Mitsubishi MELFA RH-1000GHLC-SA Standard Specifications Manual
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Mitsubishi MELFA RH-1000GHLC-SA Standard Specifications Manual

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MITSUBISHI
Mitsubishi Industrial Robot
RH-1000GHLC-SA/GJLC-SA
Standard Specifications Manual
(CR4-533CB Controller)
BFP-A8029-B

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Summary of Contents for Mitsubishi MELFA RH-1000GHLC-SA

  • Page 1 MITSUBISHI Mitsubishi Industrial Robot RH-1000GHLC-SA/GJLC-SA Standard Specifications Manual (CR4-533CB Controller) BFP-A8029-B...
  • 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: Revisions Table

    Revisions Table Some changes have been made to the Mitsubishi industrial robot “RH-1000GHLC-SA/GJLC-SA Standard Specifications Manual (CR4-533CB Controller) “ (BFP-A8029). The details are given below. We ask that you please reflect these changes onto the Standard Specifications Manual on hand.

  • Page 5: 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 6 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 7: Revision History

    Revision history Date of print Specifications No. Details of revisions 1999-10-14 BFP-A8029Z First print 2000-12-12 BFP-A8029Z-a Error in writing correction 2002-02-27 BFP-A8029 Formal style 2002-07-05 BFP-A8029-A The description of input/output circuit terminal was corrected. Error in writing correction. 2003-02-24 BFP-A8029-B The CPU unit of the controller was changed from R6x2CPU-A to R6x2CPU-B.
  • Page 8 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 10: 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 11 Page 4 Software ......................................4-62 4.1 List of commands ................................. 4-62 (1) . MELFA-BASIC Ⅳ commands ........................... 4-62 4.2 List of parameters ................................4-65 (1) List of parameters ..............................4-65 (2) Change the display language / 表示言語の切 り 替え ................4-67 5 Safety ........................................

  • Page 12: 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) Instruction manual (7) Warranty 1.1.2 Shipping special specifications...

  • Page 13: Contents Of The Structural Equipment

    RH-1000GJLC-SA Extension machine cable (Standard 7m) ・ Fixed type ： 2G-CN △ - □□ CBL ・ Flexed type ： 2G-CN △ - □□ LCBL Consult with Mitsubishi for details on the option devices. Pneumatic hand customer-manufactured parts ［Caution］ Standard configuration...

  • Page 14: Controller

    1General configuration 1.3 Controller The devices shown below can be installed on the controller. Caster type controller Controller CR4-533CB-S01 ・ CR4-533CB Teaching pendant(T/B) ・ R28TB Pneumatic I/F Parallel I/O unit External I/O cable ・ 2A-RZ365 (Sink) ・ 2A-RZ361 (Sink) ・ 2A-CBL05(5m) ・...

  • Page 15: 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 2G-CN △...

  • Page 16: Robot Arm

    2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Standard specifications Table 2-1 ： Tab Standard specifications of robot Specifications Item Unit RH-1000GHLC-SA RH-1000GJLC-SA Degree of freedom ４ ５ Structure Horizontal, multiple-joint type Drive system AC servo motor Position detection method Absolute encoder Brake All axes electromagnetic brake...

  • Page 17: 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 18: Names Of Each Part

    ２ Robot arm 2.3 Names of each part Ｊ４ － ＋ Wrist axis No.1 arm Ｊ５ Ｊ２ ＋ Ｊ１ － ＋ － ＋ － 4 axis wrist 5 axis wrist No.2 arm Z axis ＋ Ｊ３ － Base Fig.2-2 ： Names of each part of the robot(RH-1000GHLC-SA/GJLC-SA) Names of each part 2-7...

  • Page 19: Robot Arm

    ２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) RH-1000GHLC-SA 8-24 drill Hand pneumatic coupling (Installation fixing hole) (Suction V:Rcl/8x2 Dust suction D: Rcl/8x1) ° ° (1100) 4-M20 screw (For level adjustment) Bottom surface of glass board 872.5 Fig.2-3 ：...
  • Page 20 ２ Robot arm Detail to A Pneumatic coupling Suction (V1, V2) Rc1/8×2 Dust suction (D) Rc1/8×1 Hand input signal connection terminal block (terminal screw M3) Input 8 points 24V 2 points RG 2 points Hand grounding 2 points Lead wire inlet Bottom surface of Hand input signal glass board...
  • Page 21 ２ Robot arm range (right-hand system) Operating 1690 stroke (Pulling stroke from position separated 450mm from center of J1.) 130 ° ＋ 190 ° － ° ° ° J1: －190 to ＋130° J2: ±160° J3: 0 to 1200mm J4: ±240° 1752 stroke (Pulling stroke from position separated 450mm from center of J1.)

  • Page 22: Rh-1000Gjlc-Sa

    ２ Robot arm (2) RH-1000GJLC-SA 8-24 drill (Installation fixing hole) ° ° (1100) 4-M20 (For level adjustment) Bottom surface of glass board 872.5 Fig.2-6 ： Outside dimensions (RH-1000GJLC-SA） Outside dimensions ・ Operating range diagram 2-11...
  • Page 23 ２ Robot arm Detail to A Hand input signal connection terminal block (terminal screw M3) J5 center Lead wire inlet Pneumatic coupling Suction V: Rc1/8×2 Dust suction D: Rc1/8×1 Bottom surface Hand input signal connection terminal block Hand installation of glass board (terminal screw M3) surface Input 8 points...
  • Page 24 ２ Robot arm Operating range (right-hand system) 1690 stroke (Pulling stroke from position separated 450mm from center of J1.) ＋ 130 ° － 190 ° ° ° ° J1: －190 to ＋130° J2: ±160° J3: 0 to 1200mm J4: ±240° J5: 5°...

  • Page 25: Tooling

    ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a hand. Pneumatic coupling V1,V2,D1 (Rc1/8×3) Hand input terminal block Connector box Machine cable connector Pneumatic coupling (Rc3/8×3) Machine cable connector Hand I/O signal Connector HD1 Machine cable connector EARTH...
  • Page 26 ２ Robot arm Hand input 1 Hand input 2 Hand input 3 Hand input 4 Hand input 5 Hand input 6 Hand input 7 Hand input 8 +24V +24V 0V(COM) 0V(COM) Hand earth Hand earth Terminal block Hand connector Accessories: JMSP-25-28-M Daichi Denshi Kogyo The pin assignments are shown on the next page.

  • Page 27: Hand Piping And Wriring Connection

    ２ Robot arm 2.5.2 Hand piping and wriring connection The hand piping and wiring format is shown in Fig. 2-9 Fig. 2-10. The outline of the robot wrist shown in the drawing is for the 4-axis wrist. When using the 5-axis wrist, the pneumatic coupling and terminal block layout will differ slightly, but the piping and wiring format is the same as the 4-axis wrist.

  • Page 28: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.3 Air supply circuit example for the hand Fig. 2-12 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 29: Shipping Special Specifications, Options,And Maintenance Parts

    ２ Robot arm 2.6 Shipping special specifications, options,and maintenance parts 2.6.1 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 30: 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 31: Machine Cable Extension

    ２ Robot arm (1) Machine cable extension ■ Order type : ● Fixed type 2G-CN △ - □□ CBL ● Flexed type 2G-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 2G-CN1-05CBL.
  • Page 32 ２ Robot arm ■ Cable configuration The configuration of the flexible cable is shown in Table 2-5. Refer to this when selecting the cable conduit, etc. Table 2-5 ： Cable configuration Motor power cable Motor signal cable Item 2G-CN1- □□ LCBL 2G-CN3- □□...

  • Page 33: Maintenance Parts

    Table 2-7. 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 2-7 ： Consumable part list...

  • Page 34: 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 CR4-533CB Number of control axis Simultaneously 7(Maximum) 64 bit RISC, and DSP Memory Programmed positions and No. point 2,500 capacity of steps step...

  • Page 35: 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 36: Front Operating Panel

    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 37 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 38: Outside Dimensions/Installation Dimensions

    3Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions <CR4-533CB> (43) Eye bolt M12 φ 15 × 4 (60) (30) Neck width MAX630 ←（When specifications with casters） Fig.3-3 ： Outside dimensions of controller Outside dimensions/Installation dimensions 3-27...
  • Page 39 3Controller <CR4-533CB> Suction port Exhaust port （bottom side） （bottom side） (43) Suction Exhaust direction φ 15 × 4 (60) 7,000 (30) （Right side drawing） （Back drawing） Fig.3-4 ： Outside dimensions of controller(Supplement) Outside dimensions/Installation dimensions 3-28...

  • Page 40: Installation Dimensions

    3Controller 3.3.2 Installation dimensions <CR4-533CB> Side Side Approx. Approx. Controller (upside) Maintenance area (View from upside) (Anchor bolt installation: 4 places) Fig.3-5 ： Installation of controller The controller has the openings (1) to (4) as shown in Fig. 3-6. (423) Cable lead in port (1) Bottom surface input power supply Φ35...

  • Page 41: 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 42: 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 "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 43 3Controller Input Output Parameter Note1) name Name Function Level Name Function IODATA Numeric value input Used to designate the program No., Used to output the program No., over- Numeric value output Ｌ Note2) (start No., end No.) override value., mechanism value. ride value., mechanism No.

  • Page 44: 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 45: 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 46: 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 3-4 Table 3-5. ・ The correspondence of the external input/output connector pin No. and the colors of the connected "external input/output cable"...
  • Page 47 (COM) Input 3.3K Input CTLG External power supply Fig.3-9 ： 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 48 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 49 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 50: 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 51: 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 52: 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 53 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 54: 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 55 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. Control unit （RZ181 card） ＜RZ181＞ CNHND CNHND CNHNDOUT 2A-RZ365 CNHNDOUT Jumper 2A-RZ375...
  • Page 56 3Controller ■ Check it out If you putted on the puneumatic interface card, please check out the setting of Table 3-12. Table 3-12 ： 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 57: 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 58 3Controller Table 3-15 ： 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 59 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 1 upside (40) (175)
  • Page 60 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 61 3Controller ■ Parallel I/O interface (First expansion unit) Table 3-16 ： 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 62 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.3-18 ：...
  • Page 63 3Controller ■ Parallel I/O interface (Second expansion unit) Table 3-18 ： 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 64 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.3-19 ：...

  • Page 65: 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 66 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 3-22Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...

  • Page 67: 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 68: 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 3-24 ： Configuration device Part name Type Qty. Remarks 27,900 total teaching points Extension memory cassette 2A-HR432 With a battery backup feature...

  • Page 69: 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 70: 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 71 3Controller ■ Functions Table 3-27 ： 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 72: Maintenance Parts

    Table 3-28. 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 3-28 ： Contloller consumable parts list...

  • Page 73: 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 74 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 Repeats until the designated end conditions are satisfied. FOR M1=1 TO 10 NEXT Repeats while the designated conditions are satisfied.

  • Page 75: 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 76: 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 77: List Of Parameters

    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 78 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 79: 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 80: 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 81: 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 82 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 83: 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 84: Appendix 1 ： Specifications Discussion Material

    6 Appendix 6 Appendix Appendix 1 ： Specifications discussion material ■ User information Company name Person in charge Address Telephone ■ Purchased mode 4-axis type □ RH-1000GHLC-SA Type 5-axis type □ RH-1000GJLC-SA ■ Special shipping specifications (Settings can be made only at time of shipment) Item Standard specifications Special shipping specifications...
  • Page 85 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 FEB..2003 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Melfa rh-1000gjlc-sa

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