Mitsubishi Electric MELFA RV-CR Series Standard Specifications Manual
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Mitsubishi Electric MELFA RV-CR Series Standard Specifications Manual

Mitsubishi Electric MELFA RV-CR Series Standard Specifications Manual

Electric industrial robot, cr800-d controller
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Mitsubishi Electric Industrial Robot
CR800-D Controller
RV-CR Series
Standard Specifications Manual
RV-8CRL
RV-12CRL
BFP-A3678-T

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Summary of Contents for Mitsubishi Electric MELFA RV-CR Series

  • Page 1 Mitsubishi Electric Industrial Robot CR800-D Controller RV-CR Series Standard Specifications Manual RV-8CRL RV-12CRL BFP-A3678-T...

  • Page 3: 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.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop. Failure to do so could lead to personal injuries. CAUTION Never carry out modifications based on personal judgments, or use non- designated maintenance parts.
  • Page 6 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.
  • Page 7 *CR800 controller Notes of the basic component are shown. CAUTION Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection. ACIN cable connection Groove for main Three-phase Single-phase <1> <2> Controller rear key (wide) (200 to 230VAC) (200 to 230VAC)
  • Page 8 ■Revision history Date of print Specifications No. Details of revisions 2019-06-24 BFP-A3678 • First print. 2019-07-26 BFP-A3678-A • Added "External magnetic field" to "2.1 Standard specifications". • Added the procedure for enabling the safety diagnosis function (STO function). 2019-10-31 BFP-A3678-B •...
  • Page 9 • Revised "2.7 About Overhaul", "6.3 Precautions for handling", "Appendix 6: Specifications discussion material (RV-8CRL)", and "Appendix 7: Specifications discussion material (RV-12CRL)". • Corrected mistakes and changed some sections. 2025-05-07 BFP-A3678-T • Changed option models due to a change of Mitsubishi Electric option specifications.
  • Page 10 To comply with the target application, a harmonious work system must be structured between the robot arm and peripheral devices or robot hand section. When creating these standard specifications, we have edited them so that the Mitsubishi Electric robot's characteristics and specifications can be easily understood by users considering the imple- mentation of robots.

  • Page 11: 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 Special specifications ......................1-1 1.1.3 Options ..........................1-1 1.1.4 Maintenance parts ......................1-1 1.2 Model type name of robot ......................1-2 1.2.1 How to identify the robot model ..................
  • Page 12 Contents Page 3.2.1 Controller .......................... 3-40 3.3 Outside dimensions/Installation dimensions ................3-42 3.3.1 Outside dimensions ......................3-42 3.3.2 Installation dimensions ..................... 3-43 3.4 External input/output ....................... 3-45 3.4.1 Types ..........................3-45 3.5 Dedicated input/output ......................3-46 3.6 Emergency stop input and output etc..................3-49 3.6.1 Connection of the external emergency stop and mode selector switch ......
  • Page 13 Contents Page (1) External emergency stop connection [supplementary explanation] ......6-115 6.2 Working environment ......................6-116 (1) Power supply ........................ 6-116 (2) Noise ..........................6-116 (3) Temperature and humidity .................... 6-116 (4) Vibration ........................6-116 (5) Installation environment ....................6-116 6.3 Precautions for handling .......................

  • Page 14: General Configuration

    1 General configuration 1 General configuration 1.1 Structural equipment Structural equipment consists of the following types. 1.1.1 Standard structural equipment The following items are enclosed as a standard. 1) Robot arm (including a machine cable) 2) Controller 3) Accessories (robot arm installation bolts, CD-ROM instruction manual, etc.) 1.1.2 Special specifications For the special specifications, some standard configuration equipment and specifications have to be changed before factory shipping.

  • Page 15: Model Type Name Of Robot

    1 General configuration 1.2 Model type name of robot This robot has arranged the type name corresponding to load mass, arm length, and environment specifica- tion. Details are shown below, please select the robot suitable for the customer's use. 1.2.1 How to identify the robot model RV - ◊...

  • Page 16: Contents Of The Structural Equipment

    1 General configuration 1.3 Contents of the structural equipment 1.3.1 Robot arm The list of structural equipment is shown in below. 6-axis vertical articu- lated robot (RV-8CRL / Machine cable RV-12CRL) (Fixed type: 5m) Machine cable (replaceable type) • Fixed type: 1F-□□UCBL-43 •...

  • Page 17: Controller

    1 General configuration 1.3.2 Controller The devices shown below can be installed on the controller. The controllers that can be connected differ depending on the specification of the robot. (Refer to Page 2, "1.2 Model type name of robot".) Controller Controller protection box Teaching pendant (T/B) •...

  • Page 18: Function Extension Device

    1 General configuration 1.3.3 Function extension device These devices (option) are used to extend the function of the robot. Force sensor set MELFA-3D Vision 3.0 • 3F-53U-WINM • 4F-FS002H-W200 Note 1) • 4F-FS002H-W1000 Note 1) Use the following sensor attachment adapters.

  • Page 19: Option Equipment Lists

    1 General configuration 1.4 Option equipment lists The following shows option equipment lists. 1.4.1 Robot arm option equipment Table 1-2: List of robot arm option equipment Item Type Specifications Description Machine cable 1F-□□UCBL-43 For fixing " □□ " in type shows the length of the cables as follows. 10=10m, 15=15m, 20=20m (replaceable type) (The standard cable is 5 m long.)

  • Page 20: Function Extension Device

    1 General configuration Item Type Specifications Description Function extension 2F-DQ510 MELFA Smart Plus card pack (A- Item to enable the software extension function MELFA Note3) card type) Smart Plus. 2F-DQ520 MELFA Smart Plus card pack (AB- type) 2F-DQ511 MELFA Smart Plus card (A-type) 2F-DQ521 MELFA Smart Plus card (B-type) SD memory card...
  • Page 21 [Reference]:The recommendation products of the USB cable are shown below Table 1-5: Recommendation article of the USB cable Outside Name Type name Supplier dimensions USB cable MITSUBISHI ELECTRIC SYSTEM & SERVICE GT09-C30USB-5P Fig. 1-4 (USB A type-USB mini B type) CO., LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. Fig. 1-5 CAUTION Protect the USB cable against static electricity and noise.

  • Page 22: Robot Arm

    2 Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications Table 2-1: Standard specifications of RV-8CRL / RV-12CRL robots Item Unit Specifications Type RV-8CRL RV-12CRL Environment Oil mist specification Degree of freedom Note1) Installation posture On floor, hanging, (against wall On floor, hanging Structure Vertical articulated robot...

  • Page 23: The Counter-Force Applied To The Installation Surface

    2 Robot arm Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. The default setting value is 30°C. Set the appro- priate maximum temperature when using the robot at temperatures that exceed 30°C. Inappropriate temperature settings may cause components to fail prematurely.

  • Page 24: 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 fol- lows. 2.2.1 Pose repeatability For this robot, the pose repeatability is given in accordance with JIS B 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

  • Page 25: Rated Load (Mass Capacity)

    2 Robot arm 2.2.2 Rated load (mass capacity) The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the following issues.

  • Page 26: Relationships Among Mass Capacity, Speed, And Acceleration/Deceleration Speed

    2 Robot arm Unit: mm Rotation center for J5 axis 12kg Rotation center for J6 axis Fig.2-2: Positions of the centers of gravity for loads with relatively small volume (RV-12CRL) 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to the load capacity and size that have been set, and operates using these automatically set speeds.

  • Page 27: Vibrations At The Tip Of The Arm During Low-Speed Operation Of The Robot

    2 Robot arm 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count specific to the robot arm and the vibration count of the arm driving force are coming close to each other.

  • Page 28: Protection Specifications

    Remove dust if found. 2) We performed IPx5 testing using cutting oil specified by Mitsubishi Electric to ensure that the robot can be used in oil mist environments. When using the controller in an oil mist environment, make sure to enclose the controller in a controller protection box.
  • Page 29 2 Robot arm The IP ratings stated in IEC 60529 indicate the ingress protection level against solid objects and water. They do not indicate that the product's enclosure protects against oil. "Information" below contains an explanation of IP ratings in IEC 60529. Certain liquids may cause the robot to rust or corrode. The IP rating of the robot arm indicates that the electrical devices have dustproof and waterproof performances equivalent to those of IP65 in IEC 60529.

  • Page 30: Names Of Each Part Of The Robot

    2 Robot arm 2.3 Names of each part of the robot For arm (No.2 arm) J4 axis Wrist J5 axis Mechanical interface J3 axis (Hand installariton flange surface) Elbow J6 axis Upper arm (No.1 arm) J2 axis J1 axis Base Fig.2-3: Names of each part of the robot 2-17 Names of each part of the robot...

  • Page 31: Outside Dimension • Operating Range Diagram

    2 Robot arm 2.4 Outside dimension • Operating range diagram (1) RV-8CRL Rev. A 2 × M4 screw, depth: 8 Detail C (same for view D) (70) Minimum (70) 330 *3) View E 250 or more (maintenance space) φ (160) φ...
  • Page 32 2 Robot arm The following figure shows a robot at the position of: J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0° Rev. * P-point path P point Operating range for each axis: J1 ： ±170° P point prohibited area J2 ： ±110° J3 ：...
  • Page 33 2 Robot arm (2) RV-12CRL Rev. * View C: Detail of 56.7 mechanical interface Detail A (same for view B) 453.4 241.8 390 min. 143±0.1 256.3 250 or more (maintenance space) (240) (Reference View D installation surface) Rz25 126±0.03 (160) Bottom view F: Detailed installation dimensions View E...
  • Page 34 2 Robot arm The following figure shows a robot at the position of: J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0° Rev. * P-point path P point P point prohibited area Operating range for each axis: J1 ： ±170° J2 ： -90° to +150° J3 ：...

  • Page 35: Outside Dimensions Of Machine Cables

    2 Robot arm 2.4.1 Outside dimensions of machine cables [Controller side] Mass: 3.1kg Approx. 113 Minimum bending radius: 90mm Cable [Rorbot arm side] 90mm Note) When using machine cables (replaceable type), refer to Page 28, "(1) Machine cable (replaceable): Fixed type" for the cable diameter.

  • Page 36: Tooling

    2 Robot arm 2.5 Tooling 2.5.1 Internal wiring and piping (1) RV-8CRL The robot has two φ6 air hoses between the pneumatic inlet on the base and the top part of the forearm. The hose end section has four coupling bridges for a φ6 hose on both the base and forearm side. (2) RV-12CRL Primary plumbing consists of two φ6 air hoses and one φ8 air hose that run internally from the air inlet port at the base of the robot to the side of the forearm.

  • Page 37: Wiring And Piping For Hand

    2 Robot arm 2.5.3 Wiring and piping for hand Shows the wiring and piping configuration for a standard-equipped hand. (1) RV-8CRL Wiring and piping system (1) 6 pneumatic (2) Connector for tool wiring (D-sub 15 pins) AWG#24 (0.2mm ) × 15 cores coupling No.2 White Connector for...
  • Page 38 2 Robot arm (2) RV-12CRL Wiring and piping system AWG#24 (0.2mm ) × 15 cores White Connector for Black tool wiring x 2 Green Brown Yellow Orange Connector for Connector for Blue tool wiring No.1 tool wiring Purple No.1 Gray (1) 6 pneumatic Pink coupling No.2...

  • Page 39: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.4 Air supply circuit example for the hand An example of pneumatic supply circuitry for the hand is shown below. 1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in parallel.

  • Page 40: Options

    2 Robot arm 2.6 Options ■What are options? There are a variety of options for the robot designed to make the setting up process easier for customer needs. customer installation is required for the options. 2-27 Options...

  • Page 41: Machine Cable (Replaceable): Fixed Type

    2 Robot arm (1) Machine cable (replaceable): Fixed type Fixed type ■Order type: ● 1F-□□UCBL-43 Note) The numbers in the boxes □□ refer the length. ■Outline The fixed type machine cable can be used instead of the supplied one (5 m) to extend the distance between the controller and the robot.

  • Page 42: Machine Cable (Replaceable): Flexed Type

    2 Robot arm (2) Machine cable (replaceable): Flexed type Flexed type ■Order type: ● 1F-□□LUCBL-43 Note) The numbers in the boxes □□ refer the length. ■Outline These cables consist of flexed cables, and used for extending the distance between the controller and the robot arm. Replace the enclosed standard cables (5m) with these cables.
  • Page 43 2 Robot arm ■Cable configuration The configuration of the flexible cable is shown in Table 2-10. Refer to this table when selecting the cableveyor. Table 2-10: Cable configuration (Flexed type) Item Motor signal cable Motor power cable No. of cores AWG #24 (0.2mm )-4P AWG #28 (0.08mm...

  • Page 44: J1 Axis Operating Range Change Stopper

    2 Robot arm (3) J1 axis operating range change stopper This stopper is used for the RV-12CRL. To change the operating range of the RV-8CRL, a hexagon socket screw should be used. ■Order type: 1F-DH-42J1 ■Outline The operating range of the J1 axis is limited by installing mechanical stoppers on the robot arm and changing the relevant controller parameter setting.

  • Page 45: Hand I/O Cable

    2 Robot arm (4) Hand I/O cable This cable is used for the RV-12CRL. ■Order type: 1F-HC1000S-43 ■Outline One end of the cable can be connected to a connector for tool wiring. The other end of the cable is connected. ■Configuration Table 2-13: Equipment and type Part name...

  • Page 46: About Overhaul

    2 Robot arm 2.7 About Overhaul Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of specified service life or other parts which have been damaged, so that the robots may be put back in shape for continued use.

  • Page 47: Maintenance Parts

    J1 to J3 axes Mitsubishi Electric Reduction gears and gears of J4 to J6 axes Cables of each axis Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-34...

  • Page 48: Controller

    3 Controller 3 Controller 3.1 Standard specifications 3.1.1 Basic specifications Table 3-1: Specifications of controller Item Unit Specification Remarks Type CR800-CVD CR800-12CVD Note1) Number of control axis Simultaneously 6 Additional 8 axes available. Memory Programmed positions point 39,000 capacity No. of steps step 78,000 Number of program...

  • Page 49: Appendix 2: Classification

    3 Controller Item Unit Specification Remarks Ambient In use °C 0 to 40 Without freeze temperature At transport/storage -15 to +70 Ambient In use 45 to 85 Without dew drops humidity At transport/storage 90 or less Note10) II or less Overvoltage category 2 or less Note11)
  • Page 50 3 Controller Note7) The power capacity is the recommended value. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage.
  • Page 51 3 Controller Table 3-2: Controller safety performance Function Item Performance Remarks Safety Level SIL 3 (IEC 61508:2010) Performance when: • External emergency stop input when Category 4, PL e (EN ISO 13849- the test pulse diagnosis settings are 1:2015) Note1) enabled Mean time to dangerous failure MTTFd ≥...

  • Page 52: Protection Specifications And Operating Supply

    3 Controller 3.1.2 Protection specifications and operating supply (1) Protection specifications The CR800 controller complies with IEC 60529 IP20 (open type). The IP ratings stated in IEC 60529 indicate the ingress protection level against solid objects and water. They do not indicate that the product's enclosure protects against oil. Do not feed oil directly to the controller.

  • Page 53: Names Of Each Part

    3 Controller 3.2 Names of each part 3.2.1 Controller Controller front Air intake for fan <18> <19> <20> <6> <21> <7> <8> <9> <10> <11> <12> <13> <14> <15> <16> <17> Controller rear Air exhaust <1> <3> <2> Air vents <5>...

  • Page 54: Names Of Each Part

    3 Controller <7> LED ..........Four LEDs indicating the controller status. Details POWER Indicates the control power status. On: Control power ON Off: Control power OFF AUTO Indicates the controller mode. On: AUTOMATIC mode Off: MANUAL mode ERROR Indicates the error status. On: Error occurred.

  • Page 55: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions (30) Fig.3-2: Outside dimensions of controller Outside dimensions/Installation dimensions 3-42...

  • Page 56: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions The following figures show the dimensions required installing the controller. For the placement of the controller on its side (the horizontal installation), two stacks is permitted. Horizontal installation Air intake 145mm 145mm 170mm 150mm Vertical installation 20mm 50mm 150mm...
  • Page 57 3 Controller CAUTION When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits.

  • Page 58: External Input/Output

    3 Controller 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 59: Dedicated Input/Output

    3 Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-3. Refer to attached instruction manual "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 60 3 Controller Input Output Parameter Note1) name Name Function Level Name Function OUTRESET General-purpose Resets the general-purpose output signal output signal. None reset EMGERR Emergency stop Outputs that an emergency stop has None output signal occurred. S1START Outputs the operating state for each Start input Starts each slot.
  • Page 61 3 Controller Input Output Parameter Note1) name Name Function Level Name Function HNDERR1 Mechanism 1 Mechanism 1 hand hand error input error output signal signal Requests the hand error Outputs that a hand error is HNDERR3 Mechanism 3 hand occurrence. occurring.

  • Page 62: Emergency Stop Input And Output Etc

    3 Controller 3.6 Emergency stop input and output etc. Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector switch from the "special input/output" terminal connector. Table 3-4: Special input/output terminal Item Name Function Input...

  • Page 63: Connection Of The External Emergency Stop And Mode Selector Switch

    3 Controller [Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop input, the error, H056n “Servo sys. error (A/D)” may occur. When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is unnecessary to input a stop signal or servo OFF signal.
  • Page 64 3 Controller CAUTION You should always connect doubly connection of the emergency stop, the door switch, and the mode selector switch. In connection of only one side, if the relay of customer use should break down, it may not function correctly. The robot output contacts (error output, emergency stop output, mode output, additional axis synchronization output) are duplicated output contacts that are wired in series.
  • Page 65 3 Controller Internal circuit structure (Customer) (Customer) (Controller side) T/B emergency stop +24V +24V +3.3V CNUSR11 +3.3V External emergen- cy stop input +3.3V +3.3V Control circuit 1 +3.3V +24V Door switch input CNUSR11 Mode output +3.3V +24V Mode selector Emergency stop switch input output Robot error output...

  • Page 66: Connection Procedure

    3 Controller CNUSR12 connector CNUSR11 connector Wiring to a connector View A: Pin number of connector User wiring connector Lever CNUSR11 connector Cable Lever Latch Cable insertion hole Flathead screwdriver CNUSR12 connector Connection procedure Wire cables to the CNUSR11 and CNUSR12 user wiring connectors (attachment), and fit them into the corresponding connectors (ports) located on the rear side of the controller.

  • Page 67: Special Stop Input (Skip)

    3 Controller 3.6.2 Special stop input (SKIP) The SKIP is the input signal to stop the robot. Please connect the pin 4, 13 of the CNUSR12 connector shown in Fig. 3-10. Table 3-5: Special stop input electric specification Item Specifications Internal circuit Type DC input...

  • Page 68: Door Switch Function

    3 Controller 3.6.3 Door switch function This function acquires the status of the switches attached on the door of the safety fence, and it turns OFF the servo to stop the robot when the door is opened. Perform wiring so that the contact opens when the door is opened.

  • Page 69: Automatic Operation/Jog Operation/Brake Release And Necessary Switch Settings

    3 Controller (1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings The following is a description of various operations performed on the robot and switch settings that are required. Table 3-7: Various operations and necessary switch settings Note1) Related switch settings [T/B ENABLE] 3-position Mode selector...

  • Page 70: Additional Axis Function

    3 Controller 3.7 Additional Axis Function This controller is equipped with an additional axis interface for controlling an additional axis when a traveling axis or rotary table is added to the robot. A maximum of eight axes of servo motors can be controlled at the same time by connecting a general-purpose servo amplifier (MR-J4-B series) that supports Mitsubishi's SSCNET III.

  • Page 71: Example Of The Installation Of The Noise Filter

    3 Controller 3.7.2 Example of the installation of the noise filter ■EMC filter (recommended) Please install the recommendation filter shown below according to the example of connection. Table 3-9: Combination of a servo amplifier and filter (Soshin Electric) Recommended filter (Soshin Electric) Servo amplifier Mass [kg] Rated voltage...

  • Page 72: Line Noise Filter

    3 Controller ■Installing an EMC noise filter EMC filter Servo amplifier MCCB Note 1) Power supply Note 2) Surge protector Note 1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120 VAC power supply.

  • Page 73: Additional Axis Synchronization Output

    3 Controller 3.8 Additional axis synchronization output 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 (AXMC) provided on the rear or inside of the controller 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 74: Image Of How To Connect The Controller Connector

    3 Controller (2) Image of how to connect the controller connector CNUSR11 connector * Refer to Page 53 "Fig. 3-9: Wiring method to the user wiring connector" for more details about how to wire a connector. Fig.3-17: AXMC terminal connector 3-61 Additional axis synchronization output...

  • Page 75: Options

    3 Controller 3.9 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. 3-62...

  • Page 76: Teaching Pendant (T/B)

    "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an " [T/B ENABLE] switch" and "3-position enable switch".
  • Page 77 3 Controller [T/B ENABLE] switch 3-position enable switch Fig.3-18: Outside dimensions of teaching pendant ■Installation method The teaching pendant is connected to the TB connector on the front of the controller. Teaching pendant (T/B) 3-64...
  • Page 78 3 Controller ■Key layout and main functions 1) [Emergency stop] switch ....The robot servo turns OFF and the operation stops immediately. 2) [T/B ENABLE] switch...... This switch changes the T/B key operation between enable and disable. 3) 3-position enable switch ....When the [T/B ENABLE] switch"2)" is enabled, and this key is released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.
  • Page 79 "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "TEACH button ([T/ B ENABLE] switch)" and "3-position enable switch".

  • Page 80: High-Performance Teaching Pendant (T/B)

    3 Controller ■Key layout and main functions 1) Emergency stop button ..... Brings the robot to an emergency stop, and turns off the servos. Turn the button to the right to release. 2) Display (touch panel) ....Displays each screen of the T/B. Touch the display with your finger for operation.

  • Page 81: Function Extension Card

    3 Controller (3) Function extension card The function extension card is only supported by the RV-8CRL. ■Order type: ●2F-DQ510 ....MELFA Smart Plus card pack (A-type) ●2F-DQ520 ....MELFA Smart Plus card pack (AB-type) ●2F-DQ511 ....MELFA Smart Plus card (A-type) ●2F-DQ521 ....

  • Page 82: Controller Protection Box

    3 Controller (4) Controller protection box ■Order type: CR800-MB ■Outline Storing the controller in this box protects the controller from dust and water. Use this option, when the controller is installed where environment is oil mist such as machine shop etc. ■Configuration Table 3-15: Configuration equipment and types Mass...
  • Page 83 3 Controller ■Outside dimension Cable cover Controller setting position Cable cover Rubber foot fixation screw for (10) (10) placing vertically (45) (45) (Four places) (85) (85) Fig.3-20: Outside dimension Controller protection box 3-70...
  • Page 84 3 Controller ■Names of each part Cable cover T/B connector Label for serial number (attachment) + Transparent seal (attachment) Front view ACIN cable Controller Fixing le FG terminal (M4 screw) (supplied with controller) Power supply relay terminal (M4 screw) Power supply cable, Front side Grounding cable (customer...
  • Page 85 3 Controller ■Wiring system diagram Relay terminal block ACIN cable (supplied with controller) Controller (M4 screw) Machine cable Power supply cable (CN1) Grounding cable (customer preparation) External emergency stip wiring (customer preparation) Controller Heat exchanger protection box AC fan FG terminal (M4 screw) Fig.3-22: Wiring system diagram [ Note] The figure above is a diagrammatic illustration.
  • Page 86 3 Controller ■Installation dimensions Horizontal installation 150mm or more 30mm or more 150mm or more Vertical installation 150mm or 150mm or more 150mm or more more 150mm or 30mm or more more Fig.3-23: Installation dimensions 3-73 Controller protection box...

  • Page 87: Melsoft Rt Toolbox3/Melsoft Rt Toolbox3 Mini/Melsoft Rt Toolbox3 Pro

    3 Controller (5) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro RT ToolBox3 ■Order type: ●MELSOFT *For windows DVD-ROM : 3F-14C-WINE RT ToolBox3 mini ●MELSOFT *For windows DVD-ROM : 3F-15C-WINE RT ToolBox3 Pro ●MELSOFT *For windows DVD-ROM : 3F-16D-WINE ■Outline This is handy software that fully uses the personal computer functions.
  • Page 88 3 Controller ■Functions Table 3-18: Functions Note1) Function Details Functional existence Compatible model Personal computer running Windows 10 or Windows 11 ○ ○ ○ Note2) (English). Program editing Editing • MELFA BASIC V, VI language compatible functions functions • Multiple editing screen simultaneously display •...

  • Page 89: Instruction Manual (Bookbinding)

    3 Controller (6) Instruction Manual (bookbinding) ■Order type: • 5F-BR01-PE01: Instruction manuals of the RV-CR series ■Outline This is a printed version of the CD-ROM (instruction manual) supplied with this product. ■Configuration Table 3-19: Product configuration Note1) Name Type Mass (Kg) Specifications Instruction Manual 5F-BR01-PE01...

  • Page 90: Parallel I/O Interface

    3 Controller (7) Parallel I/O interface ■Order type : ●2D-TZ368 (Sink type)/2D-TZ378 (Source type) ■Outline This is used to expand the external inputs and outputs. • The connecting cable with external equipment is not attached. Since we are preparing the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.
  • Page 91 3 Controller Table 3-22: Electrical specifications for the output circuits Specification Internal circuit Item <Sink type> Type Transistor output No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage DC12V/DC24V Output Rated load voltage range DC10.2 to 30V (peak voltage DC30V) Max.
  • Page 92 3 Controller ■Pin layout of connector Connector<2> Output 16 to 31 Input 16 to 31 (when station number 0) Connector<1> Output 0 to 15 Input 0 to 15 (when station number 0) Fig.3-25: Pin layout of connector ■Connector pin No. and signal assignment The station number is fixed by the slot to install and the allocation range of the general-purpose input-and- output signal is fixed.
  • Page 93 3 Controller Table 3-24: Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1) Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common 24G/12G: For pins Black a +24V/+12V(COM): Orange/Red Orange/ 5D-20D For pins 5D-20D COM: For pins Black a Reserved...
  • Page 94 3 Controller <Reference> The example of connection with our PLC <Sink> Parallel I/O interface QX41(Mitsubishi (Output) programmable controller) 60mA (+24V/+12V) Output Output +24V Fuse (24G/12G) External (Input) power supply QY41P (Mitsubishi * The input/output circuit external programmable controller) power supply (24 VDC) must be prepared by the customer.
  • Page 95 3 Controller <Source> Parallel I/O interface QX81 (Mitsubishi programmable controller) (Output) 60mA Fuse (+24V/+12V) Output +24V Output (24G/12G) External (Input) power supply QY81P (Mitsubishi programmable controller) +24V * The input/output circuit external power supply (24 VDC) must be prepared by the customer.

  • Page 96: External I/O Cable

    3 Controller (8) External I/O cable ■Order type : ●2D-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 connector on the parallel I/O interface. For parallel I/O unit is another option 2A- CBL□□.
  • Page 97 3 Controller ■Connections and outside dimensions The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color specifications in "Table 3-37: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication Orange / Red / a Type of dot mark (see figure...

  • Page 98: Parallel I/O Unit

    3 Controller (9) 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. • The connection cable is not included. .Prepare the optional external input/ output cable (2A-CBL05 or 2A-CBL15). • Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2A-RZ371 for source type signal logic.
  • Page 99 3 Controller Table 3-30: Electrical specifications of input circuits Item Specification Internal circuit <Sink type> Type DC input Number of input points +24V/+12V Insulation method Photo coupler insulation (COM) Rated input voltage 12VDC 24VDC Rated input current Approx 3mA Approx 7mA Input 入力...
  • Page 100 3 Controller NET cable-1 (Network cable) Pin No. RIO1/2 Pin No. TXRXH TXRXDH TXRXL TXRXDL SG(GND) SG(GND) Connector: 1-178288-3 Connector: J21DF-06V-KX-L DCcable-2 (Power cable) Pin No. RIO1/2 +24V Power 24G(RG) FG(PE) Connected the frame Connector: 2-178288-3 ground or protect ground R-TM (Terminator) Pin No.
  • Page 101 3 Controller ■Installation method The expansion parallel input/output unit is installed outside of the controller. Connect with the network connection cable (NETcable-1) from the RIO connector in the front of the controller. Upside 天 (4 0 ) (1 7 5 ) Wiring space 配...
  • Page 102 3 Controller RIOコネクタ Parallel I/O unit 7 Parallel I/O unit 1 . . . 6 パラレル入出力ユニット7 パラレル入出力ユニット 1 ..6 Within 100mm Station No. Station No. 100mm以 内 局番設定 局番設定 setting setting 1 . . . 6 1 .

  • Page 103: Unit Number

    3 Controller ■Pin arrangement of the connector Channel No. setting LED display *1)TXD LED display Indicator for the ＜CN300＞ Input 16 to 31 communication status. The Output 16 to 31 dimly lit lamp indicates that ＜CN100＞ the unit is in the normal Input 0 to 15 condition.
  • Page 104 3 Controller Table 3-33: CN100 connector signal assignment/external I/O cable 2A-CBL□□ wire color list (station number "0") Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A 26 Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A 0V:For pins 29-32, 35-38...
  • Page 105 3 Controller Table 3-34: CN300 connector signal assignment/external I/O cable 2A-CBL□□ wire color list (station number "0") Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A 0V:For pins 29-32, 35-38 White/Red A...
  • Page 106 3 Controller <Reference> The example of connection with our PLC <Sink> Parallel I/O unit QX41(Mitsubishi (Output) programmable controller) 60mA (+24V/+12V) Output Output +24V Fuse (24G/12G) External (Input) power supply QY41P (Mitsubishi * The input/output circuit external programmable controller) power supply (24 VDC) must be prepared by the customer.
  • Page 107 3 Controller <Source> Parallel I/O unit QX81 (Mitsubishi programmable controller) (Output) 60mA Fuse (+24V/+12V) Output +24V Output (24G/12G) External (Input) power supply QY81P (Mitsubishi programmable controller) +24V * The input/output circuit external power supply (24 VDC) must be prepared by the customer.

  • Page 108: External I/O Cable

    3 Controller (10) 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 connector on the parallel input/output unit. One end matches the connector on the parallel input/output unit, and the other end is free.
  • Page 109 3 Controller ■Connections and outside dimensions The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color specifications in "Table 3-37: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication Orange / Red / A Type of dot mark (see figure...

  • Page 110: Cc-Link Interface

    3 Controller (11) CC-Link interface ■Order type: ●2D-TZ576 ■Outline The CC-Link interface is the optioninterface 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. ■Configuration Table 3-38: Configuration device Part name...
  • Page 111 3 Controller ■Specifications Table 3-40: Specifications Item Specifications Remarks Communication function Bit data and word data can be transmitted. Word data are used by the registers. Station type Note1) Intelligent device station Support station Local station No master station function The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.
  • Page 112 3 Controller ■Functions (1) Communication function • The number of usable points is 896 points maximum for bit control and 128 points maximum for word control. (2) Easy setup • The CC-Link interface card can be set by a rotary switch or DIP switch. •...

  • Page 113: Sd Memory Card

    3 Controller (12) SD memory card ■Order type: 2F-2GBSD ■Outline To save logging data, insert an SD card into the SD card slot on the front of the robot controller. ■Configuration Table 3-41: Configuration device Part name Type Qty. Remarks SD memory card 2F-2GBSD Memory card capacity: 2GB...

  • Page 114: Maintenance Parts

    Table 3-42: Controller consumable parts list Note1) Name Qty. Usage place Supplier Type Filter BKOFA0773H42 Inside the filter cover Mitsubishi Electric Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. 3-101 Maintenance parts...

  • Page 115: Software

    4 Software 4 Software 4.1 List of commands The available new functions in MELFA-BASIC VI are given in Table 4-1. Table 4-1: List of MELFA-BASIC VI commands Type Class Function Input format (example) Struc- Function procedure Defines the Function procedure. Function M Func(M1, M2) tured pro- Function procedure summarizes a series of processing...
  • Page 116 4 Software Type Class Function Input format (example) Position Float control The robot arm rigidity is lowered and softened. (XYZ coordinate Cmp Pos ,&B00000011 and oper- system) ation con- The robot arm rigidity is lowered and softened. (JOINT coordi- Cmp Jnt ,&B00000011 trol nate system) The robot arm rigidity is lowered and softened.
  • Page 117 4 Software Type Class Function Input format (example) Parallel Mechanism desig- Acquires the mechanism with the designated mechanism No. GetM 1 execution nation Releases the mechanism with the designated mechanism No. RelM 1 Selection Selects the designated program for the designated slot. XLoad 2,"P102"...

  • Page 118: List Of Parameters

    4 Software 4.2 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 119 4 Software Parameter Details User-designated origin USERORG Designate the user-designated origin position. 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.

  • Page 120: Instruction Manual

    5 Instruction Manual 5 Instruction Manual 5.1 The details of each instruction manual 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. Manual name Description Safety Manual...

  • Page 121: Safety

    6 Safety 6 Safety 6.1 Safety Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanita- tion 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...

  • Page 122: External Input/Output Signals That Can Be Used For Safety Protection Measures

    6 Safety 6.1.2 External input/output signals that can be used for safety protection measures Table 6-3: External input/output signals that can be used for safety protection measures Connection Signal Parameter Functions Usage method point External emer- Connector This servo power is shut off, and the Externally installed emergency stop gency stop CNUSR11...

  • Page 123: Training

    6 Safety (4) Training • Train the operators about the operations, maintenance and safety required for the robot work. • Only trained and registered operators must operate the robot. Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Committee, etc., is recommended for safety training.

  • Page 124: Examples Of Safety Measures

    6 Safety 6.1.7 Examples of safety measures The controller's dedicated I/O terminal connector has a duplicate emergency stop circuit. The safety measure examples are shown in Fig. 6-1 Fig. 6-4. Create a circuit as shown below for safety measures. In addition, the figure shows the normal state which is not in the emergency stop state. [Note] •...
  • Page 125 6 Safety <Wiring example 2>: Connect the emergency stop switch, and door switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 126 6 Safety <Wiring example 3>: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. The power supply for emergency stop input uses the power supply in the controller. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 127 2 systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)). 2) When connecting emergency stop button output to an exterior safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram.

  • Page 128: External Emergency Stop Connection [Supplementary Explanation]

    6 Safety (1) External emergency stop connection [supplementary explanation] (1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is opened) when the door is open.

  • Page 129: Working Environment

    6 Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambi- ent environment conditions. When using in the following conditions, the customer must pay special atten- tion to the preventive measures. (1) Power supply •...
  • Page 130 Take care to prevent interference with the workpiece or peripheral devices during operation. (10) Contact Mitsubishi Electric or your local distributor if you wish to ceiling-mount the robot. (11) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhe- sive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.
  • Page 131 6 Safety (21) An acrid smell may emanate from sulfur compounds or other chemicals contained in the grease inside the robot. When lubricating the robot, refer to the separate volume "INSTRUCTION MANUAL: Robot Arm Setup & Maintenance". When changing internal reduction gears or motors due to failure or other reasons, there may be a smell which causes discomfort.

  • Page 132: Emc Installation Guideline

    6 Safety 6.4 EMC installation guideline 6.4.1 Outlines Industrial robots are one of the components of automation systems. This section introduces methods and parts to ensure electromagnetic compatibility (EMC) in automation systems. We test for EMC in the environment described in this manual, but the noise level varies depending on device types, layout, control panel structure, and wiring, etc.

  • Page 133: Example Of Emc Measures

    6 Safety 6.4.4 Example of EMC measures Industrial robots are designed for use with other devices. We test our industrial robots for conformity with EMC standards in the following system architecture. Electromagnetic compatibility depends on the relationship between the industrial robot and devices in in the system, wiring conditions, layout, or other factors.

  • Page 134: Parts For Emc Measures

    6 Safety RV-12CRL <3> <1> <2>×2 <4> <5> <7>×6 <8>×6 <6> Fig.6-6: Example of EMC measures 1) Install ferrite cores <5> through <8> on the machine cable. 2) Attach the shield tube <4> to the machine cable and ground both ends of the tube. 3) Install the ferrite cores <3>...

  • Page 135: Appendix 1: Inertia Calculation Method

    7 Appendix 7 Appendix Appendix 1: Inertia calculation method An allowable moment of inertia in the mechanical interface at the tip of the robot arm is determined. If a load exceeding the allowable moment of inertia is put, on the tip of the arm, vibration during operation and an overload alarm may occur.
  • Page 136 7 Appendix Appendix 2: Classification of functions using external input/output signals Before using the functions, note the following. Table 7-1: Classification of functions using external input/output signals Classification Function Description Safety signal Emergency stop input Detects emergency stop inputs. The safety diagnosis function for the emergency stop input circuit makes the STO function meet the requirements of SIL 3, Category 4, PL e.

  • Page 137: Appendix 3: Safety Diagnosis Function (Test Pulse Diagnosis)

    7 Appendix Appendix 3: Safety diagnosis function (Test pulse diagnosis) This function enables diagnosis of external wiring by pulse signals output from the emergency stop ports (EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off-pulses regularly. The width of output pulses is always approximately 20 ms. Checking regularly the test pulses inside the robot controller enables confirming the correct operation of the emergency stop lines.

  • Page 138: Appendix 4: Safety Block Diagram

    7 Appendix Appendix 4: Safety block diagram Robot arm Converter Inverter Current Motor sensor AC power Encoder PWM gate circuit Current feedback Servo CPU block Encoder feedback Gate control Gate control Servo block signal signal Position data Gate status Encoder feedback Emergency stop Safety function input...

  • Page 139: Appendix 5: Declaration Of Conformity

    The CE mark on the rating plates on the robot arm and controller indicate that an EU Declaration of Confor- mity is included with the product. The EU Declaration of Conformity contains the following information: Information Description Manufacturer MITSUBISHI ELECTRIC CORPORATION Address TOKYO 100-8310, JAPAN Authorized representative in Europe MITSUBISHI ELCTRIC EUROPE B.V., German Branch Address...

  • Page 140: Appendix 6: Specifications Discussion Material (Rv-8Crl)

    7 Appendix Appendix 6: Specifications discussion material (RV-8CRL) ■Customer information Company name Name Address Telephone ■Purchased model Note1) Type Controller RV-8CRL-D CR800-CVD Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name. ■Options (Installable after shipment) Item Type...

  • Page 141: Appendix 7: Specifications Discussion Material (Rv-12Crl)

    7 Appendix Appendix 7: Specifications discussion material (RV-12CRL) ■Customer information Company name Name Address Telephone ■Purchased model Note1) Type Controller RV-12CRL-D CR800-12CVD Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name. ■Options (Installable after shipment) Item Type...
  • Page 142 7 Appendix Appendix-129 Specifications discussion material (RV-12CRL)
  • Page 144 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN May 2025 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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