Mitsubishi MELFA SD Series Standard Specifications Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Manuals
  4. Robotics
  5. MELFA SD Series
  6. Standard specifications manual
Mitsubishi MELFA SD Series Standard Specifications Manual

Mitsubishi MELFA SD Series Standard Specifications Manual

Mitsubishi industrial robot with cr1da-700 series controller
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Mitsubishi Industrial Robot
SD Series
RV-2SD/2SDB
Standard Specifications Manual
(CR1DA-700 series Controller)
BFP-A8790-R

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MELFA SD Series and is the answer not in the manual?

Questions and answers

Related Manuals for Mitsubishi MELFA SD Series

Summary of Contents for Mitsubishi MELFA SD Series

  • Page 1 Mitsubishi Industrial Robot SD Series RV-2SD/2SDB Standard Specifications Manual (CR1DA-700 series Controller) BFP-A8790-R...

  • Page 3: Safety Precautions

    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 CAUTION コントローラ 漏電遮断器 (NV) 端子カバー 電源端子台 端子カバー アース接続ネジ 保護アース端子 (PE)
  • Page 6 Date of print Specifications No. Details of revisions 2010-02-04 BFP-A8790 ・ First print. 2010-02-12 BFP-A8790-A ・ Power capacity was corrected.(old value: 0.2kVA) 2010-03-30 BFP-A8790-B ・ CE specification of the CR1DA controller was added. ・ Specification of RV-2SQB (all the axis have brakes) was added. 2010-06-17 BFP-A8790-C ・...
  • Page 7 Contents Page...
  • Page 8 Contents Page...
  • Page 9 About KC mark specifications...
  • Page 10 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 11: Indirect Export

    1General configuration 1.2 Model type name of robot 1.2.1 How to identify the robot model RV-2SD B -Sxx ( ａ ) ( ｂ ) (c ) (a). (b). (c). 1.2.2 Combination of the robot arm and the controller Protection specification Robot arm Axial constitution Controller...

  • Page 12: Contents Of The Structural Equipment

    1General configuration 1.6 Contents of the structural equipment 1.6.1 Robot arm Machine cable extension <Standard specification/CE marking S16 specification> ・ 1S- □□ CBL-11 ・ 1S- □□ LCBL-11 <CE marking S15 specification> ・ 1S- □□ CBL-03 ・ 1S- □□ LCBL-03 Note1) □□ refer the length. Refer to Page 5, "Table 1-3"...

  • Page 13: General Configuration

    General configuration 1.6.2 Controller （T/B） interface Pneumatic hand interface 2D-TZ368 (Sink) 2A-RZ361 (Sink) 2A-RZ365(Sink)/ 2D-TZ378 (Source) 2A-RZ371 (Source) 2A-RZ375(Source) *1) Corresponding to the sink or source to be used, set - ting of the controller is nec - essary. Extension memory ・...

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

    General configuration 1.7 Contents of the Option equipment and special specification Classification Item Type Specifications Description Note1) J1 axis Stopper for changing the 1S-DH-11J1 + side: +210、 +150、 +90 deg. operating range - side: -210、 -150、 -90 deg. ○ One place selection is possible each for + side / - side.
  • Page 15 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 16: 2Robot Arm

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

  • Page 17: Definition Of Specifications

    2 Robot arm 2.2 Definition of specifications 2.2.1 Pose repeatability Definition of specifications...
  • Page 18 ２ Robot arm 2.2.2 Rated load (mass capacity) Unit : mm 単位 : mm 1.0kg J5 axis rotation center J5軸回転中心 2.0kg J6 axis rotation center J6軸回転中心...

  • Page 19: Robot Arm

    ２ Robot arm 2.2.3 Protection specifications (1) Types of protection specifications Protection Type specifications Classification Applicable field Remarks (IEC Standards value) General environ - RV-2SD/2SDB Robot arm:IP30 General assembly ment specifications （all axes） Slightly dusty environment...
  • Page 20 ２ Robot arm 2.3 Names of each part of the robot フォアアーム ＋ リスト J4軸 ツイスト － J5軸 ＋ ＋ J3軸 － － － ＋ － エルボ J6軸 ロール メカニカルインタフェース （ハンド取付フランジ面） ＋ アッパーアーム J2軸 － ショルダ ウエスト － ＋ J1軸 ベース...

  • Page 21: Outside Dimensions ・ Operating Range Diagram

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RV-2SD (standard specification/CE marking S16 specification) screw depth 6 screw screw screw depth 6 depth 6 depth 6 View C screw screw depth 6 (Grounding) Minimum depth 8 depth 8 installation hole (Installation) Rz 25...
  • Page 22 ２ Robot arm (2) RV-2SDB-S15 (CE marking S15 specification) screw depth 6 screw 2-M3 screw screw depth 6 depth 6 depth 6 View C screw screw depth 6 (Grounding) Minimum depth 8 screw depth 8 View A installation hole (Installation) Detail of mechanical interface View B Detail of installation dimension...
  • Page 23 ２ Robot arm (3) Operating range (Common to the standard/CE Marking) P-point path Flange downward limit line P-point path Control point (R-point) Flange upward limit line Flange downward Note) The posture of side view The case where the angle of each axis is the following is shown singular point limit J1=0 degree, J2=0 degree, J3=90 degree, J4=0 degree, J5=0 degree., J6=0 degree.
  • Page 24 ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand (1) RV-2SD (Standard specification/CE marking S16 specification) (1)Hand input signal connectors Hand input signal cables Solenoid valve set (optional) Opposite side of figure AWG24 (0.2mm ) x 2 core: Four installation section Secondary piping hoses (φ4*4)
  • Page 25 ２ Robot arm (2) RV-2SDB (CE marking S15 specification) (1)Hand input signal connectors Hand input signal cables (CON1H) Solenoid valve set(optional) Note) Opposite side of figure AWG24 (0.2mm ) x 2 core: Four installation section Secondary piping (3)1 to 4 : Secondary piping hoses (φ4*4) couplings (φ4) Secondary piping...
  • Page 26 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 Tooling...
  • Page 27 ２ Robot arm 2.5.5 Wiring and piping system diagram for hand General-purpose General-purpose input No. input No. ＜ハンドチェック　１＞ 汎用入力900 ＜ハンドチェック　２＞ 汎用入力901 ＜ハンドチェック　３＞ 汎用入力902 ＜ハンドチェック　４＞ 汎用入力903 ロボット コントローラ Reserve 予約 ＜+24V＞ ＜0V(COM)＞ Reserve 予約 １ +24V ２ １ ２ +24V １ +24V ２...
  • Page 28 ２ Robot arm General-purpose General-purpose input No. input No. ＜ハンドチェック　１＞ 汎用入力900 ＜ハンドチェック　２＞ 汎用入力901 ＜ハンドチェック　３＞ 汎用入力902 ＜ハンドチェック　４＞ 汎用入力903 ロボット コントローラ Reserve 予約 ＜+24V＞ ＜24GND＞ Reserve 予約 １ 24GND ２ １ ２ 24GND １ 24GND ２ １ ２ 24GND Solenoid valve 電磁弁の φ4 quick coupling bridge(1 to 4) φ4 quick coupling bridge(1 to 4) φ４クイック継手渡し（１～４）...

  • Page 29: Electrical Specifications Of Hand Input/Output

    ２ Robot arm 2.5.6 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 30 2 Robot arm 2.5.7 Air supply circuit example for the hand Pressure switch To the solenoid valve primary air supply port （0.5MPa) Pneumatic source Filter Regurater 0.7MPa or less...
  • Page 31 ２ Robot arm 2.6 Options Options...

  • Page 32: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension Qty. Mass(kg) Note1) Part name Remarks Type Note2) Fixed Flexed Standard specification/CE marking S16 specification Fixed Set of signal and power cables 1S- □□ CBL-11 1 set 7.6(10m) 10m, or 15m each 10.9(15m) (standard specification/CE Motor signal cable 1S- □□...
  • Page 33 ２ Robot arm Item Specifications Minimum flexed radius 100R or more Cableveyor, etc., occupation rate 50% or less Maximum movement speed 2000mm/s or less Guidance of life count 7.5 million times Environmental proof Oil-proof specification sheath (for silicon grease, cable sliding lubricant type) Cable configuration Motor signal cable Standard specification/CE marking S16 specification: φ6 x 6...
  • Page 34 ２ Robot arm Motor power モータパワー Robot controller （CN1） CR1DA-771/CR1DA-771-S16 Robot arm ロボット本体 (Opposite side of figure) （ベース部背面） Connection ring 接続リング部 (fixing) （固定） Motor signal モータ信号 （CN2） Motor signal cable Connection latch ラッチ Connection latch モータ信号ケーブル ラッチ （固定用 左右） (For fixing. Right and left ) Connection ring 接続リング部...
  • Page 35 ２ Robot arm Motor power モータパワー Robot controller （CN1） Robot arm CR1DA-771-S15 Connection latch ラッチ ロボット本体 (Opposite side of figure) （ベース部背面） Motor signal モータ信号 （CN2） Nylon clamp ナイロンクランプ NK-14N ラッチ Motor signal cable モータ信号ケーブル Connection latch ラッチ Connection latch ラッチ Connection latch Motor power cable モータパワーケーブル...

  • Page 36: Changing The Operating Range

    ２ Robot arm (2) Changing the operating range Part name Type Qty. Mass(kg) Remarks Stopper for changing the operat - 1S-DH-11J1 2 pcs. Stopper block Moving side : One Set ing range Fixing side : Two blocks Installation bolt (M5 x 20) : Six bolts 1S-DH-11J2 2 pcs.

  • Page 37: Solenoid Valve Set

    ２ Robot arm (3) Solenoid valve set ■ Outline Q'ty Part name Type Remark sets Solenoid valve set (1 set) 1E-VD01/1E-VD01E 1 pc. － M3 x 25 two screws (installation screws). Solenoid valve set (2 sets) 1E-VD02/1E-VD02E － 1 pc. Item Specifications Number of positions...
  • Page 38 ２ Robot arm (1)(4) 35.6 SOL2A SOL1A (12) 2-φ 3.3 SOL1B SOL2B 28.4 (45) or less (45) 以下 36.4 (20) 以下 (20) or less (10)(11) <Sink type> Connector name Part Black General purposes Part name 1 sets 2 sets Specifications 　...
  • Page 39 ２ Robot arm (4) Hand input cable Note1) Part name Type Qty. Remarks Mass(kg) Hand input cable 1S-HC30C-11 1 cable Item Specifications Remarks Size x cable core One-sided connector, one-sided cable bridging AWG#24 (0.2mm )×12 Total length 370mm (Including the curl section) 1-1827864-6 200±10 CON1H...

  • Page 40: Hand Output Cable

    ２ Robot arm (5) Hand output cable Note1) Mass(kg) Part name Type Qty. Remarks Hand output cable 1E-GR35S 1 cable Item Specifications Remarks Size x Cable core AWG#22(0.3mm )×8 cores One side connector and one side cable connection Total length 350mm (1)(2) ＊...

  • Page 41: Hand Curl Tube

    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. Item Specifications Material...

  • Page 42: About Overhaul

    Periodic inspection haul If overhaul is performed Servo-on time 2.8 Maintenance parts Note1) Part name Usage place Qty. Supplier Type Grease SK-1A Reduction gears of each axis As needed Mitsubishi Electric Lithium battery In the battery cover 4 pcs. About Overhaul...
  • Page 43 3Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Item Unit Specification Remarks CR1DA-771 Type Number of control axis Simultaneously 6(Maximum) 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)
  • Page 44 3Controller 3.1.2 Protection specifications and operating supply +0.05 Standard specifications...

  • Page 45: Names Of Each Part

    3 Controller 3.2 Names of each part ⑯ (Right side) 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 46 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 47 3 Controller (1) Padlock specification CE marking specification Dimension 25mm 14mm 4mm or less CAUTION Names of each part...
  • Page 48 3 Controller ⑫ ⑪ ⑨ ⑩ ① ② ⑧ ⑦ ⑬ ⑤ ③ ⑥ ④ MEMORY CASSETTE Names of each part...
  • Page 49 3 Controller ⑫ ⑪ ⑨ ⑩ ① ① ⑧ ② ② ⑦ ⑬ ⑤ ③ ⑥ ④ MEMORY CASSETTE Names of each part...
  • Page 50 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 51: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions <CR1DA-771> Standard specification Outside dimensions/Installation dimensions...
  • Page 52 3 Controller <CR1DA-771-S15> CE marking specification Outside dimensions/Installation dimensions...
  • Page 53 3 Controller <CR1DA-771-S16> CE marking specification Outside dimensions/Installation dimensions...

  • Page 54: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions <CR1DA-771> 50mm 20mm Standard specification Intake vent 吸気口 170mm or more 170mm以上 <CR1DA-771-S15/S16> CE marking specification 50mm 20mm Intake vent 吸気口 170mm or more 170mm以上 Outside dimensions/Installation dimensions...
  • Page 55 3 Controller 3.3.3 Cable lead-in and dimension <CR1DA-700 series> Input power supply lead-in (15x22) Outside dimensions/Installation dimensions...

  • Page 56: External Input/Output

    3 Controller 3.4 External input/output 3.4.1 Types External input/output...

  • Page 57: Dedicated Input/Output

    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 58 3 Controller Input Output Parameter Note1) name Name Function Level Name Function PRGSEL Program selection Designates the setting value for input signal the program No. with numeric value Ｅ None input signals. OVRDSEL Override selection Designates the setting value for input signal the override with the numeric value Ｅ...

  • Page 59: Connection Of The External Emergency Stop

    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 53, "3.6.2 Special stop input(SKIP)"） Input Door switch Servo-off.
  • Page 60 3 Controller CAUTION <CR1DA-700 series> EMGIN EMGINコネクタ Within 300mm 300mm以内 Ferrite core フェライトコア（付属品） The emergency-stop-input line from external equipment (attachments) ２回通し 外部装置からの非常停止入力信号線 Pass twice The emergency-stop-output line to external equipment 外部装置への非常停止出力信号線 Emergency stop input and output etc.
  • Page 61 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 62: Specifications

    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 63 3 Controller within 300mm 300mm以内 Ferrite core フェライトコア（付属品） (attachments) ２回通し SKIP (CEﾏｰｷﾝｸﾞ仕様のみ) Pass twice 専用停止入力コネクタ（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 64: Door Switch Function

    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 65 3 Controller (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings Note1) Note2) 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 66 3 Controller 3.7 Additional Axis Function 3.7.1 Wiring of the Additional Axis Interface Name Connector name Details Connector for additional axes The connector for connecting the general-purpose servo amplifier. 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 67 3 Controller <CR1DA-700 series> EMGOUT Servo amplifier Servo amplifier サーボアンプ サーボアンプ SSCNET Ⅲ cable SSCNETⅢケーブル Ferrite core SSCNET Ⅲ cable SSCNETⅢケーブル (Only for the CE フェライトコア specification) CN1A connector CN1A connector CN1Aコネクタへ CN1Aコネクタへ （CE仕様のみ） Pass twice ２回通し OPT connector OPTコネクタへ CN1B connector CN1B connector CN1Bコネクタへ...
  • Page 68 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 69 3 Controller <CR1DA-700 series> <Reference> The connection method of the electric wire is EMGOUT EMGOUTコネクタ the same as connection of the emergency stop. Please refer to Page 50, "3.6.1 Connection of the external emergency stop" EMGOUTコネクタ配列図 内部回路構成 Electric wire plug area 電線差込み口...
  • Page 70 3 Controller 3.9 Options...

  • Page 71: Teaching Pendant (T/B)

    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 72 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 73 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 74: Pneumatic Hand Interface

    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 75 3 Controller Pneumatic hand interface エアハンドインタフェース (2A-RZ365/RZ375) （2A-RZ365/2A-RZ375） Hand interface relay card ハンドインタフェース中継カード （2D-TZ315） View A 矢視A CNHND CNHND M4ネジ（2箇所） CNHNDOUT CNHNDOUT Pneumatic hand interface エアハンドインタフェース Pneumatic hand interface...

  • Page 76: Parallel I/O Interface

    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 77: Internal Circuit

    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 78 3 Controller <CR1DA-700 series> コントローラ背面 SLOT1 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) Parallel I/O interface...
  • Page 79 3 Controller Note1) SLOT1 Input ： 0 to 15 Input ： 16 to 31 Output ： 0 to 15 Output ： 16 to 31 SLOT2 Input ： 32 to 47 Input ： 48 to 63 Output ： 32 to 47 Output ：...
  • Page 80 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 81 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...

  • Page 82: External I/O Cable

    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 83 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 84: Parallel I/O Unit

    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 85 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 86 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 87 3 Controller <CR1DA-700 series> コントローラ背面 RIOコネクタ 天 upside (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 88 3 Controller <CR1DA-700 series> Controller rear コントローラ背面 *2)　ケーブルアースクランプ Sheath Sheath シース シース 20～30mm RIOコネクタ Metal braid section 金属製ブレード部 * The figure is CR1DA-771. Peel the sheath in the position about 200-300mm from the ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。 connector end of the cable, so you can install and remove (CR1DA-771-S15 is the same.) ※ｼｰﾙﾄﾞ線に傷をつけないようにご注意願います。...

  • Page 89: Led Display

    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 90 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 91 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 92 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...

  • Page 93: Specifications

    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 94 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 95: Personal Computer Cable

    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 96: Cc-Link Interface

    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 97 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 98 3 Controller CC-Link interface...

  • Page 99: Extension Memory Cassette

    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 100 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 101 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 102 3 Controller (11) Instruction Manual(bound edition) Note1) Specifications Name Type Mass(kg) Instruction Manual 5S-DJ00-PE01 The instructions manual set of "RV-2SD". Safety Manual BFP-A8006 Items relating to safety in handling the robot Standard Specifications BFP-A8790 Specification of the robot arm and controller Installation method of the robot arm, jog operation, Robot Arm Setup &...
  • Page 103 3 Controller 3.10 Maintenance parts Note1) Name Qty. Usage place Supplier Type CR1DA-700 series controller Lithium battery Q6BAT Front operation panel Mitsubishi Electric Sys - tem Service;Co.,Ltd Filter Front of the controller Maintenance parts...

  • Page 104: List Of Commands

    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 105 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 106 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 107 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 108: List Of Parameters

    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 109 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 110 5Instruction Manual Extended Func - tion Instruc - tion Manual The details of each instruction manuals...

  • Page 111: Self-Diagnosis Stop Functions

    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 112 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 113 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 114 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 115 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 116 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 117 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 118 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 119: Working Environment

    6Safety 6.2 Working environment CAUTION 6.3 Precautions for handling Working environment...
  • Page 120 6Safety Precautions for handling...

  • Page 121: Appendix 1 ： Specifications Discussion Material

    7Appendix 7 Appendix Appendix 1 ： Specifications discussion material Company name Name Address Telephone Note1) Specification Type Standard specification □ RV-2SD □ RV-2SDB Note2) CE Marking specification □ Not provided □ "-S15"specification(CR1DA-700-S15) 　 □ "-S16"specification(CR1DA-700-S16) 　 Item Type Provision, and specifications when provided. Operating range change 1S-DH-11J1 □...
  • Page 150 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 Jul., 2012 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Melfa rv-2sd seriesMelfa rv-2sdb seriesMelfa rv-2sdb-s15Melfa rv-2sd-s16

Table of Contents