Related Manuals for Mitsubishi SQ Series
Summary of Contents for Mitsubishi SQ Series
- Page 1 Mitsubishi Industrial Robot Series RV-12SQ/12SQL Series Special Specifications Manual (CR2QA-701/CR3Q-701M/CR3Q-701 Controller) BFP-A8692-R...
- 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 2008-10-30 BFP-A8692 First print. 2009-6-23 BFP-A8692-A The English expression was corrected. Safety Precautions , 1.1.2 Special specifications , Table 1.3: The list of Option equipment and special specification , Caution of USB devices , 2.6.1 Shipping special specifications , 6.1.7 Examples of safety measures Error in writing was corrected.
- Page 7 Date of print Specifications No. Details of revisions 2012-07-11 BFP-A8692-R ・ The "Emergency stop output" in the controller standard specification table was deleted. (Overlapped with "Robot error output".) ・The "Table 3-3 ： Emergency stop/Door switch input" in "3.4 External input/output" was deleted.
- 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-12SQ 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 Controller...
- Page 14 1General configuration 1.6 Contents of the structural equipment 1.6.1 Robot arm (Standard product: 7m attachment) Machine cable extension Note1) □□ refer the length. Refer to Table 1-3 for details. Note2) Connect the extension cables to the arm side of the standard 7 m Solenoid valve set (for fixing) cable to extend.
- Page 15 General configuration 1.6.2 Controller ・ CR2QA-701, CR3Q-701M/701 *1） *1)The base board, the power supply unit, and sequencer CPU are required Cable for installation of the robot CPU unit. ･ 2Q-TUCBL 10M (TU Cable for robot) Prepared by customer ･ 2Q-DISPCBL10M (DISP Cable for robot ) *2) The controller of "-S300"...
- Page 16 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 17 General configuration Caution Caution Contents of the Option equipment and special specification...
- Page 18 2Robot arm 2 Robot arm 2.1 Standard specifications Item Unit Specifications Type RV-12SQ RV-12SQC RV-12SQL RV-12SQLC 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 １ ， ５ ３ ０ Torsion moment: M N•m １ ， ５ ３ ０ Horizontal translation force: F １ ， ３ ０ ０ Vertical translation force: F ２ ， ３ 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 5.0kg 10.0kg 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-12SQ IP54 General-purpose General assembly environment speci - RV-12SQL (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 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 Not pressurized Clean room Note1) When signs of cracking or peeling are noted in the packing.
- Page 25 ２ Robot arm 2.2.6 Clean specifications (1) Types of clean specifications Type Degree of cleanliness Internal suction Remarks RV-12SQC 10(0.3μm) Concentrated suction with vaccum The use of a vacuum generating valve RV-12SQLC 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 Elbow block ＋ J4 axis J5 axis ＋ ＋ － － J3 axis － ＋ J6 axis － Upper arm Mechanical interface ＋ (Hand installation flange surface) －...
- Page 27 ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RV-12SQ/12SQC 4-φ14 installation hole 2-φ6 holes (prepared holes for φ8 positioning pins) φ6H7 +0.012 depth 13.5 4-M6 screw, depth 10.5 (Installation) 6.3a φ25H7 +0.021 depth 9.5 φ50ｈ8 depth 8 -0.039 View A: Detail of mechanical interface View D bottom view drawing : Detail of installation dimension...
- 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 200 or more P-point path Rear surface area wide angle, narrow angle limit *If the angle of axis J1 is -75deg <= J1 <= 75deg and the angle of axis J2 is -25deg <= J2 <...
- Page 29 ２ Robot arm (2) RV-12SQL/12SQLC 4-φ14 installation hole 2-φ6 holes (prepared holes for φ8 positioning pins) +0.012 φ6H7 depth 13.5 4-M6 screw, depth 10.5 6.3a (Installation) +0.021 φ25H7 depth 9.5 φ50ｈ8 depth 8 -0.039 View A: Detail of mechanical interface View D bottom view drawing : Detail of installation dimension 89 93 Screw holes for fixing...
- 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) 200 or more P-point path Rear surface area wide angle, narrow angle limit *If the angle of axis J1 is -75deg <= J1 <= 75deg and the angle of axis J2 is J2 < -25deg , then operating range is limited to J2 + J3 >= -155 degree.
- Page 31 ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Secondary piping pneumatic hose (φ6) (customer-prepared) (1)φ6 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 Options Options...
- Page 38 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 11.9(10m) Motor signal cable 1S- □□ CBL(S)-01 (1 cable) 17.1(15m) Motor power cable...
- Page 39 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 )-3C Finish dimensions Approx. φ6mm Approx. φ8.5mm Approx. φ1.7mm Approx. φ7.5mm Approx. φ6mm No.of cables used 5 cables 1 cable...
- Page 40 ２ Robot arm DU3-700 series Controller Motor power cable 1S-□□LCBL(P)-01 Robot arm Motor signal cable 1S-□□LCBL(S)-01 Nylon clamp NK-18N Nylon clamp NK-14N 300～400ｍｍ 300～400ｍｍ Nylon clamp NK-18N Nylon clamp The fixed cable Extended flexible cable (standard attachment) (option) NK-14N Extension section Nylon clamp Silicon rubber CAUTION...
- Page 41 ２ Robot arm (2) Changing the operating range Part name Type Qty. Mass(kg) Remarks Stopper for changing the operat - Hexagon socket bolt: M10 x 20 plating (strength classi - 1S-DH-01 2 pcs. ing range of J1 fication 10.9) Axis Standard Changeable angle + side...
- Page 42 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-VD01-01/ 1 pc. － － － 1S-VD01E-01 M4x8 four screws (installation screws). Solenoid valve set (2 sets) 1S-VD02-01/ －...
- Page 43 ２ Robot arm 87.9 <7><8> 37.8 50.1 <9> <3> <6> <2> <1> <5> <4> <Sink type> <Source type> Connector name Connector name <GR1> <GR1> White White +24V (COM) 24V (RG) Reserve Reserve Black SOL1A SOL1A Black Black SOL1B SOL1B Black Black SOL2A SOL2A...
- Page 44 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 45 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 46 ２ Robot arm (6) Hand curl tube Note1) Part name Type Qty. Remarks Mass(kg) Hand curl tube (Four set: 2 pcs.) 1N-ST0602C 1 pc. φ6 tube, 2pcs. Hand curl tube (Four set: 4 pcs.) 1N-ST0604C 1 pc. φ6 tube, 4pcs. Hand curl tube (Four set: 6 pcs.) 1N-ST0606C 1 pc.
- Page 47 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 A6BAT In the battery cover 5 pcs. About Overhaul...
- Page 48 ２ Robot arm Details of configuration Usage place part name Packing name Qty. Cover name Qty. Sticking side RV-12SQ/12SQC Shoulder cover packing Shoulder cover packing A Cover side Shoulder cover Part Code ： K07S24338151 Shoulder cover packing B Cover side Elbow cover A packing Elbow cover A packing A Cover side...
- Page 49 Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Item Unit Specification Remarks Note1) Type RV-12SQ-S300 series ： CR2QA-701-S300 CR2QA-701 RV-12SQ series ： CR3Q-701M/CR3Q-701 CR3Q-701M RV-12SQCseries ： CR3Q-701 Number of control axis Simultaneously 6(Maximum) ６ ４ bit Ｒ Ｉ Ｓ Ｃ ／ Ｄ Ｓ Ｐ Memory Programmed positions and No.
- Page 50 Controller Item Specification Remarks Unit Type RV-12SQ-300 series: DU2-700-S300 DU2A-700-S300 DU3-701M/DU3-701 RV-12SQ series: DU3-701M RV-12SQC series: DU3-701 External input and output point Multi-CPU share device input and Input 8192/Output 8192 (Max.) Dedicated input/output Assign to the multi-CPU share device. output Special stop input point １...
- Page 51 Controller Item Unit Specification Remarks Type Q172DRCPU Interface Addition axis synchronization port １ Power source Power capacity （DC5V） １ ． ２ ５ Outline dimensions ２ ７ . ４ (W) x ９ ８ (D) x １ １ ９ . ３ (H) Mass ０...
- Page 52 Controller 3.2 Names of each part 3.2.1 Names of each part of the drive unit ⑮ ⑮ (Rear) ① ① ⑧ ⑥ ④ ⑬ ② ⑤ ⑩ ⑫ ⑭ ⑪ ⑦ ⑨ ③ * 1) POWER switch........This turns the control power ON/OFF. (With earth leakage breaker function) START button........
- Page 53 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.
- Page 54 Controller (1) Padlock specification CAUTION Dimension (mm) 4mm or less...
- Page 55 Controller Dimension (mm) 35(0.11) 40(0.13) 22 or 23...
- Page 56 Controller ⑧CON3 ⑨DCOUT ⑩CNDISP ⑦OPT1A ⑥SKIP ⑤HND ②CN2 ③EMGIN ④EMGOUT ①CN1 ① ②...
- Page 57 Controller ⑤ ⑧ ⑥ ⑦ ③ ⑨ ④ ② ①...
- Page 58 Controller 3.2.2 Names of each part of the robot CPU ⑨ ① ⑩ ③ Q172DRCPU ⑫ ② ④ ⑬ STOP ⑤ CAUTION ⑥ ⑭ ⑦ FRONT ACFAIL ⑪ Front Back ⑧ Side 背面 側面 正面...
- Page 59 3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions (1) Drive unit outside dimension <DU2A-700 series> 4-M5 screw For vertical installation screw Outside dimensions/Installation dimensions...
- Page 60 3 Controller <DU3-7xxM> <DU3-700M> (55) アイボルト 2-M10 (35) （50） EMG.STOP CHANG DISP DOWN STATUS NUMBER SVO ON START RESET MODE SVO OFF STOP 2×2-φ15穴 （40.5） （79.5） （15） （15） ←（キャスタ仕様時） Outside dimensions/Installation dimensions...
- Page 61 3 Controller <DU3-7xx> series CE Marking specification hole When caster specification Outside dimensions/Installation dimensions...
- Page 62 3 Controller <DU3-700M series> Exhaust Suction Exhaust CN2 CN1 (380) (7,000) （Back drawing） （Right side drawing） <DU3-700 series> Exhaust Suction Suction Exhaust CN2 CN1 (380) （Back drawing） （Right side drawing） Outside dimensions/Installation dimensions...
- Page 63 3 Controller (2) Outside dimensions of robot CPU unit Outside dimensions/Installation dimensions...
- Page 64 3 Controller (3) Battery unit outside dimension 2-Φ5.5 hole Outside dimensions/Installation dimensions...
- Page 65 3 Controller 3.3.2 Installation dimensions (1) Installation dimensions of drive unit <DU2A-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 <DU3-700/700M series> （ Anchor bolt installation: 4 places) <CR3D-700M series> <CR3D-700 series> Note１） Note１） Side Side Side Side Approx. Approx. Approx. Approx. Controller Controller (upside) (upside) Maintenance area Maintenance area （ ） （ ） View from upside View from upside Outside dimensions/Installation dimensions...
- Page 67 3 Controller (2) Robot CPU Unit installation dimensions <Q172DRCPU> The position of the ceiling of the board, and the wiring duct section 盤の天井、配線ダクト部分の位置 Base unit ベースユニット Robot CPU Unit ロボットCPUユニット Robot CPU Unit Within 40mm ロボットCPUユニット 40mm以上 Q 172D RCPU QX40 QX40 Q172DEX...
- Page 68 3 Controller 3.3.3 Cable lead-in and dimension <DU2A-700 series> 配線固定具 Outside dimensions/Installation dimensions...
- Page 69 3 Controller <DU3-700 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 70 3 Controller 3.4 External input/output 3.4.1 Types External input/output...
- Page 71 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 72 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 73 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 74 3 Controller CAUTION <DU2A-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 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 Note1) Connector for additional axes The connector for connecting robot CPU with 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 81 3 Controller <DU2A-700> EMGOUT Robot CPU Servo amplifier Servo amplifier (Q172DRCPU) Q172DRCPU STOP SSCNETⅢcable SSCNETⅢcable CAUTION CN1A connector CN1A connector CN1B connector CN1B connector CN2 connector FRONT ACFAIL Magnetic contact *It cannot communicate, if connection of CN1A and CN1B is mistaken. Additional Axis Function...
- Page 82 3 Controller <DU3-700/700M> EMGOUT Robot CPU Servo amplifier Servo amplifier (Q172DRCPU) Q172DRCPU STOP SSCNETⅢcable SSCNETⅢcable CAUTION CN1A connector CN1A connector CN1B connector CN1B connector CN2 connector FRONT ACFAIL Magnetic contact *It cannot communicate, if connection of CN1A and CN1B is mistaken. Additional Axis Function...
- Page 83 3 Controller Additional Axis Function...
- Page 84 3 Controller Additional Axis Function...
- Page 85 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 86 3 Controller <DU2A-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 87 3 Controller <DU3-700/700M> 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 88 3 Controller 3.9 Options...
- Page 89 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 90 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 91 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 92 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 93 3 Controller <DU2A-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 94 3 Controller <DU3-700/700M> 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 95 3 Controller (3) 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 96 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 97 3 Controller (4) Instruction Manual(bound edition) Note1) Specifications Name Type Mass(kg) Instruction Manual 5S-QC00-PE01 Safety Manual BFP-A8006 Items relating to safety in handling the robot Standard Specifications BFP-A8692 Specification of the robot arm and controller Installation method of the robot arm, jog operation, and Robot Arm Setup &...
- Page 98 3.10 Maintenance parts Note1) Name Qty. Usage place Supplier Type CR2QA-700 controller Lithium battery Q6BAT Mitsubishi Electric Sys - tem Service;Co.,Ltd Filter Front of the controller CR3Q-700 controller Lithium battery Q6BAT Robot CPU unit Fan (40 square) Amplifier unit Mitsubishi Electric Sys - Converter unit tem Service;Co.,Ltd...
- Page 99 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 100 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 101 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 102 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 103 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 104 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 105 5Instruction Manual Extended Func - tion Instruc - tion Manual The details of each instruction manuals...
- Page 106 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 107 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 108 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 109 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 110 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 111 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 112 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 113 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 114 6Safety 6.2 Working environment CAUTION 6.3 Precautions for handling Working environment...
- Page 115 6Safety Precautions for handling...
- Page 116 7Appendix 7 Appendix Appendix 1 ： Specifications discussion material Company name Name Address Telephone Note1) Specification Type Standard specification □ RV-12SQ □ RV-12SQL □ RV-12SQ-S300 □ RV-12SQL-S300 Clean specification □ RV-12SQC □ RV-12SQLC □ RV-12SQC-S300 □ RV-12SQLC-S300 □ Not provided □ "-S12"(CR3Q-700-S12) □...
- Page 144 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.