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Mitsubishi Electric Melfa RV-6SD Series Standard Specifications Manual
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Mitsubishi Electric Melfa RV-6SD Series Standard Specifications Manual

Mitsubishi Electric Melfa RV-6SD Series Standard Specifications Manual

Industrial robot
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Mitsubishi Industrial Robot
RV-6SD/6SDL Series
Standard Specifications Manual
(CR2DA-700 series/CR3D-711M Controller)
BFP-A8654-Y

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Summary of Contents for Mitsubishi Electric Melfa RV-6SD Series

  • Page 1 Mitsubishi Industrial Robot RV-6SD/6SDL Series Standard Specifications Manual (CR2DA-700 series/CR3D-711M Controller) BFP-A8654-Y...
  • 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 CAUTION WARNING CAUTION WARNING CAUTION CAUTION CAUTION...
  • Page 4 CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION WARNING WARNING CAUTION WARNING CAUTION CAUTION CAUTION CAUTION WARNING...
  • Page 5 CAUTION CAUTION CAUTION...
  • Page 6 Date of print Specifications No. Details of revisions 2008-09-05 BFP-A8654 First print. 2008-11-10 BFP-A8654-A ･ MvTune, Fine J and Fine P commands were added. ・ CE Marking specification was added. 2008-12-18 BFP-A8654-B ･ Difference of connector assignment of of sink and source type of parallel I/O interface/ unit were added.
  • Page 7 Date of print Specifications No. Details of revisions 2011-05-09 BFP-A8654-U ・ Table 1-4: Recommendation article of the USB cable was corrected. ・ The pressure of the dry air for pressurization was corrected (error in writing). ・ The depth in which the screw of the mechanical interface section is tightened was added. 2011-06-01 BFP-A8654-V ・...
  • Page 8 About KC mark specifications...
  • Page 9 Contents Page...
  • Page 10 Contents Page...
  • Page 11 Contents Page...
  • Page 12 1General configuration 1 General configuration 1.1 Structural equipment 1.1.1 Standard structural equipment 1.1.2 Special specifications 1.1.3 Options 1.1.4 Maintenance parts Structural equipment...
  • Page 13 1General configuration 1.2 Model type name of robot 1.2.1 How to identify the robot model RV-6SD L C -Sxx ( ａ ) ( ｂ ) ( ｃ ) ( ｄ ) (a). (b). (c). (d). 1.2.2 Combination of the robot arm and the controller Protection specification Robot arm Arm length...
  • Page 14 1General configuration 1.6 Contents of the structural equipment 1.6.1 Robot arm (Standard product: 5m attachment) Machine cable extension ・ 1S- □□ CBL-01 ・ 1S- □□ LCBL-01 RV-6SD/6SDL/6SDC/6SDLC *Refer to Page 7, "2.1 Standard Note1) □□ refer the length. Refer to Table 1-3 for details.
  • Page 15 General configuration 1.6.2 Controller "-SM" spec's controller is CR3 -711M. interface Pneumatic hand interface 2D-TZ368 (Sink) 2A-RZ361 (Sink) 2A-RZ365(Sink)/ 2D-TZ378 (Source) 2A-RZ371 (Source) 2A-RZ375(Source) *3) Corresponding to the sink or source to be used, setting of the controller is necessary. ・...
  • Page 16 General configuration 1.7 Contents of the Option equipment and special specification Classification Item Type Specifications Description Note1) Stopper part Stopper for changing the 1S-DH-02 This must be installed by the customer. One each of the following can be operating range of the J1 selected.
  • Page 17 Supplier KU-AMB530 SANWA SUPPLY INC. (USB A type-USB mini B type) USB-M53 ELECOM CO., LTD. GT09-C30USB-5P MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. USB adapter AD-USBBFTM5M ELECOM CO., LTD. (USB B type-USB mini B type)
  • Page 18 2Robot arm 2 Robot arm 2.1 Standard specifications Item Unit Specifications Type RV-6SD RV-6SDC RV-6SDL RV-6SDLC 6-axis standard arm 6-axis long arm Type of robot Clean Clean Standard Standard (Special Specifications) (Special Specifications) Degree of freedom On floor, hanging On floor On floor, hanging On floor Installation posture...
  • Page 19 2Robot arm Falls moment: M N•m ８ ９ ２ Torsion moment: M N•m ８ ９ ２ Horizontal translation force: F ８ ０ ０ Vertical translation force: F １ ， ４ ０ ０ Standard specifications...
  • Page 20 2 Robot arm 2.2 Definition of specifications 2.2.1 Pose repeatability Definition of specifications...
  • Page 21 ２ Robot arm 2.2.2 Rated load (mass capacity) Unit : mm Rotation center for J5 axis 2.5kg 5.0kg Rotation center for J6 axis...
  • Page 22 ２ Robot arm 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed (1) Setting Load Capacity and Size (Hand Conditions) 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot...
  • Page 23 ２ Robot arm 2.2.5 Protection specifications (1) Types of protection specifications Protection Type specifications Classification Applicable field Remarks (IEC Standards value) RV-6SD/6SD-SM IP54 General-purpose General assembly environment speci - RV-6SDL/6SDL-SM (J1 to J3 axis) Slightly dusty environment fications Oil mist specifica - IP65 Machine tool (cutting) Note that if the cutting...
  • Page 24 ２ Robot arm (2) About the use with the bad environment Item Dew point Pressure Specification The atmospheric pressure 0 to 0.01MPa dew point is -20 degree or less. Whether or not robot is Environment When packing must be replaced pressurized Note1) General environment...
  • Page 25 ２ Robot arm 2.2.6 Clean specifications (1) Types of clean specifications Type Degree of cleanliness Internal suction Remarks RV-6SDC 10(0.3μm) Concentrated suction with vaccum The use of a vacuum generating valve RV-6SDLC generating valve. is recommended. Use it in the clean room with the down flow (flow velocity 0.3 m/s above).
  • Page 26 ２ Robot arm 2.3 Names of each part of the robot Fore arm Wrist Elbow block J4 axis ＋ J5 axis － ＋ Mechanical interface ＋ (Hand installation flange surface) － － J3 axis ＋ Elbow － J6 axis Upper arm ＋...
  • Page 27 ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RV-6SD/6SDC 2-φ6 holes 4-φ9 installation hole (prepared holes for φ8 positioning pins) φ5H7 +0.012 depth 9 4-M5 screw, depth 9 6.3a (Installation) 102.5 φ20H7 +0.021 depth 8.5 φ40ｈ8 depth 6.5 -0.039 View D bottom view drawing : Detail of installation dimension View A: Detail of mechanical interface...
  • Page 28 ２ Robot arm P-point path: Reverse range (alternate long and short dash line) P-point path: Entire range (solid line) Flange downward limit line(dotted line) Restriction on wide angle in the rear section Note2) Restriction on wide angle Restriction on wide angle in the front section in the rear section Note5)
  • Page 29 ２ Robot arm (2) RV-6SDL/6SDLC 2-φ6 holes 4-φ9 installation hole (prepared holes for φ8 positioning pins) φ5H7 +0.012 depth 5 4-M5 screw, depth 9 6.3a (Installation) 102.5 φ20H7 +0.021 depth 7.5 φ40ｈ8 depth 6.5 -0.039 View A: Detail of mechanical interface View D bottom view drawing : Detail of installation dimension 78 84 Screw holes for fixing wiring hookup (M4)
  • Page 30 ２ Robot arm P-point path: Reverse range (alternate long and short dash line) P-point path: Entire range (solid line) Flange downward limit line(dotted line) Restriction on wide angle in the rear section Note3) Restriction on wide angle in the rear section Note2) Restriction on wide angle Restriction on wide angle...
  • Page 31 ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Secondary piping pneumatic hose (φ4) (customer-prepared) (1)φ4 quick coupling Solenoid valve set (option) * Use by connecting it with the hand output signal connector. Primary piping pneumatic hose (4)Hand output signal connector (3)Hand input signal connector Hand input signal cable Hand output signal cable...
  • Page 32 ２ Robot arm 2.5.2 Internal air piping 2.5.3 Internal wiring for the pneumatic hand output cable 2.5.4 Internal wiring for the hand check input cable (Standard type/Clean type) 2.5.5 Spare Wiring (1) Standard type Color Connection place Connector Contactor Maker Base portion 2-1318115-4 Tyco Electronics AMP K.K.
  • Page 33 ２ Robot arm 2.5.6 Wiring and piping system diagram for 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> Black <Reserved> Hand White <HC 1> prepared Black <HC 2>...
  • Page 34 ２ Robot arm 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> Black <Reserved> Hand White <HC 1> prepared Black <HC 2> by customer White <HC 3> Black <HC 4>...
  • Page 35 ２ Robot arm 2.5.7 Electrical specifications of hand input/output 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%) 3.3K ON voltage/ON current 8VDC or more/2mA or more...
  • Page 36 2 Robot arm 2.5.8 Air supply circuit example for the hand Pressure switch To the AIR IN (Robot arm) （MAX0.54MPa) Pneumatic source (Clean) Filter Regurater 0.7MPa less...
  • Page 37 ２ Robot arm 2.6 Shipping special specifications, options, and maintenance parts 2.6.1 Shipping special specifications Shipping special specifications, options, and maintenance parts...
  • Page 38 ２ Robot arm (1) Machine cable Note1) Part name Type Qty. Mass(kg) Remarks Fixed Set of signal and power cables 1S-02CBL-1 1 set 2ｍ Motor signal cable BKO-FA0741H02 (1 cable) Motor power cable BKO-FA0739H02 (1 cable) Shipping special specifications, options, and maintenance parts...
  • Page 39 ２ Robot arm 2.7 Options Options...
  • Page 40 ２ Robot arm (1) Machine cable extension Qty. Mass(kg) Note1) Part name Remarks Type Note2) Fixed Flexed Fixed Set of signal and power cables 1S- □□ CBL-01 1 set 6.7(5m) 5m, 10m, or 15m each 12(10m) Motor signal cable 1S- □□ CBL(S)-01 (1 cable) 17(15m) Motor power cable...
  • Page 41 ２ Robot arm Motor signal cable Motor power cable Item 1S- □□ LCBL(S)-01 1D- □□ LCBL(P)-01 No. of cores AWG#24(0.2mm )-4P AWG#24(0.2mm )-7P AWG#18(0.75mm AWG#17(1.25mm )-4C AWG#19(0.75mm )-4C Finish dimensions Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm Approx. φ7.5mm Approx. φ6mm No.of cables used 5 cables 1 cable...
  • Page 42 ２ Robot arm (2) Changing the operating range Part name Type Qty. Mass(kg) Remarks Stopper for changing the operat - Hexagon socket bolt: M12 x 20 plating (strength classi - 1S-DH-02 2 pcs. ing range of J1 fication 10.9) Axis Standard Changeable angle + side...
  • Page 43 ２ Robot arm (3) Solenoid valve set ■ Outline Q'ty Mass(kg) Note1) Part name Type Remark Three Four sets sets sets Solenoid valve set (1 set) 1S-VD01-02/ 1 pc. － － － 1S-VD01E-02 M4x8 four screws (installation screws). Solenoid valve set (2 sets) 1S-VD02-02/ －...
  • Page 44 ２ Robot arm ⑦⑧ ⑨ ③ ② ⑥ ① ⑤ ④ 13.5 Part no. Part name 1 sets 2 sets 3 sets 4 sets Specifications ① Solenoid valve ② Manifold block ③ Quick coupling φ4 ④ Block plate ⑤ Quick coupling φ6 ⑥...
  • Page 45 ２ Robot arm (4) Hand input cable Note1) Part name Type Qty. Remarks Mass(kg) Hand input cable 1S-HC25C-01 1 cable Item Specifications Remarks Size x cable core One-sided connector, one-sided cable bridging AWG#24 (0.2mm )×12 Total length 800mm (Including the curl section, which is 300mmlong） 1-1318115-3 (タイコエレクトロニクスアンプ(株)) 200±10...
  • Page 46 ２ Robot arm (5) Hand output cable Note1) Mass(kg) Part name Type Qty. Remarks Hand output cable 1S-GR35S-01 1 cable Item Specifications Remarks Size x Cable core AWG#24(0.2mm ) x 12 cores One side connector and one side cable connection Total length 400mm 1-1318115-4...
  • Page 47 ２ Robot arm (6) Hand curl tube Note1) Part name Type Qty. Remarks Mass(kg) Hans curl tube (One set: 2 pcs.) 1E-ST0402C 1 pc. Φ4 tube, 2pcs. Hans curl tube (Two set: 4 pcs.) 1E-ST0404C 1 pc. Φ4 tube, 4pcs. Hans curl tube (Three set: 6 pcs.) 1E-ST0406C 1 pc...
  • Page 48 If overhaul is performed Servo-on time 2.9 Maintenance parts Note1) Part name Usage place Qty. Supplier Type Grease SK-1A Reduction gears of each axis As needed Mitsubishi Electric Lithium battery A6BAT In the battery cover 5 pcs. About Overhaul...
  • Page 49 ２ Robot arm Details of configuration Usage place part name Packing name Qty. Cover name Qty. Sticking side RV-6SD/6SDC Shoulder cover packing Shoulder cover packing A Cover side Shoulder cover Part Code ： K07S24317151 Shoulder cover packing B Cover side Elbow cover packing Elbow cover packing Elbow cover A...
  • Page 50 3Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Item Unit Specification Remarks Type RV-6SD/6SDL series: CR2DA-711 CR2DA-711 Number of control axis Simultaneously 6 Memory Programmed positions and No. point 13,000 capacity of steps step 26,000 Number of programs Robot language MELFA-BASIC V Note1) MELFA-BASIC IV...
  • Page 51 3Controller Item Unit Specification Remarks Type CR3D-711M RV-6SD/6SDL-SM series: : CR3D-711M Number of control axis Simultaneously 6 Memory Programmed positions and No. point 13,000 capacity of steps step 26,000 Number of programs Robot language MELFA-BASIC V Note1) MELFA-BASIC IV Note2) Teaching method Pose teaching method ,MDI method Note3)
  • Page 52 3Controller 3.1.2 Protection specifications and operating supply +0.05 Standard specifications...
  • Page 53 3 Controller 3.2 Names of each part (Rear side) ⑯ ① ⑬ ⑧ ② ⑥ ④ ⑤ ⑩ ⑫ ⑭ ⑪ ⑮ ⑦ ⑨ ③ Note 1) POWER switch ..... This turns the control power ON/OFF. (With earth leakage breaker function) START button........This executes the program and operates the robot.
  • Page 54 3 Controller MODE key switch......This changes the robot's operation mode. UP/DOWN button......This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel....... This is an RS-232C specification connector for connecting the personal computer. Caution Names of each part...
  • Page 55 3 Controller (1) Padlock specification CAUTION Dimension 25mm 14mm 4mm or less Names of each part...
  • Page 56 3 Controller Dimension (mm) 35(0.11) 40(0.13) 22 or 23 Names of each part...
  • Page 57 3 Controller ⑥SLOT1 ⑨OPT ⑦SLOT2 ⑪LAN1 ⑧SLOT3 ⑩RIO ⑫CNENC ⑤HND ⑬SKIP ②CN2 ③EMGIN ④EMGOUT ①CN1 Names of each part...
  • Page 58 3 Controller ① ② Names of each part...
  • Page 59 3 Controller R700CPU unit R700CPUユニット OPT1 (予約済) ⑨OPT2 ⑤SLOT1 ⑩MEMORY CASSETTE ③ ④ ⑥SLOT2 ⑪LAN1 ② ① ⑧RIO ⑫CNENC ⑦SLOT3 ⑬ MEMORY CASSETTE Names of each part...
  • Page 60 3 Controller Note1) CR1DA/CR2DA: The dimension from the connector of the controller. Note 1) CR1D/CR2D: The dimension from the connector of the controller CR3D: The dimension from the controller chassis. 　　 CR3D: The dimension from the controller chassis. Note1) 500mm or less Line noise filter(attachments) Pass 8 times Robot controller...
  • Page 61 3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions <CR2DA-700 series> 4-M5 screw For vertical installation screw Outside dimensions/Installation dimensions...
  • Page 62 3 Controller <CR3D-700 series> (55) Note) When you fix the controller with the anchor bolt, use M4x12 anchor bolt. Eye bolt 2-M10 (35) （35） EMG.STOP CHANG DISP DOWN STATUS NUMBER SVO ON START RESET MODE SVO OFF STOP RS-232 2×2-φ15 hole （40.5）...
  • Page 63 3 Controller <CR3D-700 series> CE Marking specification hole When caster specification Outside dimensions/Installation dimensions...
  • Page 64 3 Controller <CR3D-700M series> Exhaust Suction Exhaust CN2 CN1 (380) (7,000) （Back drawing） （Right side drawing） <CR3D-700 series> Exhaust Suction Suction Exhaust CN2 CN1 (380) （Back drawing） （Right side drawing） Outside dimensions/Installation dimensions...
  • Page 65 3 Controller 3.3.2 Installation dimensions <CR2DA-700 series> or more CAUTION 50mm or more 250mm or more 20mm or more Rubber foot Rubber foot Rubber foot CAUTION CAUTION Outside dimensions/Installation dimensions...
  • Page 66 3 Controller <CR3D-700M series> （ Anchor bolt installation: 4 places) Note１） Side Side Approx. Approx. Controller (upside) Maintenance area （ ） View from upside Outside dimensions/Installation dimensions...
  • Page 67 3 Controller 3.3.3 Cable lead-in and dimension <CR2DA-700 series> 配線固定具 Outside dimensions/Installation dimensions...
  • Page 68 3 Controller <CR3D-700 series> Capcon installing panel φ28 φ34 □40×90 Left side drawing Front drawing Right side drawing Cable lead in port Enlarged view of A section (1) Left surface input power supply lead-in port (2) Bottom surface input/output signal lead-in port (with sponge) (3) Left surface cable outlet (4) Right surface input/output signal...
  • Page 69 3 Controller 3.4 External input/output 3.4.1 Types External input/output...
  • Page 70 3 Controller 3.5 Dedicated input/output Input Output Parameter Note1) name Name Function Level Name Function Teaching mode out - TEACHMD None Outputs that the teaching mode is put signal entered. Automatic mode out - ATTOPMD None Outputs that the automatic mode is put signal entered.
  • Page 71 3 Controller Input Output Parameter Note1) name Name Function Level Name Function PRGSEL Program selection Designates the setting value for input signal the program No. with numeric value Ｅ None input signals. OVRDSEL Override selection Designates the setting value for input signal the override with the numeric value Ｅ...
  • Page 72 3 Controller 3.6 Emergency stop input and output etc. Item Name Function Input Emergency stop Applies the emergency stop. Dual emergency line Input Special stop input Applies the stop. （Refer to Page 65, "3.6.2 Special stop input(SKIP)"） Input Door switch Servo-off.
  • Page 73 3 Controller CAUTION <CR2DA-700> 300mm以内 EMGINコネクタ Ferrite core フェライトコア(付属品) (attachments) ２回通し Pass twice Emergency stop input and output etc.
  • Page 74 3 Controller <CR3D-700/700M> 安全ユニット(R700SFT) EMGOUTコネクタ 300mm以内 EMGINコネクタ Ferrite core (attachments) フェライトコア（付属品） Pass twice ２回通し 非常停止配線ケーブル Emergency stop input and output etc.
  • Page 75 3 Controller Internal circuit structure （Customer） （Controller） （Customer） EMG. stop EMG. stop EMGOUT1 EMGIN1 +24V Short Robot error output External emergency input Mode output Relay (prepare by customer) Add. axis contacts Short control output （AXMC1） 24GND +24V Door switch input Relay (prepare by customer) +24V...
  • Page 76 3 Controller CAUTION CAUTION 3.6.2 Special stop input(SKIP) Item Specifications Internal circuit Type DC input No. of input point Insulation method Phto-coupler insulation Rated inpit voltage DC24V Rated input current approx. 11mA ＋２４V(COM) Working voltage range DC 21.6 ～ 26.4V （Ripple rate within ５...
  • Page 77 3 Controller SKIP 安全ユニット（R700SFT） 専用停止入力コネクタ（SKIP） SKIP 電線差込口（AWG#24-18） マイナスドライバ差込口 Emergency stop input and output etc.
  • Page 78 3 Controller 3.6.3 Door switch function Safeguard STOP!! MODE TEACH MANUAL AUTOMATIC AUTO AUTO (Op.) (Ext.) Robot arm Open (Example) Turns OFF the servo Safeguard MODE TEACH MANUAL AUTO AUTOMATIC AUTO (Op.) (Ext.) Teaching pendant Robot arm Open (Example) The servo can be turned ON/Off by turning the enable switch ON/OFF.
  • Page 79 3 Controller (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings Note1) Related switch settings Mode of Enabling Door switch Operation Description controller enable/ enable switch device input input terminal disable terminal If the enabling device input is set to Jog operation Manual Enable...
  • Page 80 3 Controller 3.7 Additional Axis Function 3.7.1 Wiring of the Additional Axis Interface Name Connector name Details Connector for additional axes CR2DA: OPT The connector for connecting the general-purpose servo amplifier. CR3D: OPT2 Magnet contactor control connector EMGOUT This contact output is used to turn ON/OFF the motor power by for additional axes connecting to general-purpose servo amplifiers.
  • Page 81 3 Controller <CR3-700/700M> EMGOUT Servo amplifier Servo amplifier R700CPU OPT2 SSCNETⅢcable SSCNETⅢcable CN1A connector CN1A connector OPT connector CN1B connector CN1B connector Magnetic contact *It cannot communicate, if connection of CN1A and CN1B is mistaken. Additional Axis Function...
  • Page 82 3 Controller Additional Axis Function...
  • Page 83 3 Controller Additional Axis Function...
  • Page 84 3 Controller 3.8 Magnet contactor control connector output (AXMC) for addition axes 1) Get the power supply for the controller from the secondary erminal of short circuit breaker (NV) built in the addition axis amplifier box. Amplifier 2) Get the power supply for the MC synchronization from the secondary terminal of short circuit breaker (NV) built in the controller.
  • Page 85 3 Controller <CR2DA-700> EMGOUT EMGOUT connector Internal circuit EMGOUT2 EMGOUT1 EMGOUT1 Contactor control output for addition axes (AXMC1) EMGOUT2 Contactor control output for addition axes (AXMC1) Electric wire plug area Minus driver plug area AWG#24～#18 (0.2～0.75mm （Custmer） （Controller） Type ：1-1871940-6 Magnet contactor control connector output (AXMC) for addition axes...
  • Page 86 3 Controller <CR3D-700/700M> Safty unit（R700SFT） EMGOUT EMGOUT connector Internal circuit EMGOUT2 EMGOUT1 EMGOUT1 Contactor control output for addition axes (AXMC1) EMGOUT2 Contactor control output for addition axes (AXMC1) Electric wire plug area Minus driver plug area AWG#24～#18 (0.2～0.75mm （Custmer） （Controller） Type ：1-1871940-6 Magnet contactor control connector output (AXMC) for addition axes...
  • Page 87 3 Controller 3.9 Options...
  • Page 88 3 Controller (1) Teaching pendant (T/B) Note1) Part name Type Qty. Remarks Mass(kg) Teaching pendant R32TB Cable length is 7m. Hand strap is attached. Either one pc. R32TB-15 Cable length is 15m. Hand strap is attached. Items Specifications Remarks Outline dimensions 195(W) x 292(H) x 106(D) (refer to outline drawing) Body color Dark gray...
  • Page 89 3 Controller 195.2 105.5 Enable/Disable switch Emergency stop Operetion key Body Enable switch Cable (with connector) <Back> <Front> <side> <Bottom> Teaching pendant (T/B)
  • Page 90 3 Controller ② ④ ① ③ ⑤ ⑤ ⑥ ⑥ ⑧ ⑦ ⑨ ⑩ ⑪ ⑰ ⑫ ⑱ ⑬ ⑭ ⑲ ⑮ ⑯ ⑳ Teaching pendant (T/B)
  • Page 91 3 Controller (2) Pneumatic hand interface Note1) Part name Type Qty. Remarks Mass(kg) Pneumatic hand interface 2A-RZ365(Sink type) Either Output 8 points expansion. one pc. 2A-RZ375(Source type) Item Specification Internal circuit Type Transistor output No. of output points Insulation method Photo coupler insulation （Internal power supply）...
  • Page 92 3 Controller <CR2DA-700> Pneumatic hand interface （2A-RZ365） Hand interface relay card （2D-TZ315） M4x2 View A CNHND CNHND CNHNDOUT CNHNDOUT Pneumatic hand interface Hand interface relay card Pneumatic hand interface...
  • Page 93 3 Controller <CR3D-700/700M> Safty unit（R700SFT） Pneumatic hand interface （2A-RZ365） Hand interface relay card （2D-TZ315） M4x2 View A CNHND CNHND CNHNDOUT CNHNDOUT Pneumatic hand interface Hand interface relay card Pneumatic hand interface...
  • Page 94 3 Controller (3) Parallel I/O interface Mass(kg) Part name Type Remarks Qty. Note1) Parallel I/O interface 2D-TZ368 Either Input/output 32 points/32 points one pc. 2D-TZ368 is sink type. 2D-TZ378 is source type. 2D-TZ378 Specification Internal circuit Item Type DC input Number of input points +24V/+12V (COM)
  • Page 95 3 Controller Specification Internal circuit Item Type Transistor output No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage DC12V/DC24V Output Rated load voltage DC10.2 ～ 30V(peak voltage DC30V) range Max. load current 0.1A/point (100％) Leakage current at 0.1mA or less Fuse Note1)
  • Page 96 3 Controller <CR2DA-700> SLOT1 SLOT2 SLOT3 <CR3D-700/700M> unit R700CPUユニット SLOT1 SLOT2 SLOT3 Parallel I/O interface...
  • Page 97 3 Controller 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) SLOT1 Input ： 0 to 15 Input ： 16 to 31 Output ： 0 to 15 Output ：...
  • Page 98 3 Controller 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 COM ： For pins Black a Reserved Gray/Red Gray/ Note1) 5C-20C...
  • Page 99 3 Controller QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (24/12V) Output Output Fuse (0V) External power supply QY41P (Mitsubishi programmable (Input) controller) (COM) +24V Input 3.3K Input 24G(24GND) External power supply (Output) QX41 (Mitsubishi programmable 60mA controller) Fuse (24/12V) Output Output...
  • Page 100 3 Controller (4) External I/O cable Note1) Part name Type Qty. Remarks Mass(kg) External I/O cable 2D-CBL □□ 1 pc. 0.7(5m) 5m or 15m 1.84(15m) Items Specifications Number of cables x cable size AWG #28 x 20P （40 pairs） Total length 5m、...
  • Page 101 3 Controller Line color Pattern of the print mark type a type One dot b type Two dots c type Three dots d type Four dots 20A/C 20B/D 1A/C 1B/D External I/O cable...
  • Page 102 3 Controller (5) Parallel I/O unit Mass(kg) Part name Type Qty. Remarks Note1) Parallel I/O unit Input/output 32 points/32 points 2A-RZ361 Either one 2A-RZ361 is the sink type. 2A-RZ371 2A-RZ371 is the source type. Robot I/O link connec - Connector with pins. NETcable-1 2 sets tion connector...
  • Page 103 3 Controller 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. load current 0.1A/point (100％) Outline Leakage current at OFF 0.1mA or less Note1) Max.
  • Page 104 3 Controller Pin No. RIO1/2 RIO1/2 Pin No. １ TXRXH TXRXH １ ２ TXRXL TXRXL ２ ３ SG(GND) SG(GND) ３ Pin No. DCIN １ ＋ 24V Power ２ 24G(RG) － ３ FG(PE) Pin No. RIO1/2 100Ω １ TXRXH ２ TXRXL ３...
  • Page 105 3 Controller <CR2DA-700> upside (40) (175) Wiring space 2-Ｍ５ screw <2A-RZ361> Control panel installation dimensions downside Installation dimensions of 2A-RZ361 Parallel I/O unit...
  • Page 106 3 Controller <CR3D-700/700M> R700CPUユニット ③ ④ ② ① upside (40) (175) Wiring space 2-Ｍ５ screw <2A-RZ361> Control panel installation dimensions downside Installation dimensions of 2A-RZ361 Parallel I/O unit...
  • Page 107 3 Controller <CR2DA-700> *2)　Grounding terminal RIO1 Sheath Sheath 20～30mm Metal braid section Peel the sheath in the position about 200-300mm from the connector end of the cable, so you can Controller rear install and remove the cover. *Don't damage the shield line. Parallel I/O unit 1 .
  • Page 108 3 Controller <CR3D-700/700M> R700CPU unit Parallel I/O unit 1 . . . 6 Parallel I/O unit 7 Station No. setting Station No. setting 1 . . . 6 RIO1 Ferrite core （Only for CE specification） Note) NETcable-1 cable ＜CN300＞ ＜CN300＞ ＜CN100＞...
  • Page 109 3 Controller Channel No. setting LED display ＜CN300＞ Input 16 to 31 Output 16 to 31 ＜CN100＞ Input 0 to 15 Output 0 to 15 1st set Input ： 0 to 15 Input ： 16 to 31 Output ： 0 to 15 Output ：...
  • Page 110 3 Controller □□ 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 12V/24V:For pins 4-7 White/Blue A 12V/24V:For pins 29-32 Note1)
  • Page 111 3 Controller □□ 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 12V/24V:For pins 4-7 White/Blue A 12V/24V:For pins 29-32 Yellow/Red A General-purpose output 16...
  • Page 112 3 Controller QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (24/12V) Output Output Fuse (0V) External power supply QY41P (Mitsubishi programmable (Input) controller) (COM) +24V Input 3.3K Input 24G(24GND) External power supply (Output) QX41 (Mitsubishi programmable 60mA controller) Fuse (24/12V) Output Output...
  • Page 113 3 Controller (6) External I/O cable Note1) Part name Type Qty. Remarks Mass(kg) External I/O cable 2A-CBL □□ 1pc. 0.7(5m) 5m or 15m 1.84(15m) Items Specifications Number of cables x cable size 50 pairs x AWG #28 Total length 5m or 15m Cable colors Cable colors Cable colors...
  • Page 114 3 Controller Type of dot mark Type of dot mark Dot pattern Dot pattern A type F type 18.5 18.5 B type G type 18.5 18.5 C type H type 18.5 18.5 D type I type 18.5 18.5 E type J type Continuous Continuous...
  • Page 115 3 Controller (7) Personal computer cable Note1) Part name Type Qty. Remarks Mass(kg) Personal computer cable (for PC/AT) 1pc. 3m, D-SUB 9 pin 2D-232CBL03M Robot controller side Personal computer side (signal, pin number) (signal, pin number) 1 ＤCD （Not use）　DCD 1 2 Ｒ×D Ｒ×D 2 3 Ｔ×D...
  • Page 116 3 Controller (8) CC-Link interface Note1) Part name Type Qty. Remarks Mass(kg) CC-Link interface 2D-TZ576 Manual BFP-A8701 Ferrite core E04SR301334 Cable clamp Be sure to install this for noise countermeasure. Part name Type Qty. Remarks QJ61BT11(Q series) QJ61BT11N(Q series) AJ61QBT11(QnA series) Master station A1SJ61QBT11(QnAS series) FX series products are not supported.
  • Page 117 3 Controller 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 118 3 Controller CC-Link interface...
  • Page 119 3 Controller (9) Extension memory cassette Note1) Part name Type Qty. Remarks Mass(kg) Extension memory cassette 2D-TZ454 Items Specifications Remarks External dimensions Approx. 94(W)X65(D)X15(H) mm Excluding the connection connector Mass Approx. 0.2 kg Connection method Connection using a special connector Note1) Teaching point number: 37,800 The sum total value combined with the standard are...
  • Page 120 3 Controller (10) RT ToolBox2/RT ToolBox2 mini RT ToolBox2 RT ToolBox2 mini Note1) Part name Type Medium Remarks Mass(kg) RT ToolBox2 3D-11C-WINE CD-ROM RT ToolBox2 mini 3D-12C-WINE CD-ROM RT ToolBox2/RT ToolBox2 mini...
  • Page 121 3 Controller Note1) Function Details Functional existence Compatible model ○ ○ Personal computer running Microsoft Windows2000/XP/Vista. Program editing Editing functions ・ MELFA BASIC V language compatible functions ・ Multiple editing screen simultaneously display ・ Command input, comment writing ・ Position data editing ・...
  • Page 122 3 Controller (11) Instruction Manual(bound edition) Note1) Specifications Name Type Mass(kg) Instruction Manual 5S-DB00-PE01 Safety Manual BFP-A8006 Items relating to safety in handling the robot Standard Specifications BFP-A8654 Specification of the robot arm and controller Installation method of the robot arm, jog operation, and Robot Arm Setup &...
  • Page 123 Note1) Name Qty. Usage place Supplier Type CR2DA-700 controller Lithium battery Q6BAT Front operation panel Mitsubishi Electric Sys - tem Service;Co.,Ltd Filter Front of the controller CR3D-700 controller Lithium battery Q6BAT Front operation panel Fan (40 square) Amplifier unit Mitsubishi Electric Sys - Converter unit tem Service;Co.,Ltd...
  • Page 124 4Software 4 Software 4.1 List of 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 → passing point → start point Mvc P1,P2,P1 (end point)) with 3-dimensional circular interpolation (360 degrees).
  • Page 125 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 126 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 127 4Software 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. Unit: mm or deg. XYZ operation range MEPAR Designate the overrun limit value for the world coordinate system.
  • Page 128 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 129 5Instruction Manual 5 Instruction Manual 5.1 The details of each instruction manuals Troubleshooting Additional axis function Tracking Func - tion Manual The details of each instruction manuals...
  • Page 130 5Instruction Manual Extended Func - tion Instruc - tion Manual The details of each instruction manuals...
  • Page 131 6Safety 6 Safety 6.1 Safety 6.1.1 Self-diagnosis stop functions Function Details Remarks Overload protection func - Activates when the total servo current time exceeds The drive circuit is shut off. The robot stops, and tion the specified value. an alarm displays. Overcurrent diagnosis Activates when an overcurrent flows to the motor The drive circuit is shut off.
  • Page 132 6Safety 6.1.2 External input/output signals that can be used for safety protection measures Connection Signal Parameter Functions Usage method point External emer - Terminal This servo power is shut off, and the robot Externally installed emergency stop switch. gency stop (EMG IN) stops immediately.
  • Page 133 6Safety 6.1.4 Safety measures for automatic operation 6.1.5 Safety measures for teaching 6.1.6 Safety measures for maintenance and inspections, etc. Safety...
  • Page 134 6Safety 6.1.7 Examples of safety measures <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the robot controller. The power supply for emergency stop input uses the power supply in the robot 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 135 6Safety <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the robot controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 136 6Safety <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the robot controller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 137 6Safety <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two robot controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 138 6Safety (1) External emergency stop connection [supplementary explanation] Emergency stop switch Robot controller (2-contact type) EMGIN1/2 Peripheral Power supply in the equipment robot controller OP Emergency 　　　　　24V 1A/1B Power stop button Not connected supply 24V 2A/2B 3A/3B 4A/4B TB Emergency 5A/5B stop button 6A/6B...
  • Page 139 6Safety 6.2 Working environment CAUTION 6.3 Precautions for handling Working environment...
  • Page 140 6Safety Precautions for handling...
  • Page 141 7Appendix 7 Appendix Appendix 1 ： Specifications discussion material Company name Name Address Telephone Note1) Specification Type Note2) □ RV-6SD □ RV-6SDL □ RV-6SD-SM □ RV-6SDL-SM Standard specification Clean specification □ RV-6SDC □ RV-6SDLC Note3) CE Marking specification □ Not provided □ "-S12"specification(CR2DA-700-S12) 　 □ "-SM612"specification(CR3D-700M-SM612) Item Standard specifications Special shipping specifications...
  • Page 170 Phone: +1 847 478 21 00 Fax: +1 847 478 22 53 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com...

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