Mitsubishi MELFA RV-100TH Standard Specifications Manual
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Mitsubishi MELFA RV-100TH Standard Specifications Manual

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MITSUBISHI
Mitsubishi Industrial Robot
RV-100TH/150TH
RV-100THL/150THL
Standard Specifications Manual
(CR8-533M Controller)
BFP-A8142-E

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Summary of Contents for Mitsubishi MELFA RV-100TH

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot RV-100TH/150TH RV-100THL/150THL Standard Specifications Manual (CR8-533M Controller) BFP-A8142-E...
  • Page 2 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 3 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 4: 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 5 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 6: Revision History

    Revision history Date of print Specifications No. Details of revisions 2000-11-27 BFP-A8142Z First print. 2000-12-21 BFP-A8142Z-a Error in writing correction. 2001-01-15 BFP-A8142 Formal style. 2001-03-21 BFP-A8142-A Error in writing correction. 2001-10-12 BFP-A8142-B The type names of change the operating range and the machine cable extension were specified. Parameter LNG was added.
  • Page 7 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 8: 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 9 Page 3.7 Parallel input/output unit ..............................3-53 3.8 Options ...................................... 3-57 (1) Teaching pendant (T/B) ............................3-58 (2) Pneumatic hand interface ............................. 3-61 (3) Parallel I/O unit ................................. 3-64 (4) External I/O cable ..............................3-72 (5) Personal computer cable ............................3-74 (6) Extension memory cassette ..........................

  • Page 10: 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) Installation bolts for robot (with washers) (4) Instruction manual ,Safety manual (5) Warranty 1.1.2 Shipping special specifications Part of the standard structural equipment is changed at the time of factory shipment.

  • Page 11: Contents Of The Structural Equipment

    1General configuration 1.2 Contents of the structural equipment 1.2.1 Robot arm The devices shown below can be installed on the robot arm. RV-100TH/RV-150TH RV-100THL/RV-150THL Machine cable extension (Standard 7m) ･ 2T- □□ CBL-1(For RV-100TH/150TH) ･ 2T- □□ CBL-2(For RV-100THL/150THL) Note) □□ Refer to length. Base plate Color specification Changes in the operating...

  • Page 12: Controller

    1General configuration 1.3 Controller The devices shown below can be installed on the controller. Controller ・ CR8-533M Teaching pendant(T/B) ・ R28TB Pneumatic I/F Parallel I/O unit External I/O cable ・ 2A-RZ365 (Sink) ・ 2A-RZ361(Sink) PLC(Programmable Logic ・ 2A-CBL □□ ・ 2A-RZ375 (Source) ・...

  • Page 13: Contents Of The Option Equipment And Special Specification

    1General configuration 1.4 Contents of the Option equipment and special specification A list of all Optional equipments and special specifications are shown below. Table 1-1 ： The list of Option equipment and special specification Classif Item Type Specification Descripsion ication J1-axis 180 degrees 2T-DH180-180-1 for RV-100TH/RV-150TH...

  • Page 14: Robot Arm

    Floor vibration 3.5m/s2 or less (acceleration) at 14Hz or more Protection specification IP50 (For the protective specifications against dust, oil mist and others, contact MITSUBISHI.) Base section: Dark gray (Equivalent to Munsell: 4.9GY5.1/0.4) Paint color Others: Light gray (Equivalent to Munsell: 7.7Y7.6/0.7)

  • Page 15: 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 16: Transfer Mass, And Position Of Gravity Center

    2Robot arm 2.2.2 Transfer mass, and position of gravity center For the relationship between the transfer weight (hand + work) and the position of gravity center, refer to Fig. 2-2 ～ Fig. 2-5. Keep in mind that an error, loosened joint or other abnormality may occur if it is used outside the usable range shown in the figure.
  • Page 17 2Robot arm Ｒ Ｖ － １ ５ ０ Ｔ Ｈ Inertia around the gravity center [kg･m Overhang ［mm］ Wrist axis (J4) Inertia around Offset gravity center 350mm or less Gravity center of load Overhang Fig.2-3 ： Relationship between position of gravity center and tolerable transfer weight (RV-150TH) Definition of specifications...
  • Page 18 2Robot arm Ｒ Ｖ － １ ０ ０ Ｔ Ｈ Ｌ Inertia around the gravity center [kg･m Overhang ［mm］ Wrist axis (J4) Inertia around Offset gravity center 400mm or less Gravity center of load Overhang Fig.2-4 ： Relationship between position of gravity center and tolerable transfer weight (RV-100THL) Definition of specifications 2-9...
  • Page 19 2Robot arm Ｒ Ｖ － １ ５ ０ Ｔ Ｈ Ｌ Inertia around the gravity center [kg･m Overhang ［mm］ Wrist axis (J4) Inertia around Offset gravity center 350mm or less Gravity center of load Overhang Fig.2-5 ： Relationship between position of gravity center and tolerable transfer weight (RV-150THL) Definition of specifications 2-10...
  • Page 20 2Robot arm ［Calculation method of inertia］ Whole inertia around the gravity center ＝ ＋ ＋ 　 　 ＋ 　 　 　 　 Load inertia Case of rectangular shape Case of round shape Hand Work ＋ b ＝ ・ ＝ ・ ［Calculation example］...
  • Page 21 2Robot arm Don't stop the robot for a long time in the J2 axis working range of 40 to 96 degrees. If it is stopped for a long time, effective current error may occur. 96ﾟ Definition of specifications 2-12...

  • Page 22: Names Of Each Part

    2Robot arm 2.3 Names of each part J3 axis J4 axis J2 axis Arm unit Hand (option) Body unit Base J1 axis Base plate (option) Definition of each axis J1 axis ‥‥‥ The unit above J1 axis rotates. J2, J3 axis ・・・ The arm unit is moved up-/downward or for-/backward. J4 axis ・・・・・・...

  • Page 23: Outside Dimensions ・ Operating Range Diagram

    2Robot arm 2.4 Outside dimensions ・ Operating range diagram RV-100TH The central operating range diagram of the section A +160゜ +0.030 φ63H7 　0 φ125 Details of the section A +270゜ -270゜ Back Front -160゜ Dimensions of installation 6 - M8 depth 14 8-φ24 +0.015 φ8H7...
  • Page 24 2Robot arm RV-150TH The central operating range diagram of the section A +160゜ +0.030 φ63H7 　0 φ125 Details of the section A +270゜ -270゜ Back Front -160゜ 6 - M8 depth 14 Dimensions of installation +0.015 φ8H7 deep 10 8-φ24 Air tube connection port φ12 Connector for hand 1350...
  • Page 25 2Robot arm RV-100THL The central operating range diagram of the section A +0.030 φ80H7 deep 8 　0 +160゜ φ148 Details of 6 - M10 depth 18 the section A +0.015 φ10Ｈ7 deep 18 +270゜ Back Front -270゜ -160゜ Air tube connection port φ12 8-φ24 Connector for hand 1730...
  • Page 26 2Robot arm RV-150THL The central operating range diagram of the section A +0.030 φ80H7 deep 8 　0 +160゜ φ148 Details of 6 - M10 depth 18 the section A +0.015 φ10Ｈ7 deep 18 +270゜ Back Front -270゜ -160゜ Air tube connection port φ12 8-φ24 Connector for hand 1730...

  • Page 27: Tooling

    2Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand The configuration of the wiring and piping for hand is shown in Fig. 2-12, the connection specifications of the hand input/output signal is shown in Fig. 2-13, and the pin assignment and connection example of the hand connector (HD1) is shown in Fig.
  • Page 28 2Robot arm 　 　 　 　 　 　 　 The pin assignments are shown on the next page. Hand connector Accessories: JMSP-25-28-M Daiichi Denshi Kogyo The pin assignments are shown on the next page. φ12 Pneumatic tube Black φ12 Pneumatic tube Black AIR1 AIR1 Coupling connection...

  • Page 29: Pin Assignments

    2Robot arm 12 11 The drawing on the left shows the state of the hand connector [JMR-25-28-F (box receptacle)] looking from the connector connection surface. Use JMSP-25-28-M (product of DDK Ltd.) which is attached. Pin assignments Connection examples Pin No. Signal Remarks Switch etc.

  • Page 30: Internal Air Piping

    2Robot arm 2.5.2 Internal air piping As the air piping, φ12 urethane hose is internally provided as a standard from the air suction port of the base to the top of the arm tip. One more hose can be added as option. 2.5.3 Internal wiring for the pneumatic hand output cable Eight hand output signals 1 to 8 are wired from the rear section of the base to the top of the arm tip as a standard.

  • Page 31: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.6 Air supply circuit example for the hand Fig. 2-15 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 32: Shipping Special Specifications, Options,And Maintenance Parts

    2Robot arm 2.6 Shipping special specifications, options,and maintenance parts 2.6.1 Ship ing 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, customer 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 33: Change Of Operating Range

    2Robot arm (1) Change of operating range ■ Order type: ● J1 axis 180 degree specification ： 2T-DH180-180-1 (for RV-100TH/150TH) 2T-DH180-180-2 (for RV-100THL/150THL) ● 2T-DH J1 axis operating range change ： □□□ - □□□ [angle on the - side]. Note) □□□ represents [angle on the + side] - Example) 2T-DH160-70 for application of +160 degrees on the + side to -70 degrees on the - side.

  • Page 34: Color Specified For The Robot

    2Robot arm (2) Color specified for the robot ■ Order type: ● Color specified for the robot ■ Outline The paint color of the robot arm can be changed according to the color specified by the customer. The standard colors are dark gray (Munsell No.4.9GY5.1/0.4 or equivalent) for the base section, and light gray (Munsell No.7.7Y7.6/0.7 or equivalent) for others.

  • Page 35: Additional Air Piping

    2Robot arm (3) Additional air piping Additional air piping ■ Order type: ● ■ Outline As the air piping, one φ12 urethane hose is added from the air suction port of the base section to the top of the 2nd arm tip. As standard, one hose is internally provided.

  • Page 36: 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 37: Machine Cable Extension

    2Robot arm (1) Machine cable extension ■ Order type : ● Fixing cable extension: 2T- □□ CBL-1 (for RV-100TH/150TH) 2T- □□ CBL-2 (for RV-100THL/150THL) Note) □□ indicates the cable length. Example) The type name of 5m extension cable for RV-100TH is "2T-05CBL-1". ■...

  • Page 38: Base Plate

    2Robot arm (2) Base plate Base plate ■ Order type: ● ■ Outline In order to securely install the robot arm, the base plate is used between the robot arm and the surface of the floor. Here, the floor surface strength must be 19600N/m or more.

  • Page 39: 3-Unit Air Supply Device

    2Robot arm (3) 3-unit air supply device 3-unit air supply device ■ Order type: ● ■ Outline It is an option to supply and control the air to the hand of the robot tip. ■ Configuration Table 2-9 ： Configuration Name Type Q'ty...

  • Page 40: Cable Supporter

    2Robot arm (4) Cable supporter ■ Order type: ● Cable supporter ■ Outline When wiring the hand, the cable support is used to support the cables and air tubes Support spring of the hand on the top of the J4 axis. Installation bracket ■...

  • Page 41: Transportation Tools For Fork Lift

    2Robot arm (5) Transportation tools for fork lift Transportation tools for fork lift ■ Order type: ● ■ Outline The tool is used to transport the robot arm with the forklift. Transportation tools Forklift fork ■ Configuration Table 2-11 ： Configuration Name Type Q'ty...
  • Page 42 2Robot arm RV-150TH Transportation posture: J2=+30 deg. ,J3=+75 deg. 1100kg Robot arm mass: Transportation tools (optional) Fork width 1136 1531 Forklift fork Transportation tools for fork lift Fig.2-23 ： (RV-150TH) Options 2-33...
  • Page 43 2Robot arm RV-100THL/150THL Transportation posture: J2=+23 deg. ,J3=+63 deg. Robot arm mass RV-100THL：1470kg RV-150THL：1520kg Transportation tools (optional) Fork width 1502 2092 1108 Forklift fork Transportation tools for fork lift Fig.2-24 ： (RV-100THL/RV-150THL) Options 2-34...

  • Page 44: 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 45: 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 CR8-533M Number of control axis Simultaneously 4 64 bit RISC, and DSP Memory Programmed positions and No. point 2,500 capacity of steps step...

  • Page 46: Protection Specifications And Operating Supply

    3Controller 3.1.2 Protection specifications and operating supply A protection method complying with the IEC Standard IP54 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 47: Names Of Each Part

    3Controller 3.2 Names of each part CR8-533M controller 11) 9) 4) 15) 14)10) 3)13) 18) Front operation 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 ........This executes the program and operates the robot. The program is run continuously. 3) STOP button.........
  • Page 48 3Controller CAUTION Note) The servo will turn OFF when the controller's [MODE] switch is changed. Note that axes not provided with brakes could drop with their own weight. Carry out the following operations to prevent the servo from turning OFF whenthe [MODE] switch is changed.
  • Page 49 3Controller ＜Back＞ Fig.3-2 ： Names of each controller part (Rear side) 1) Machine cable (for motor power)......... Connects to the robot arm base. (CN1 connector) 2) Machine cable (for motor signals)........ Connects to the robot arm base. (CN2 connector) 3) Machine cable (for motor power)......... Connects to the robot arm base. (CN3 connector) [Note] 3) is used for the RV-100THL/150THL, and are not included as the RV-100TH/150TH model.

  • Page 50: Outside Dimensions/Installation Dimensions

    3Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions <CR8-533M> φ70 hole Details of hole A Cover Air suction/exhaust space Eye bolt M12 6-A hole （Right and left） φ 13×4 Fig.3-3 ： Outside dimensions of controller Outside dimensions/Installation dimensions 3-41...

  • Page 51: Installation Dimensions

    3Controller 3.3.2 Installation dimensions <CR8-533M> Side Side Approx. Approx. Controller (upside) Maintenance area (View from upside) (Anchor bolt installation: 4 places) Fig.3-4 ： Installation of controller Outside dimensions/Installation dimensions 3-42...

  • Page 52: Option Panel

    3Controller 3.3.3 Option panel On CR8 controller, the frree areas which can be used for the customer are prepared. Since the areas are estimated to install the PLCs, Sarvo Amplifires, invertors, and etc, use the area as desired. Here, keep in mind that it is used within the following restrictive items and specifications. (1) Outline drawing of robot controller <CR8-533M>...
  • Page 53 3Controller Option panel Ａ t = 1.6 4- φ5 hole Option panel Fig.3-6 ： Ａ Option panel 11-φ7 hole t = 1.6 Option panel Fig.3-7 ： Take care that the height restriction sometimes differ. Outside dimensions/Installation dimensions 3-44...
  • Page 54 3Controller Option panel 14.3 6-φ7 hole t = 1.6 Option panel Fig.3-8 ： (5) Wiring method Considering the control units installed on the option panels A, B and C and their external wiring, the customer installs the robot controller. Since the robot controller may improperly operate due to the influence of the noise of the wiring in parallel with the wiring in the robot controller, investigate the wiring method well at this time.
  • Page 55 3Controller <Estimated conditions> (1) Average temperature in the robot controller : 55℃ (2) Ambient temperature of robot controller : Ta = 0～40℃ (3) Internal temperature rise value : ΔT = T - Ta (max)≦15 deg Total calculation of whole heat Whole heat generating amount generating amount of installed units of robot controller (W0)
  • Page 56 3Controller ■ Total heat generation amount list of robot controller (each model)(W0) Table 3-3 ： Total heat generation amount list of robot controller (each model) Robot model RV-100TH/150TH RV-100THL/150THL Integrated part of CR8-533M controller RV-100TH/ RV-100THL/ Servo hand speci- Servo hand specifi- 150TH 150THL fications...

  • Page 57: 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 ........

  • Page 58: Dedicated Input/Output

    3Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-5. Refer to attached instruction manual "CR1/ CR2/CR4/CR7/CR8 Controller Detailed explanations of functions and operations" in the product for the other functions . Each parameter indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No.
  • Page 59 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 60: 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 3-6 ： 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 61: 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 62: Parallel Input/Output Unit

    3Controller 3.7 Parallel input/output unit ・ A parallel input/output card is mounted as a standard in the controller's control unit. ・ The external input/output circuit specifications are shown in Table 3-7 Table 3-8. ・ The correspondence of the external input/output connector pin No. and the colors of the connected "external input/output cable"...
  • Page 63 (COM) Input 3.3K Input CTLG External power supply Fig.3-12 ： 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 64 3Controller Table 3-9 ： 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 65 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 66: Options

    3Controller 3.8 Options ■ What are options? There are a variety of options for the robot designed to make the setting up process easier for user needs. User installation is required for the options. Options come in two types: "set options" and "single options". 1．...

  • Page 67: 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 68: 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 69 3Controller ■ Key layout and main functions DISABLE ENABLE R28TB TOOL JOINT MENU STOP Back = ＊/ ( )？ $" : # % ! SVO ON EMG.STOP － ＋ STEP (J1) (J1) MOVE － ＋ ＋ ↑ (J2) (J2) FORWD －...

  • Page 70: Pneumatic Hand Interface

    3Controller (2) Pneumatic hand interface ■ Order type: 2A-RZ365 2A-RZ375(Source type) ■ Outline This interface is required to use the robot arm's hand output signals. ・ Up to eight hand output points can be used with this interface. ・ The eight hand input points can be used without this interface. ・...
  • Page 71 3Controller ■ Installation method This is mounted on the control unit (RZ181 card) in the controller. Securely insert the pneumatic hand interface (2A-RZ365/375) into the CNHNDOUT/CNHND connector on the control unit. Contorol unit（RZ181 card） ＜RZ181＞ CNHND CNHND CNHNDOUT 2A-RZ365 CNHNDOUT 2A-RZ375 Fig.3-17 ：...
  • Page 72 3Controller ■ Check it out If you putted on the puneumatic interface card, please check out the setting of Table 3-15. Table 3-15 ： Pneumatic interface sink/source I/O setting Output setting Input setting Case The puneumatic interface card Jumper setting Sink setting 2A-RZ365 JPN/US...

  • Page 73: Parallel I/O Unit

    3Controller (3) Parallel I/O unit ■ Order type: 2A-RZ361 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. ・ The connection cable is not included. Prepare the optional external input/output cable (2A-CBL05 or 2A-CBL15).
  • Page 74 3Controller Table 3-18 ： 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 75 3Controller ■ Installation method Install it on the unit expansion area (rear side of door: The holes must be fabricated by the customer) in the con- troller (with two bolts), and connect the connector. Unit expansion area 2 （Option panel C） RIO1 connector Unit expansion area 1 （Option panel B）...
  • Page 76 3Controller Parallel I/O unit 1 . . . 6 Parallel I/O unit 7 Control unit R6x2CPU Station No. setting Station No. setting 1 . . . 6 RIO1 connector (R6) ＜CN300＞ ＜CN300＞ ＜CN100＞ ＜CN100＞ RIO2 connector RIO2 connector RIO1 connector RIO1connector Note) Note)
  • Page 77 3Controller ■ Parallel I/O interface (First expansion unit) Table 3-19 ： 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 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.3-21 ：...
  • Page 79 3Controller ■ Parallel I/O interface (Second expansion unit) Table 3-21 ： 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 80 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.3-22 ：...

  • Page 81: External I/O Cable

    3Controller (4) 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 82 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 3-25Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...

  • Page 83: Personal Computer Cable

    3Controller (5) 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 84: Extension Memory Cassette

    3Controller (6) Extension memory cassette ■ Order type: ● 2A-HR432 ■ Outline Used to increase the total number of teaching points in the robot program. ■ Configuration Table 3-27 ： Configuration device Part name Type Qty. Remarks 27,900 total teaching points Extension memory cassette 2A-HR432 With a battery backup feature...

  • Page 85: 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 86: Personal Computer Support Software/Personal Computer Support Software Mini

    3Controller (7) 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 87 3Controller ■ Functions Table 3-30 ： 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 88: Maintenance Parts

    Table 3-31. 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 3-31 ： Contloller consumable parts list...

  • Page 89: 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 90 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 91: 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 92: 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 93: Change The Display Language / 表示言語の切 り 替え

    4Software Parameter Details Stop input B contact desig- SLOTON Change the dedicated input (stop) between the A contact and B contact. nation Communication setting CBAU232 Set the baud rate. CLEN232 Set the character length. CPRTY232 Set the parity. CSTOP232 Set the stop bit. CTERM232 Set the end code.
  • Page 94 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) Show the details of the parameter in the Table 4-2.

  • Page 95: Safety

    5Safety 5 Safety 5.1 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. 5.1.1 Self-diagnosis stop functions This robot has the self-diagnosis stop functions shown in Table 5-1 and the stop functions shown in Table 5-2...

  • Page 96: Precautions For Using Robot

    5Safety 5.1.3 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 97: Examples Of Safety Measures

    5Safety 5.1.7 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 98 5Safety [Reference] The specifications of the RA1 and RA2 coil shown in Fig. 5-1 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 99: Working Environment

    5Safety 5.2 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 100: 6Appendix

    6Appendix 6 Appendix Appendix 1:Specifications discussion material ■ User information Company name Name Address Telephone ■ Purchased mode □ RV-100TH □ RV-150TH □ RV-100THL □ RV-150THL Type ■ Special shipping specifications (Settings can be made only at time of shipment) Standard Item Special shipping specifications...
  • Page 101 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 MAR..2003 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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