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Mitsubishi RV-2F-D Series Standard Specifications Manual
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Mitsubishi RV-2F-D Series Standard Specifications Manual

Industrial robot
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Mitsubishi Industrial Robot
RV-2F-D Series
Standard Specifications Manual
CR750-D/CR751-D
(
Controller)
BFP-A8900-B

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Summary of Contents for Mitsubishi RV-2F-D Series

  • Page 1 Mitsubishi Industrial Robot RV-2F-D Series Standard Specifications Manual CR750-D/CR751-D Controller) BFP-A8900-B...
  • 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 CAUTION AC200V Earth leakage breaker 漏電遮断器 (NV) CR751-D controller/CR751-Q drive unit CR751コントローラ(前面) Cover 端子カバー Note) RV-2F series has operation panel. Grounding Connector コネクタ アース接続ネジ screw Cover 端子カバー Grounding terminal 保護アース端子 (PE) (PE)
  • Page 6 ■Revision history Date of print Specifications No. Details of revisions ・ First print. 2012-06-14 BFP-A8900 ・ The power supply capacity was corrected. 2012-10-04 BFP-A8900-A ・ The notes were added to "Fig 3-24: Example of EMC noise filter installation". ・ The lithium battery (ER6) was added to The United Nations’Recommendations on the Transport of Dangerous Goods.
  • Page 8 Contents Page...
  • Page 9 Contents Page...
  • Page 10 Contents Page...
  • Page 11 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 12 1General configuration 1.2 Model type name of robot 1.2.1 How to identify the robot model RV - 2F ▲ - ● D -Sxx (e). 1.2.2 Combination of the robot arm and the controller Protection specification Robot arm Axial constitution Controller RV-2F-D/RV-2FB-D CR750-02VD-1 6-axis type...
  • Page 13 1.3 Contents of the structural equipment 1.3.1 Robot arm ・ For CR750 controller Fix type: 1S- □□ CBL-11 Flex type: 1S- □□ LCBL-11 ・ For CR751 controller ・ For CR750 controller Fix type: 1F- □□ UCBL-11 Flex type:1F- □□ LUCBL-11 Note1) □□...
  • Page 14 General configuration 1.3.2 Controller （T/B） ・ CR750-02VD-1 ・ CR751-02VD-1 ・ R32TB: For CR750 controller ・ R33TB: For CR751 controller interface 2D-TZ368 (Sink) 2A-RZ361 (Sink) 2D-TZ576 2D-TZ378 (Source) 2A-RZ371 (Source) ・ R56TB: For CR750 controller ・ R57TB: For CR751 controller ・ 2D-CBL05 (5m) ・...
  • Page 15 General configuration 1.4 Contents of the Option equipment and special specification Classification Note1) Item Type Specifications Description CR750 CR751 Stopper for changing the 1S-DH-11J1 J1 axis + side: +210、 +150、 +90 deg. operating range - side: -210、 -150、 -90 deg. ○...
  • Page 16 Personal computer Sup - ○ ○ (With the simulation function) port software) 3D-12C-WINE CD-ROM RT ToolBox2 mini MS-Windows2000/XP /Vista Personal computer Sup - ○ ○ port software mini) Instruction Manual 5F-FE01-PE01 RV-2F-D series ○ ○ Contents of the Option equipment and special specification...
  • Page 17 Type name Supplier USB cable KU-AMB530 SANWA SUPPLY INC. (USB A type-USB mini B type) USB-M53 ELECOM CO., LTD. MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., GT09-C30USB-5P LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. USB adapter AD-USBBFTM5M ELECOM CO., LTD. (USB B type-USB mini B type)
  • Page 18 2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications Item Unit Specifications Note1) Type RV-2F/2FB Degree of freedom Installation posture On floor, hanging Note2) (against wall Structure Vertical, multiple-joint type Drive system AC servo motor (RV-2F: J2, J3, J5 axes have the brake) (RV-2FB: All axes have the brake) Position detection method Absolute encoder...
  • Page 19 2 Robot arm 2.2 Definition of specifications 2.2.1 Pose repeatability Definition of specifications...
  • Page 20 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 21 ２ Robot arm 2.2.3 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot 2.2.4 Collision detection JOG operation Automatic RH-2F series Invalid Invalid 2.2.5 Protection specifications (1) Types of protection specifications Protection Type specifications Classification Applicable field Remarks (IEC Standards value) General environ -...
  • Page 22 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 23 ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) Outside dimension 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 depth 6 View A...
  • Page 24 ２ Robot arm (2) Operating range 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 25 ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand (1)Hand input signal connectors ハンド入力信号コネクタ Hand input signal cables ハンド入力信号ケーブル (CON1H)　 Solenoid valve set (optional) 電磁弁セット（オプション） （ AWG#24(0.2mm2) x 2芯4本{） Opposite side of figure 注)図の反対側 AWG24 (0.2mm ) x 2 core: Four installation section 取付部分...
  • Page 26 ２ Robot arm 2.5.2 Internal air piping 2.5.3 Internal wiring for the hand output cable 2.5.4 Internal wiring for the hand 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 ２ Robot arm 2.5.6 Electrical specifications of hand input/output Item Specifications Internal circuit Type DC input No. of input points +24V +24V Insulation method Photo-coupler insulation Rated input voltage 24VDC Rated input current approx. 7mA HCn * Working voltage range DC10.2 to 26.4V (ripple rate within 5%) 3.3K 24GND...
  • 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 Shipping special specifications, options, and maintenance parts 2.6.1 Shipping special specifications Shipping special specifications, options, and maintenance parts...
  • Page 32 ２ Robot arm 2.7 Options Options...
  • Page 33 ２ Robot arm (1) Machine cable extension CR750 controller CR751 controller Qty. Mass (kg) Note1) Type Remarks Part name Note2) Fixed Flexed CR750 controller Fixed Set of signal and power cables 1S- □□ CBL-11 1 set 7.6(10m) 10m, or 15m each 10.9(15m) Motor signal cable 1S- □□...
  • Page 34 ２ Robot arm Item Specifications Minimum flexed radius 100R or more Cableveyor, etc., occupation rate 50% or less Maximum movement speed 2,000mm/s or less Guidance of life count 7.5 million times Environmental proof Oil-proof specification sheath (for silicon grease, cable sliding lubricant type) IP54 Cable configuration Motor signal cable φ6 x 5, φ8.5 x 1 and φ1.7 x 1...
  • Page 35 ２ Robot arm Robot arm Motor power Motor signal ロボット本体 モータ信号 モータパワー (Opposite side of figure) （ベース部背面） （CN2） （CN1） Robot controller Nylon clamp ナイロンクランプ Silicon rubber シリコンゴム Nylon clamp Connection latch ラッチ ナイロンクランプ Connection 接続リング部 （固定用 左右） (For fixing. Right and left ) NK-14N ring （固定）...
  • Page 36 ２ Robot arm Robot arm ロボット本体 (Opposite side of figure) （ベース部背面） Motor power モータ電源 Motor signal モータ信号（CN2） AMP2 AMP1 Robot controller (CN2) Nylon clamp ナイロンクランプ Silicon rubber シリコンゴム Nylon clamp Connection latch ラッチ ナイロンクランプ （固定用 左右） (For fixing. Right and left) NK-14N Connection Connection...
  • Page 37 ２ Robot arm (2) Stopper for 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 38 ２ Robot arm (3) Solenoid valve set 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 Note1) Port...
  • Page 39 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 40 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 (0.2 mm )×12 cores Total length 700mm (Including the curl section, which is 300mm long) 1-1827864-6 200±10...
  • Page 41 ２ Robot arm (5) Hand output cable Note1) Part name Type Qty. Remarks Mass (kg) 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 42 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 43 ２ Robot arm 2.8 About Overhaul If overhaul is not performed Shipment Predetermined time period Over - Periodic inspection haul If overhaul is performed Servo-on time About Overhaul...
  • Page 44 Reduction gears of each axis As needed Mitsubishi Electric Lithium battery In the battery cover 4 pcs. Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts...
  • Page 45 3Controller 3 Controller 3.1 Standard specifications Item Unit Specification Remarks Type CR750-02VD-1 CR751-02VD-1 Number of control axis Simultaneously 6 Memory Programmed positions point 39,000 capacity No. of steps step 78,000 Number of program Robot language MELFA-BASIC V Note1) Teaching method Pose teaching method, MDI method External Input and output...
  • Page 46 3Controller 3.2 Protection specifications and operating supply +0.05 Protection specifications and operating supply...
  • Page 47 3 Controller 3.3 Names of each part 3.3.1 Controller (1) CR750 controller Controller (Front side) Controller (Rear side) 　 　 　 1-phase <20>: The operation panel Names of each part...
  • Page 48 3 Controller Machine cable connector (motor signal) (CN1) Machine cable connector (motor power) (CN2) Display panel (STATUS.NUMBER) Names of each part...
  • Page 49 3 Controller (2) CR751 controller Controller (Front side) <10> <4> <7> <15> <9> <2> <1> <3> <5> <6> <14> <13> <12><11> <8> Controller (Rear side) <16> <17> <18> <15>: The operation panel <19> <20> <21> <22> <23> <24> Names of each part...
  • Page 50 3 Controller Caution Names of each part...
  • Page 51 3 Controller 3.4 Outside dimensions/Installation dimensions 3.4.1 Outside dimensions (1) CR750 controller Outside dimensions/Installation dimensions...
  • Page 52 3 Controller (2) CR751 controller Outside dimensions/Installation dimensions...
  • Page 53 3 Controller 3.4.2 Installation dimensions (1) CR750 controller <Placed horizontally> 145mm 145mm Intake vent 吸気口 250mm or more 250mm 以 上 <Placed vertically> 250mm or more 250mm以上 20mm or more 50mm or more 20mm以上 50mm以上 CAUTION CAUTION Outside dimensions/Installation dimensions...
  • Page 54 3 Controller hole hole (Controller fixation hole) hole Outside dimensions/Installation dimensions...
  • Page 55 3 Controller (2) CR751 controller <Placed horizontally> 145mm 145mm Intake vent 吸気口 250mm or more 250mm 以上 <Placed vertically> 50mm or more 20mm or more 20mm以上 50mm以上 250mm or more 250mm以上 CAUTION CAUTION Outside dimensions/Installation dimensions...
  • Page 56 3 Controller hole hole hole (Controller fixation hole) Outside dimensions/Installation dimensions...
  • Page 57 3 Controller 3.5 External input/output 3.5.1 Types External input/output...
  • Page 58 3 Controller 3.6 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 59 3 Controller Input Output Parameter Note1) name Name Function Level Name Function S1STOP Outputs that each slot is temporarily Stop input Stops each slot. In wait output stopped. S32STOP PRGSEL Program selection Designates the setting value for input signal the program No. with numeric value None input signals.
  • Page 60 3 Controller Input Output Parameter Note1) name Name Function Level Name Function AIRERR1 Pneumatic pressure Pneumatic pressure error 1 input signal error 1 output signal. Request the pneumatic pressure Outputs that a pneumatic pressure error occurrence. error is occurring. Pneumatic pressure Pneumatic pressure AIRERR3 error 3 input signal...
  • Page 61 3 Controller 3.7 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 60, "3.7.2 Special stop input (SKIP)"） Input Door switch Servo-off.
  • Page 62 3 Controller CAUTION CAUTION Emergency stop input and output etc.
  • Page 63 3 Controller (1) CR750 controller CNUSR11コネクタ CNUSR12コネクタ 30cm以内 フェライトコア 2回通し Emergency stop input and output etc.
  • Page 64 3 Controller Internal circuit structure 内部回路構成 内部回路構成 (Controller side) （お客様配線側） (Customer) ( 側 ) （お客様配線側） (Customer) （コントローラ側） OP emer - TB emer - gency stop 非常停止 非常停止 gency stop CNUSR11 +24V CNUSR11 Short Mode output 短絡 モード出力 Emergency External emergency 非常停止出力...
  • Page 65 3 Controller <CR750 controller> Reference: CNUSR13 (Connect the encoder, when using the Note) Note) tracking function) Note) The form of the machine cable con - nector (CN1/CN2) may differ in RV-2F series. View A Connection procedure Insert the connection cable into the appropriate pin of the user wiring connector that accompanies the product. Fix it securely with a screw and connect the connector to the CNUSR11/CNUSR12 connector at the back of the controller.
  • Page 66 3 Controller <CR750 controller> Note) Note) View A Note) The form of the machine cable con - nector (CN1/CN2) may differ in RV-2F series. Connection procedure Solder the pins of the user wiring connector that accompanies the product, and connect the connector to the CNUSR2 connector at the back of the controller.
  • Page 67 3 Controller (2) CR751 controller CNUSR1コネクタ Note) RV-2F series has operation panel. 30cm以内 フェライトコア 2回通し Emergency stop input and output etc.
  • Page 68 3 Controller Internal circuit structure 内部回路構成 (Customer) (Customer) （お客様配線側） (Controller side) （お客様配線側） （コントローラ側） TB emergency stop 非常停止 CNUSR1 +24V CNUSR1 Mode output Short モード出力 短絡 External emergency Emergency 非常停止出力 外部非常停止入力 Relay stop input stop output Mode output Short モード出力 短絡 Emergency +24V 非常停止出力...
  • Page 69 3 Controller <CR751 controller> Note) RV-2F series has operation panel. View A Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 or CNUSR2 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm 1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the con - nector cover.
  • Page 70 3 Controller 3.7.2 Special stop input (SKIP) Item Specifications Internal circuit Type DC input No. of input point Insulation method Photo-coupler insulation Rated input voltage DC24V Rated input current Approx. 11mA ＋２４V(COM) Working voltage range DC 21.6 ～ 26.4V （Ripple rate within 5%） ON voltage/ON current DC 8V or more / 2mA or more 入力...
  • Page 71 3 Controller (2) CR751 controller Note) RV-2F series has operation panel. 30cm以内 CNUSR2コネクタ フェライトコア 2回通し Emergency stop input and output etc.
  • Page 72 3 Controller 3.7.3 Door switch function Safeguard STOP!! MODE TEACH AUTO AUTO MANUAL AUTOMATIC (Op.) (Ext.) Robot arm Open (Example) Turns OFF the servo Safeguard MODE TEACH AUTO AUTO MANUAL AUTOMATIC (Op.) (Ext.) Teaching pendant Robot arm Open (Example) The servo can be turned ON/Off by turning the enable switch ON/OFF.
  • Page 73 3 Controller (2) When door is closing (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 74 3 Controller 3.8 Mode changeover switch input MODE MANUAL AUTOMATIC (1) Specification of the key switch interface Note1) Pin number and Function (Connector: CNUSR1) Change mode Pin number Function MANUAL AUTOMATIC 1st line KEY input Open Close Power supply +24V of pin number 49 2nd line KEY input Open...
  • Page 75 3 Controller (2) Connection of the mode changeover switch input View A Connection procedure Solder the user wiring connector that accompanies the product to the corresponding pin, and connect it to the CNUSR1 connector at the back of the controller. For the connection cable, please use AWG #30 to 24 (0.05 to 0.2mm 1) Loosen the 2 fixing screws on the user wiring connector that accompanies the product, and remove the con - nector cover.
  • Page 76 3 Controller 3.9 Additional Axis Function 3.9.1 Wiring of the Additional Axis Interface Name Connector name Details Connector for additional axes ExtOpt The connector for connecting the general-purpose servo amplifier. (1) CR750 controller CNUSR11 connector CNUSR11コネクタ CNUSR12 connector CNUSR12コネクタ Note) The form of the Note) Note) machine cable con -...
  • Page 77 3 Controller (2) CR751 controller Note) RV-2F series has operation panel. ExtOPT CNUSR1 connector CNUSR1 (Emergency stop output) (非常停止出力) Servo amplifier Servo amplifier サーボアンプ サーボアンプ SSCNET III cable SSCNETⅢケーブル SSCNET III cable SSCNETⅢケーブル To CN1A To CN1A connector connector CN1Aコネクタへ CN1Aコネクタへ...
  • Page 78 3 Controller Note1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120 VAC power supply. Note2) The example is when a surge protector is connected. Additional Axis Function...
  • Page 79 3 Controller Additional Axis Function...
  • Page 80 3 Controller 3.10 Magnet contactor control connector output (AXMC) for addition axes 1) Get the power supply for the controller from the secondary terminal of short circuit breaker (NV) built in the addition axis amplifier box. １）付加軸アンプボックス内蔵漏電遮断器（NV）の２次側より、コントローラ電源を取り出す。 Amplifier アンプ 2) Get the power supply for the MC synchronization from the sec - ２）コントローラ内蔵漏電遮断器（NV）の２次側より、...
  • Page 81 3 Controller (2) CR751 controller Note) RV-2F series has operation panel. Within 30cm 30cm以内 CNUSR2 connector CNUSR2コネクタ * The CNUSR2 connector is connected by soldering. Refer to Page 59 "Fig. 3-15: Method of wiring for external emergency Ferrite core フェライトコア stop connection (CR751 (CNUSR1/2))".
  • Page 82 3 Controller 3.11 Options...
  • Page 83 3 Controller (1) Teaching pendant (T/B) Note1) Part name Type Qty. Remarks Mass (kg) CR750 controller Teaching pendant R32TB Cable length is 7m. Hand strap is attached. Either one pc. R32TB-15 Cable length is 15m. Hand strap is attached. CR751 controller Teaching pendant R33TB Cable length is 7m.
  • Page 84 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 85 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 86 3 Controller (2) Parallel I/O interface Note1) Part name Type Remarks Qty. Mass (kg) 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 87 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 range DC10.2 ～ 30V (peak voltage DC30V) Max. load current 0.1A/point (100%) Leakage current at OFF Within 0.1mA Note1) Max.
  • Page 88 3 Controller SLOT1 SLOT2 Note) Note) RV-2F series has operation panel. 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 ：...
  • Page 89 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 90 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 91 3 Controller (3) 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, 15m Pin no.
  • Page 92 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 93 3 Controller (4) Parallel I/O unit Note1) Part name Type Qty. Remarks Mass (kg) 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.
  • Page 94 3 Controller Item Specification Internal circuit Type Transistor output No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage 12VDC/24VDC 出力 Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC) Max. load current 0.1A/point (100％) Leakage current at OFF 0.1mA or less Note1) Max.
  • Page 95 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 96 3 Controller Note) The form of the machine cable connector (CN1/CN2) may differ in RV-2F series. Note) Note) RIOコネクタ Upside 天 (4 0 ) (1 7 5 ) Wiring space 配 線 余 裕 1 2 8 2-M5 screw 2 - Ｍ ５ ネ ジ <...
  • Page 97 3 Controller Note) RV-2F series has operation panel. RIOコネクタ Upside 天 (4 0 ) (1 7 5 ) Wiring space 配 線 余 裕 1 2 8 2-M5 screw 2 - Ｍ ５ ネ ジ < 2 A - R Z 3 6 1 > Control panel installation dimensions 制...
  • Page 98 3 Controller Note) The form of the machine cable con - nector (CN1/CN2) may differ in RV-2F series. *2)　ケーブルアースクランプ Note) Note) Sheath Sheath シース シース 20～30mm Metal braid section 金属製ブレード部 Peel the sheath in the position about 200-300mm from the connector ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に...
  • Page 99 3 Controller *2)　ケーブルアースクランプ Sheath Sheath シース シース 20～30mm Metal braid section 金属製ブレード部 Peel the sheath in the position about 200-300mm from the connector ｼｰｽはｹｰﾌﾞﾙのｺﾈｸﾀ端から200～300mmの箇所を目安に end of the cable, so you can install and remove the cover. ｶﾊﾞｰの着脱ができる程度の位置で剥いてください。 Note) RV-2F series has * Don't damage the shield line.
  • Page 100 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 101 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 102 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 103 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 104 3 Controller (5) 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 105 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 106 3 Controller (6) CC-Link interface Note1) Part name Type Qty. Remarks Mass(kg) CC-Link interface 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 107 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 108 3 Controller CC-Link interface...
  • Page 109 3 Controller (7) 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 110 3 Controller Note1) Function Details Functional existence Note2) Compatible model ○ ○ Personal computer running Microsoft Windows2000/XP/Vista/7. Program editing Editing functions ・ MELFA BASIC V language compatible functions ・ Multiple editing screen simultaneously display ・ Command input, comment writing ・ Position data editing ・...
  • Page 111 Note1) Name Type Mass (Kg) Specifications Instruction Manual 5F-FE01-PE01 The instructions manual set of "RV-2F-D series". Safety Manual BFP-A8006 Items relating to safety in handling the robot Standard Specifications BFP-A8900 Specification of the robot arm and controller Installation method of the robot arm, jog operation, and Robot Arm Setup &...
  • Page 112 Inside of the filter cover Mitsubishi Electric Filter CR750 controller: BKOFA0773H42 Inside the filter cover CR751 controller: BKOFA0773H41 Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts...
  • Page 113 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 114 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 115 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 116 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 117 4Software Parameter Details Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No. (Single/double = S/D) Set the signal No. after the hand type. Example) D900 Stop input B contact desig - Change the dedicated input (stop) to either of normal open or normal close. nation User-designated origin USERORG...
  • Page 118 5Instruction Manual 5 Instruction Manual 5.1 The details of each instruction manuals Troubleshooting Additional axis function Tracking Func - tion Manual Extended Func - tion Instruc - tion Manual The details of each instruction manuals...
  • Page 119 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 120 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 - Connector This servo power is shut off, and the Externally installed emergency stop switch. gency stop (CR750 controller: robot stops immediately.
  • Page 121 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 122 6Safety 6.1.7 Examples of safety measures (1) CR750 controller <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 123 6Safety <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 124 6Safety <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 125 6Safety <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 126 6Safety <Wiring example 5>: Connect the controller to the safety relay Use the controller’s emergency stop button command as an input to the safety relay. Customer equipment お客様装置 CNUSR11 No connection 24V DC E-stop E-stop 安全リレー Safety relay External emergency stop switch 外部非常停止スイッチ...
  • Page 127 6Safety (2) CR751 controller <Wiring example 1>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 128 6Safety <Wiring example 2>: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply of peripheral equipment. <Operation of the emergency stop> If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.
  • Page 129 6Safety <Wiring example 3>: Connect the emergency stop switch, door switch, and enabling device of peripheral equipment to the con - troller. The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 130 6Safety <Wiring example 4>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. Connect the enabling device to the robot controller.The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 131 6Safety <Wiring example 5>: Connect the controller to the safety relay Use the controller’s emergency stop button to input safety relay. お客様装置 Customer equipment Controller CNUSR1 No connection 24V DC E-stop E-stop Safety relay 安全リレー External emergency stop switch 外部非常停止スイッチ 例）オムロン社　G9SX-AD G9SX-AD series *OMRON Internal relay...
  • Page 132 6Safety (3) External emergency stop connection [supplementary explanation] Safety...
  • Page 133 6Safety Internal fuse 非常停止スイッチ Emergency stop switch Robot controller ロボットコントローラ （2接点タイプ） (2- contact type) ロボットコント CNUSR11/12 Power supply in the 周辺装置 robot controller ローラ内電源 Peripheral equipment Emergency OP非常停止 　　 stop button Power 周辺装置 ボタン 未接続 Not connected supply24V 側電源24V Emergency TB非常停止...
  • Page 134 6Safety emergency emergency 非常停止 非常停止 stop stop Emergency stop 非常停止検出 detection relay リレー External 外部 emergency emergency emergency 非常停止 非常停止 非常停止 stop stop stop 検出 検出 検出 detection detection detection 入力 Safety relay 安全リレー CAUTION CAUTION Safety...
  • Page 135 6Safety 6.2 Working environment CAUTION 6.3 Precautions for handling Working environment...
  • Page 136 6Safety Precautions for handling...
  • Page 137 7Appendix 7 Appendix Appendix 1 ： Specifications discussion material Company name Name Address Telephone Note1) Specification Type Standard specification □ RV-2F-D □ RV-2FB-D □ RV-2F-1D □ RV-2FB-1D Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name. Item Type Provision, and specifications when provided.
  • Page 138 7Appendix Specifications discussion material...
  • Page 140 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 Oct., 2012 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Cr750-dCr751-d controller