Mitsubishi MELFA RC-1300G Series Standard Specifications Manual
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Mitsubishi MELFA RC-1300G Series Standard Specifications Manual

Mitsubishi MELFA RC-1300G Series Standard Specifications Manual

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MITSUBISHI
Mitsubishi Industrial Robot
RC-1300G Series
Standard Specifications Manual
(CR4-533CD Controller)
BFP-A8287

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Summary of Contents for Mitsubishi MELFA RC-1300G Series

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot RC-1300G Series Standard Specifications Manual (CR4-533CD Controller) BFP-A8287...
  • Page 2 Thank you for purchasing the Mitsubishi Industrial Robot MELFA Series. This supplemental instruction manual provides additional explanations for some of the specifications of the Mitsubishi industrial robot controller option “Expansion Serial Interface.” Therefore, check the content, and use it together with your standard specifications.
  • Page 3 This document explains partial changes to the specifications of parallel inputs and outputs of the CR2, CR3, CR4, CR7, CR8 and CR9 Mitsubishi Industrial Robot Controllers. Therefore, check the content, and use it together with your standard specifications and instruction manual.
  • Page 4 2. Locations of Output Circuit Fuses for Parallel Input/Output Unit R6x2CPU-C and later CN300 CN100 F101 F301 F102 F302 * The same positional relationship as the figure above applies to optional parallel input/output units as well. Connector Pin No. Fuse 4〜７...

  • Page 5: Revisions Table

    Revisions Table Some changes have been made to the Mitsubishi industrial robot “RC-1300G series Standard Specifications Manual (BFP-A8287) “. The details are given below. We ask that you please reflect these changes onto the “Standard Specifications Manual” on hand. Revision place P2-35〜36 (1) Machine cable extension...
  • Page 6 ■Specifications The specifications for the fixed type cables are the same as those for standard cables. Shows usage conditions for flexed type cables in Table 2-11. Table 2-11：Conditions for the flexed type cables Item Specifications Minimum flexed radius for U-character fold over 100R or more at inner R Cable bare, etc., occupation rate 50% or less...

  • Page 7: 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 All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) →...
  • Page 8 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. CAUTION Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ - ment, etc.) CAUTION Transport the robot with the designated transportation posture.

  • Page 9: Revision History

    Revision history Date of print Specifications No. Details of revisions 2003-08-29 BFP-A8287Z First print. 2003-11-06 BFP-A8287 Formal style.
  • Page 10 Caution: ・ No part of this manual may be reproduced by any means or in any form, without prior consent from Mitsubishi. ・ The details of this manual are subject to change without notice.
  • Page 11 ■ Robot Type Names Type Number of forks Vertical stroke Expansion/contraction stroke RC-1300GS1027 2,650mm 　 　 950mm RC-1300GS1029 2,850mm Single fork RC-1300GS1627 2,650mm 1,600mm RC-1300GS1629 2,850mm RC-1300GW1027 2,650mm 　 　 950mm RC-1300GW1029 2,850mm Double fork RC-1300GW1627 2,650mm 1,600mm RC-1300GW1629 2,850mm ■...

  • Page 12: Table Of Contents

    CONTENTS Page 1 General configuration ..................................1-1 1.1 Structural equipment ................................1-1 1.1.1 Standard structural equipment ..........................1-1 1.1.2 Shipping special specifications ........................... 1-1 1.1.3 Options ....................................1-1 1.1.4 Maintenance parts ................................1-1 1.2 Contents of the structural equipment ..........................1-2 1.2.1 Robot arm ...................................
  • Page 13 Page 3.7 Magnet contactor control connector output (AXMC) for addition axes ............3-50 3.8 Parallel input/output unit ..............................3-51 (1) Teaching pendant (T/B) ............................3-55 (2) Parallel I/O unit ................................. 3-58 (3) External I/O cable ..............................3-66 (4) Personal computer cable ............................3-68 (5) Extended serial interface ............................

  • Page 14: General Configuration

    1General configuration 1 General configuration 1.1 Structural equipment Structural equipment consists of the following types. 1.1.1 Standard structural equipment (1) Robot arm (2) Controller (3) Machine cables (Attached to the controller.) (4) Installation bolts for robot (with washers) (5) Metal fittings for suspension use and eye bolts (6) Safety Manual, CD-ROM (Instruction manual) (7) Guarantee card 1.1.2 Shipping special specifications...

  • Page 15: Contents Of The Structural Equipment

    Consult with Mitsubishi for details on the option devices. Note1) The fork was manufactured by the customer. Note1) The travel axis was manufactured by the customer. Note 1) Inquire to your local sales representative of Mitsubishi robots. ［Caution］ Standard configuration equipment Special shipping...

  • Page 16: Controller

    1General configuration 1.3 Controller The devices shown below can be installed on the controller. Controller ・ CR4-533CD Caster type controller Teaching pendant(T/B) ・ R28TB Parallel I/O unit External I/O cable ・ 2A-RZ361 (Sink) ・ 2A-CBL05(5m) PLC(Programmable ・ 2A-RZ371 (Source) ・ 2A-CBL15(15m) Logic Controller) External device Prepared by customer...

  • Page 17: Contents Of The Option Equipment And Special Specification

    1General configuration 1.4 Contents of the Option equipment and special specification A list of all Option equipment and special specification is shown below. Table 1-1 ： The list of Option equipment and special specification Classif Item Type Classification Descripsion ication Extension machine cable 2A-CN △...

  • Page 18: Robot Arm

    2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Standard specifications Table 2-1 ： Tab Standard specifications of robot (double fork configuration) Item RC-1300GW1027 RC-1300GW1029 RC-1300GW1627 RC-1300GW1629 Degree of freedom Axis No. Structure Cylindrical coordinate type Board size 1,200 x 1,300 Note1) Path line Drive system...
  • Page 19 2Robot arm Table 2-1 ： Tab Standard specifications of robot (single fork configuration) Item RC-1300GS1027 RC-1300GS1029 RC-1300GS1627 RC-1300GS1629 Degree of freedom Axis No. Structure Cylindrical coordinate type Board size 1,200 x 1,300 Note1) Path line Drive system AC servo motor Position detection method Absolute encoder Brake...

  • Page 20: Definition Of Specifications

    2 Robot arm 2.2 Definition of specifications The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows. 2.2.1 Pose repeatability and distance accuracy This robot, the pose repeatability and distance accuracy are defined and calculated in Table 2-2.

  • Page 21: Condition Of The Conveyance

    2 Robot arm 2.2.2 Condition of the conveyance. Refer to Fig. 2-2 for the relation of the conveyance mass (fork and workpiece) and the center of gravity position. Operations outside the specified range can cause obstacles such as alarm occurrences and positional deviation, and can greatly affect the life.

  • Page 22: Names Of Each Part

    ２ Robot arm 2.3 Names of each part Vertical axis (J6 axis) Fork 1 (J1 axis) Vertical axis (J3 axis) Fork base (J5 axis) － ＋ Fork 2 (J2 axis) J3, J6 ＋ － － － ＋ ＋ ＋ － Base Turning axis (J4 axis)

  • Page 23: Outside Dimensions ・ Operating Range Diagram

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RC-1300GW1027 Fig.2-4 ： Outside dimensions ・ Operating range diagram(RC-1300GW1027) Outside dimensions ・ Operating range diagram 2-10...

  • Page 24: Rc-1300Gw1029

    ２ Robot arm (2) RC-1300GW1029 Fig.2-5 ： Outside dimensions ・ Operating range diagram(RC-1300GW1029) Outside dimensions ・ Operating range diagram 2-11...

  • Page 25: Rc-1300Gw1627

    ２ Robot arm (3) RC-1300GW1627 Fig.2-6 ： Outside dimensions ・ Operating range diagram(RC-1300GW1627) Outside dimensions ・ Operating range diagram 2-12...

  • Page 26: Rc-1300Gw1629

    ２ Robot arm (4) RC-1300GW1629 Fig.2-7 ： Outside dimensions ・ Operating range diagram(RC-1300GW1629) Outside dimensions ・ Operating range diagram 2-13...

  • Page 27: Rc-1300Gs1027

    ２ Robot arm (5) RC-1300GS1027 Fig.2-8 ： Outside dimensions ・ Operating range diagram(RC-1300GS1027) Outside dimensions ・ Operating range diagram 2-14...

  • Page 28: Rc-1300Gs1029

    ２ Robot arm (6) RC-1300GS1029 Fig.2-9 ： Outside dimensions ・ Operating range diagram(RC-1300GS1029) Outside dimensions ・ Operating range diagram 2-15...

  • Page 29: Rc-1300Gs1627

    ２ Robot arm (7) RC-1300GS1627 Fig.2-10 ： Outside dimensions ・ Operating range diagram(RC-1300GS1627) Outside dimensions ・ Operating range diagram 2-16...

  • Page 30: Rc-1300Gs1629

    ２ Robot arm (8) RC-1300GS1629 Fig.2-11 ： Outside dimensions ・ Operating range diagram(RC-1300GS1629) Outside dimensions ・ Operating range diagram 2-17...

  • Page 31: Fork Installation Shape

    ２ Robot arm (9) Fork installation shape Hexagon socket bolt （4 bolts） Left fork Hand flange Fiber amplifier Pressure switch Mounting location of the fork base built-in hand I/O card （RZ398 card） Fork installation shape Light fork Top view of the robot arm Hexagon socket bolt （4 bolts）...

  • Page 32: Tooling

    ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a hand. RZ398 card Hand piping air tube (φ6× 3 tubes) RZ398 card J2 axis Hand piping air tube J1 axis (φ6× 3 tubes) Fork base （Ｊ5 axis）...
  • Page 33 ２ Robot arm RZ398 card Hand piping air tube J1 axis (φ6× 3 tubes) Fork base （Ｊ5 axis） Piping for hand （Ｐ, Ｖ, D） Detail of section A Hand piping or Connector box inside dust suction for pneumatic coupling (Rc3/8×5) Ａ...

  • Page 34: Robot Arm

    ２ Robot arm Detail of connector 6X00 Reserved +24V RG(24G） Hand input 6X00 6X01 6X02 6X0D 6X0E 6X0F Fork 2 RZ398 (J2 axis : upside) card Hand output 6Y00 channel No. 6 RIO3 6Y01 6Y02 6Y0D 6Y0E 6Y0F Hand input 7X00 7X01 7X02...
  • Page 35 ２ Robot arm Detail of connector 7X00 Reserved +24V RG(24G） Hand input 7X00 7X01 7X02 7X0D RIO3 7X0E Fork 1 7X0F RZ398 (J1 axis : bottom side) card channel No. 7 Hand output 7Y00 7Y01 7Y02 7Y0D 7Y0E 7Y0F φ6 φ8 (Ｖ)Transparent Ｖ1(Vacuum)

  • Page 36: Hand I/O Card (Rz398 Card)

    ２ Robot arm 2.6 Hand I/O card (RZ398 card) 2.6.1 Specifications Table 2-3 ： Specifications Item Specification Remarks Name Hand I/O card Type 2A-RZ398 Number of input points 16 point Insulation method Photo coupler insulation Number of output points 16 point Insulation method Photo coupler insulation, transistor output (100mA/point）...
  • Page 37 ２ Robot arm RZ398 card Fork 1 (J1 axis: upside) RZ398 card Fork 2 (J2 axis: upside) Control unit (R6x2CPU) RIO3 connector (CON1) RIO3 cable Fig.2-17 ： Installation place of Hand I/O card(RZ398) Hand I/O card (RZ398 card) 2-24...
  • Page 38 ２ Robot arm For the double fork configuration Controll unit (R6x2CPU) Channel No. 7 Channel No. 6 <Fork 1> <Fork 2> (J1 axid：downside) (J2 axid：upside) <RZ398 card> <RZ398 card> Jumper Jumper A B C D A B C D CNPWR CNPWR RIO3 connector (COM1)
  • Page 39 ２ Robot arm CNY1 CNY4 CNY3 CNY2 (Jumper) Back Front Left fork (Channel No. setting) CNPWR Hand I/O card (RZ398 card) Right fork Hand flange CNX1 CNX2 CNX3 CNX4 Detail of RZ398 card RZ398 card installation shape Fig.2-19 ： Detail of Hand I/O card(RZ398) Hand I/O card (RZ398 card) 2-26...

  • Page 40: I/O Connector For Hand

    ２ Robot arm 2.6.2 I/O connector for hand ■ Connector pin assignments CNX1 CNY1 +24V +24V +24V +24V +24V +24V +24V +24V RG(24G) RG(24G) RG(24G) RG(24G) RG(24G) RG(24G) RG(24G) RG(24G) CNX2 CNY2 +24V +24V +24V +24V +24V +24V +24V +24V RG(24G) RG(24G) RG(24G)
  • Page 41 ２ Robot arm ■ Station number settings and input signal assignment 1) For RC-1300GW series Table 2-6 ： Station number settings and input signal assignment(channel No. 7) 　 Note1) Note1) Signal names Connector names X (input) Signal names Connector names Y (output) CNX1 CNY1...
  • Page 42 ２ Robot arm 2) For RC-1300GS series Table 2-8 ： Station number settings and input signal assignment(channel No. 7) 　 Note1) Note1) Signal names Connector names X (input) Signal names Connector names Y (output) CNX1 CNY1 CNX2 CNY2 CNX3 CNY3 CNX4 CNY4 Note1) The signal names represent the names described in...

  • Page 43: Connection Cable Specification

    ２ Robot arm 2.6.3 Connection Cable Specification ■ Recommended plugs Table 2-9 lists the compatible plug types for the connectors (CNX1 to CNX4, CNY1 to CNY4) on the board. [Caution] It is necessary to change the plug to be used according to the external diameter of the cable to be used. Table 2-9 ：...
  • Page 44 ２ Robot arm ■ Compatible cable list The following "Fig.2-20 ： Compatible cable list" is excerpted from the Web site of Tyco Electronics AMP K.K. Also, compatible wire and connector model number information is listed because of an agreement with SMC, Omron and SUNX.

  • Page 45: Air Supply Circuit Example For The Hand

    2 Robot arm 2.6.4 Air supply circuit example for the hand Fig. 2-21 shows an example of pneumatic supply circuitry for the hand. (1) Place diodes parallel to the solenoid coil. (2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be damage to the work.

  • Page 46: Shipping Special Specifications, Options,And Maintenance Parts

    ２ Robot arm 2.7 Shipping special specifications, options,and maintenance parts 2.7.1 Shipping special specifications ■ What are shipping special specifications? Shipping special specifications refer to specifications of standard configuration equipment that are changed at the time of shipment from the factory. Consequently, user need to confirm the delivery date. To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.

  • Page 47: Options

    There are a variety of options for the robot designed to make the setting up process easier for user needs. Contact Mitsubishi for details on the options.User installation is required for the options. Options come in two types: "set options" and "single options".

  • Page 48: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension ■ Order type : ● Fixed type 2A-CN △ - □□ CBL ● Flexed type 2A-CN △ - □□ LCBL Note) △ indicates the cable connection destination, and □□ indicates the cable length. Example) For a robot arm motor power cable 5m fixing, the type is 2A-CN1-05CBL.
  • Page 49 ２ Robot arm Double saddle Silicon rubbe Controller Note) After clamping, confirm Cable that the cable does not move. Screw fixing (Both sides of saddle) Detail of A 2A-CN2- Robot arm 2A-CN1- 2A-CN3- U-turn ends Double saddle with silicon rubber (Manufactured by customer) Fig.2-22 ：...

  • Page 50: Maintenance Parts

    Table 2-12. Purchase these parts from the dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer. Table 2-12 ： Consumable part list...

  • Page 51: Controller

    3Controller 3 Controller 3.1 Standard specifications 3.1.1 Standard specifications Table 3-1 ： Standard specifications of controller Item Unit Specification Remarks Type CR4-533CD Number of control axis Simultaneously 6(Maximum) 64 bit RISC, and DSP Memory Programmed positions and No. point 2,500 capacity of steps step...

  • Page 52: Protection Specifications And Operating Supply

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

  • Page 53: Names Of Each Part

    3Controller 3.2 Names of each part STATUS NUMBER EMG.STOP CHANG DISP DOWN MODE SVO ON START RESET TEACH AUTO AUTO REMOVE T/B (Op.) (Ext.) SVO OFF STOP Front operating panel Fig.3-1 ： Names of controller parts 1) POWER switch ........This turns the control power ON/OFF. (With earth leakage breaker function) 2) START button ........
  • Page 54 3Controller ＜Back＞ (4) (2) Cable length : 7m standard Fig.3-2 ： Names of each controller part (Rear side) (1)(3) Machine cable (for motor power supply) (2) Machine cable (for motor signal) (4)RIO3 cable (Hand I/O card communication) Names of each part 3-41...

  • Page 55: Outside Dimensions/Installation Dimensions

    3Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions Eye bolt M12 (30) φ15 x 4 ←（ When specifications with casters） Fig.3-3 ： Outside dimensions of controller Outside dimensions/Installation dimensions 3-42...

  • Page 56: Bottom Side

    3Controller Suction port (5 places) Machine cable Back side (30) φ15 x 4 Exhaust direction Side direction Front direction Exhaust port Bottom side Fig.3-4 ： Outside dimensions of controller (Supplement) Outside dimensions/Installation dimensions 3-43...

  • Page 57: Installation Dimensions

    3Controller 3.3.2 Installation dimensions <CR4-533CD> Side Note1) Side Approx. Approx. Controller (upside) Maintenance area (View from upside) (Anchor bolt installation: 4 places) Note 1) Reserve at least 100 mm of open space behind the unit (for cooling). Approximately 500 mm of space is assumed to be required as the maintenance area used by a technician.

  • Page 58: External Input/Output

    3Controller 3.4 External input/output 3.4.1 Types (1) Dedicated input/output.......These inputs and outputs carry out the robot remote operation and status display. (2) General-purpose input/output....These are inputs and outputs that the customer can program for peripheral device control. (3) Hand input/output .........These are inputs and outputs related to the hand that the customer can program.

  • Page 59: Dedicated Input/Output

    3Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-2. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions . Each parameter indi - cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.
  • Page 60 3Controller Input Output Parameter Note1) name Name Function Level Name Function IODATA Numeric value input Used to designate the program Used to output the program name, Numeric value output Note2) (start No., end No.) name, override value., mechanism Ｌ override value., mechanism No. (start No., end No.) value.

  • Page 61: Emergency Stop Input/Output

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

  • Page 62: Door Switch Function

    3Controller 3.6.2 Door switch function This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is opened and an error does not occur.

  • Page 63: Magnet Contactor Control Connector Output (Axmc) For Addition Axes

    3Controller 3.7 Magnet contactor control connector output (AXMC) for addition axes When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC1) provided on the inside of the con - troller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open.

  • Page 64: Parallel Input/Output Unit

    3Controller 3.8 Parallel input/output unit ・ A parallel input/output unit is mounted as a standard in the controller's control unit. ・ The external input/output circuit specifications are shown in Table 3-4 Table 3-5. ・ The correspondence of the external input/output connector pin No. and the colors of the connected "external input/output cable"...
  • Page 65 (COM) Input 3.3K Input CTLG External power supply Fig.3-11 ： Connection with a Mitsubishi PLC (Example of sink type) *The input/output circuit external power supply (24 VDC) must be prepared by the customer. <Source type> (Output) AX81C 60mA Fuse (24/12V) ＋24V...
  • Page 66 3Controller Table 3-6 ： Standard parallel I/O interface CN100pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, General-purpose Dedicated/power supply, common General-purpose common 1 Orange/Red A 26 Orange/Blue A Gray/Red A 0V:For pins 4-7 Gray/Blue A 0V:For pins 29-32...
  • Page 67 3Controller ・The signals assigned as dedicated inputs can be used as general-purpose inputs during program execution. Note that for safety proposes, these should not be shared with the general-purpose inputs other than for numeric value inputs. The signals assigned as dedicated outputs cannot be used in the program. An alarm will occur dur - ing operation if used.

  • Page 68: Teaching Pendant (T/B)

    In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Deadman switch".

  • Page 69: Emergency Stop Switch

    3Controller Hand strap Contrast adjusting switch Enable/Disable switch Display LCD DISABLE ENABLE R28TB TOOL JOINT MENU STOP =＊ / ( )？ $" : # % ! SVO ON EMG.STOP STEP － ＋ MOVE (J1) (J1) Emergency stop － ＋ ＋ ↑...
  • Page 70 3Controller ■ Key layout and main functions DISABLE ENABLE R28TB TOOL JOINT MENU STOP Back = ＊/ ( )？ $" : # % ! SVO ON EMG.STOP STEP － ＋ MOVE (J1) (J1) － ＋ ↑ ＋ (J2) (J2) FORWD －...

  • Page 71: Parallel I/O Unit

    3Controller (2) Parallel I/O unit ■ Order type: 2A-RZ361(Sink type) 2A-RZ371(Source type) ■ Outline This is used to expand the external inputs and outputs. One one equal with this unit is built into the control unit among controllers the standard. ・...
  • Page 72 3Controller Table 3-12 ： Electrical specifications for the output circuits Item Specification Internal circuit <Sink type> Type Transistor output No. of output points Insulation method Photo-coupler insulation (24/12V) Rated load voltage DC12V/DC24V Rated load voltage range DC10.2 ～ 30V(peak voltage 30VDC) Max.
  • Page 73 3Controller ■ Installation method Install (with two screws) in the unit expansion area (area 1) in the controller, and connect the connector. To install the second and subsequent units, install outside the controller. Control unit (R6x2CPU) RIO1 connector Unit expansion area upside (40) (175)
  • Page 74 3Controller Parallel I/O unit 1 . . . 4 Parallel I/O unit 5 Control unit R6x2CPU Station No. setting Station No. setting 1 . . . 4 RIO1 connector (R6) ＜CN300＞ ＜CN300＞ ＜CN100＞ ＜CN100＞ RIO1 connector RIO2 connector RIO2 connector RIO1connector Note) Note)
  • Page 75 3Controller ■ Parallel I/O interface (First expansion unit) Table 3-13 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7 Gray/Blue A...
  • Page 76 3Controller [*1] (Set channel No. to 1.) Channel No. setting LED display ＜CN300＞ Input 48 to 63 Output 48 to 63 ＜CN100＞ Input 32 to 47 Output 32 to 47 *The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit (Occupies one channel) Fig.3-19 ：...
  • Page 77 3Controller ■ Parallel I/O interface (Second expansion unit) Table 3-15 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7 Gray/Blue A...
  • Page 78 3Controller [*1] (Set channel No. to 2.) Channel No. setting LED display ＜CN300＞ Input 80 to 95 Output 80 to 95 ＜CN100＞ Input 64 to 79 Output 64 to 79 *The 2A-RZ361/2A-RZ371 has 32 input and 32 output points unit (Occupies one Channel) Fig.3-20 ：...

  • Page 79: External I/O Cable

    3Controller (3) External I/O cable ■ Order type: 2A-CBL □□ 　 　 Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m） ■ Outline This is the dedicated cable used to connect an external peripheral device to the con - nector on the parallel input/output unit.
  • Page 80 3Controller ■ Connections and outside dimensions The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci - fications in "Table 3-20Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...

  • Page 81: Personal Computer Cable

    3Controller (4) Personal computer cable ■ Order type: ● For PC/AT ： RS-MAXY-CBL ■ Outline This is the RS-232C interface cable used for connecting the controller with a personal computer. The personal computer on hand may be usable with the above interface cable. Confirm the connection specifications when placing an order.

  • Page 82: Extended Serial Interface

    3Controller (5) Extended serial interface ■ Order type: ● 2A-RZ581 ■ Outline The extension serial interface is the option to add a serial communication function to the robot controller. One channel of RS-232C interface is provided in the front of the controller.
  • Page 83 3Controller ■ Functions (1) Controller communication function ・ This function allows to update and download programs as well as to monitor various statuses. ・The personal computer support software (sold separately) is available as a robot controller programming support tool. Refer to (9), Page 77, "(9) Personal computer support software/Personal computer support software mini"...

  • Page 84: Cc-Link Interface

    3Controller (6) CC-Link interface ■ Order type: ● 2A-HR575 ■ Outline The CC-Link interface is the option to not only add bit data to the robot controller, but also to add CC-Link field network function that allows cyclic transmission of word data.
  • Page 85 3Controller ■ Specifications Table 3-27 ： Specifications Item Specifications Remarks Communication function Bit data and word data can be transmitted. Word data are used by the registers. Note1) Station type Intelligent device station Support station Local station No master station function Mountable option slot Slot 2 only Number of mountable CC-Link interface cards...

  • Page 86: Ethernet Interface

    Hub (Required for use in LAN environment) (Commercially sold) Windows compatible robot controller (Separately sold) Personal computer support software programming support tool for Mitsubishi CRn- 500 series controllers Windows compatible development tool (Commercially sold) Microsoft Visual C++, Visual Basic, etc.
  • Page 87 3Controller ■ Functions (1) Controller communication function ・ This function allows communication with the robot controller via Ethernet. (Program upload/download, status monitoring, etc.) The personal computer support software (sold separately) is available as a robot controller programming support tool. ・ This function allows communication with a maximum of 16 clients on other end. (2) Data link function ・...

  • Page 88: Extension Memory Cassette

    3Controller (8) Extension memory cassette ■ Order type: ● 2A-HR432 ■ Outline Used to increase the total number of teaching points in the robot program. ■ Configuration Table 3-32 ： Configuration device Part name Type Qty. Remarks 27,900 total teaching points Extension memory cassette 2A-HR432 With a battery backup feature...

  • Page 89: Installation

    3Controller ■ Installation The following describes a sample installation to the R6x2CPU. 1) Completely back up the memory information in the robot controller using the personal computer support software. (This must be performed as a preventive measure in case the contents of the internal memory are destroyed while inserting a memory cassette.) 2) Turn off the control power.

  • Page 90: Personal Computer Support Software/Personal Computer Support Software Mini

    3Controller (9) Personal computer support software/Personal computer support software mini ■ Order type ： ● Personal computer support software *For windows CD-ROM : 3A-01C-WINE ● Personal computer support software mini *For windows CD-ROM : 3A-02C-WINE ■ Outline This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support (creation and editing of programs), start up support (execution, control and debugging of program), and maintenance (remote maintenance.)
  • Page 91 3Controller ■ Functions Table 3-35 ： Functions Note1) Function Details Functional existence Compatible model ○ ○ Personal computer running Microsoft Windows 95/98/NT 4.0 Program editing Editing functions ・ MELFA BASIC IV language compatible functions ・ Multiple editing screen simultaneously display ・...

  • Page 92: Maintenance Parts

    Table 3-36. Purchase these parts from your dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from your dealer. Table 3-36 ： Contloller consumable parts list...

  • Page 93: Software

    4Software 4 Software 4.1 List of commands MELFA-BASIC Ⅳ commands Table 4-1 ： List of MELFA-BASIC IV commands Type Class Function Input format (example) Joint interpolation Moves to the designated position with joint interpolation. MOV P1 Linear interpolation Moves to the designated position with linear interpolation. MVS P1 Circular interpolation Moves along a designated arc (start point →...
  • Page 94 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 100 ELSE GOTO 20 END IF Repeats until the designated end conditions are satisfied. FOR M1=1 TO 10 NEXT Repeats while the designated conditions are satisfied.

  • Page 95: List Of Commands

    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 96: List Of Parameters

    4Software 4.2 List of parameters (1) List of parameters show the main parameter in the Table 4-2. Table 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.

  • Page 97: List Of Parameters

    4Software Parameter Details Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will be entered when not set. Communication setting CBAU232 Set the baud rate. CLEN232 Set the character length. CPRTY232 Set the parity. CSTOP232 Set the stop bit.
  • Page 98 4Software (2) Change the display language / 表示言語の切 り 替え The language to display on the LCD display of teaching pendant can be changed by "the display language param - eter". (Japanese or English) 4-2. Refer to the separate "Instruction Manual/Detailed Explana - Show the details of the parameter in the Table tion of Functions and Operations"...

  • Page 99: Instruction Manual

    5Instruction Manual 5 Instruction Manual 5.1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application. For special specifications, a separate instruction manual describing the special section may be enclosed. Explains the common precautions and safety measures to be taken for robot handling, sys - Safety Manual tem design and manufacture to ensure safety of the operators involved with the robot.
  • Page 100 5Instruction Manual Explains the specifications, functions and operations of the CC-Link interface optional. CC-Link inter - face Explains the specifications, functions and operations of the ETHERNET interface optional. ETHERNET interface Explains the specifications, functions and operations of the Personal computer Support soft - Personal com - ware optional.

  • Page 101: Safety

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

  • Page 102: Precautions For Using Robot

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

  • Page 103: Examples Of Safety Measures

    6Safety 6.1.7 Examples of safety measures Two emergency stop input circuits are prepared on the user wiring terminal block of the controller. Create a cir - cuit as shown below for safety measures <Customer-prepared wiring> <Robot controller system> ＋ To servo main circuit power External emergency RA31 stop input...
  • Page 104 6Safety [Reference] The specifications of the RA1 and RA2 coil shown in Fig. 6-1 are as follow. ・ Rated voltage ......DC24V 　 ± 10％ ・ Rated excitation current ..12.5mA 　 ± 10％ （at25 deg.） * Note that these specifications are subject to change without prior notice for modification purposes. The emergency stop circuit in the robot is a duplex type to ensure safety.

  • Page 105: Working Environment

    6Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures. (1) Power supply ・...

  • Page 106: 7Appendix

    7 Appendix 7 Appendix Appendix 1 ： Caution points about the timing of starting fork suction CAUTION figure)", with an adsorp - As shown in Page 94 "Fig. 7-2Air pressure circuit (conceptual tion line where one vacuum source can switch between using two valves, when there is already glass adsorbed to one fork when a new glass is adsorbed to the other fork, start the adsorption of the second fork after the glass is in contact with the fork.

  • Page 107: Vacuum Source

    7 Appendix Glass Valve 2 Fork 2 SOL2 SOL1 Valve 1 Fork 1 Vacuum source Fig.7-2 ： Air pressure circuit (conceptual figure) Caution points about the timing of starting fork suction Appendix-94...

  • Page 108: Appendix 2 ： Specifications Discussion Material

    7 Appendix Appendix 2 ： Specifications discussion material ■ User information Company name Person in charge Address Telephone ■ Purchased mode □ RC-1300GS1027 □ RC-1300GS1029 □ RC-1300GS1627 □ RC-1300GS1629 Type □ RC-1300GW1027 □ RC-1300GW1029 □ RC-1300GW1627 □ RC-1300GW1629 ■ Special shipping specifications (Settings can be made only at time of shipment) Item Standard specifications Special shipping specifications...
  • Page 109 HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CAB LE MELCO TOKYO NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN NOV..2003 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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