Lithium battery RZ182 card Mitsubishi Electric System & Service;Co.,Ltd Note1)Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 3-87...

  • Page 97: Software

    4Software 4 Software 4.1 List of commands The robot language to use can choose "MELFA-BASIC Ⅳ " (default setting) or "MOVEMASTER language (MOVEMASTER commands)" by changing the parameter. Use of "MELFA-BASIC IV" is recommended to effectively use this controller's functions. The available new functions in MELFA-BASIC IV are given in Table 4-1.

  • Page 98: Melfa-Basic Ⅳ Commands

    4Software (2) MELFA-BASIC Ⅳ commands Table 4-3 ： List of MELFA-BASIC IV 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. MVS P1 Circular interpolation Moves along a designated arc (start point →...
  • Page 99 4Software Type Class Function Input format (example) Subroutine Executes the designated subroutine. (Within program) GOSUB 200 Returns from the subroutine. RETURN Executes the designated program. CALLP "P10",M1,P1 Defines the program argument executed with the CALLP command. FPRM M10,P10 Executes the subroutine corresponding to the designated expression value. ON M1 GOSUB 100,200,300 Interrupt...

  • Page 100: List Of Parameters

    4Software 4.2 List of parameters (1) List of parameters show the main parameter in the Table 4-4. Table 4-4 ： 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 101: Change The Display Language / 表示言語の切 り 替え

    4Software Parameter Details Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No. (Single/double = S/D) Set the signal No. after the hand type. Example) D900 Stop input B contact desig - Change the dedicated input (stop) between the A contact and B contact. nation User-designated origin USERORG...
  • Page 102 4Software (2) Change the display language / 表示言語の切 り 替え The language to display on the LCD display of teaching pendant can be changed by "the display language param - eter". (Japanese or English) 4-4. Refer to the separate "Instruction Manual/Detailed Explana - Show the details of the parameter in the Table tion of Functions and Operations"...

  • Page 103: 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 104 5Instruction Manual Explains the specifications, functions and operations of the expansion serial interface Extended serial optional. interface Explains the specifications, functions and operations of the CC-Link interface optional. CC-Link inter - face Explains the specifications, functions and operations of the ETHERNET interface optional. ETHERNET interface Explains the specifications, functions and operations of the additional axis interface optional.

  • Page 105: Safety

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

  • Page 106: Precautions For Using Robot

    6Safety 6.1.3 Precautions for using robot The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below. (1) Robot installation ・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the robot.

  • Page 107: Examples Of Safety Measures

    6Safety 6.1.7 Examples of safety measures Emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a circuit as shown below for safety measures <Customer-prepared wiring> <Robot controller system> ＋ To servo main circuit power External emergency stop input S/W-EMG...

  • Page 108: 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 109: Precautions For Handling

    6Safety 6.3 Precautions for handling (1) This robot has brakes J1 to J3 and J5 axes. The precision of the robot may drop, looseness may occur and the reduction gears may be damaged if the robot is moved with force with the brakes applied. (2) Avoid moving the robot arm by hand.

  • Page 110: 7Appendix

    7Appendix 7 Appendix Appendix 1 ： Specifications discussion material ■ Customer information Company name Name Address Telephone ■ Purchased mode Note1) Specification Type Standard specification □ RV-3S □ RV-3SJ Clean specification □ RV-3SC □ RV-3SJC Specification with the controller □ RV-3S-SM □...
  • Page 120 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 O ct..200 9 MEE Printed in Japan on recycled paper.

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