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Mitsubishi Electric RH-10CRH Series Standard Specifications Manual
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Mitsubishi Electric RH-10CRH Series Standard Specifications Manual

Mitsubishi Electric RH-10CRH Series Standard Specifications Manual

Electric industrial robot
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Mitsubishi Electric Industrial Robot
CR800-D Controller
RH-10CRH/20CRH
Standard Specifications Manual
RH-10CRH series
RH-20CRH series
BFP-A3853-D

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Summary of Contents for Mitsubishi Electric RH-10CRH Series

  • Page 1 Mitsubishi Electric Industrial Robot CR800-D Controller RH-10CRH/20CRH Standard Specifications Manual RH-10CRH series RH-20CRH series BFP-A3853-D...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION 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), 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. Controller rear Single phase ACIN cable connection AC200V Groove for main <1>...
  • Page 8 CAUTION Be careful of interference with peripheral equipment. Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged. Take care also of the following items.
  • Page 9 • Corrected other mistakes and changed some sections. 2025-01-31 BFP-A3853-C • Revised "2.7 About Overhaul" and "6.3 Precautions for handling". • Corrected other mistakes and changed some sections. 2025-05-07 BFP-A3853-D • Changed option models due to a change of Mitsubishi Electric option specifications.
  • Page 10 • Referenced Standard (Requirement of Chinese standardized law): This Product is designed and manufactured accordance with GB 11291.1. • Illustrations in this Instruction Manual may differ from the actual products. Copyright(C) 2024 MITSUBISHI ELECTRIC CORPORATION...
  • Page 11 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 3.1.2 Protection specifications and operating supply ..............3-48 (1) Protection specifications ....................3-48 (2) Operating supply ......................3-48 3.2 Names of each part ......................... 3-49 3.2.1 Controller .......................... 3-49 3.3 Outside dimensions/Installation dimensions ................3-51 3.3.1 Outside dimensions ......................3-51 3.3.2 Installation dimensions .....................
  • Page 13 Appendix 2 : Classification of functions using external input/output signals ....Appendix-129 Appendix 3 : Safety diagnosis function (Test pulse diagnosis) ........Appendix-130 Appendix 4 : Safety block diagram ................Appendix-131 Appendix 5 : Specifications discussion material (RH-10CRH series) ......Appendix-132 Appendix 6 : Specifications discussion material (RH-20CRH series) ......Appendix-133...
  • Page 14 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 (2) Controller (3) Robot arm installation bolts (4) CD-ROM (Instruction manual) 1.1.2 Special specifications For the special specifications, some standard configuration equipment and specifications have to be changed before factory shipping.
  • Page 15 General configuration 1.2 Model type name of robot This robot has arranged the type name corresponding to load mass, arm length, and environment specification. Details are shown below, please select the robot suitable for the customer's use. 1.2.1 How to identify the robot model RH - ◇◇...
  • Page 16 General configuration 1.3 Contents of the structural equipment 1.3.1 Robot arm The list of structural equipment is shown in below. Horizontal articulated robot Machine cable (Standard product: 5 m attachment) (RH-10CRH/RH-20CRH) Machine cable extension (replacement type) • Flexed type: 1F-□□LUCBL-45 Note 1) □□...
  • Page 17 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 Teaching pendant (T/B) ・...
  • Page 18 General configuration 1.3.3 Function extension device These devices (option) are used to extend the function of the robot. MELFA-3D Vision 3.0 • 3F-53U-WINM Fig.1-3: Function extension device...
  • Page 19 General configuration 1.4 Contents of the Option equipment and special specification A list of all Optional equipment and special specifications are shown below. Table 1-2: List of the optional equipment and special specifications Classification Item Model Specifications Remarks Note1) Machine cables 1F-□□LUCBL-45 Flexed type 10m, 15m, 20m...
  • Page 20 General configuration Classification Item Model Specifications Remarks Note1) SD memory card 2F-2GBSD Memory card capacity 2GB. ○ Safety option 4F-SF002-01 Item to support the safety I/ Refer to separate volume "Robot Safety Option Instruction ○ Manual" for details. RT ToolBox3 3F-14C-WINE DVD-ROM Windows 10, Windows 11...
  • Page 21 [Reference]:The recommendation products of the USB cable are shown below Table 1-3: Recommendation article of the USB cable Name Type name Supplier Outside dimensions USB cable MITSUBISHI ELECTRIC SYSTEM & GT09-C30USB-5P Fig. 1-4 (USB A type-USB mini B type) SERVICE CO., LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.
  • Page 22 Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications (1) RH-10CRH Table 2-1: Standard specifications of robot arm Type Unit Specification Model 10CRH6020 10CRH7020 10CRH8020 10CRH6030 10CRH7030 10CRH8030 Environment Standard specification Installation posture On floor Degree of freedom Structure Horizontal articulated robot Drive system...
  • Page 23 Robot arm Note3) The value with the movements and conditions below when the MvTune2 (high-speed movement mode) is applied. ･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position. <Conditions>...
  • Page 24 Robot arm (2) RH-20CRH Table 2-2: Standard specifications of robot arm Type Unit Specification Model RH-20CRH8542 RH-20CRH10042 Environment Standard specification Installation posture On floor Degree of freedom Structure Horizontal articulated robot Drive system AC servo motor Position detection method Absolute encoder Motor capacity J3 (Z) J4 (θ)
  • Page 25 Robot arm Note3) The value with the movements and conditions below when the MvTune2 (high-speed movement mode) is applied. ･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position. <Conditions>...
  • Page 26 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 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 27 ２ Robot arm 2.2.2 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 28 ２ Robot arm 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 29 However, this function does not work with the following load mass setting values or less. Model Load mass setting value RH-10CRH series RH-20CRH series When the load mass is set to a value greater than the settings above, the maximum speed is compensated for in accordance with the load mass.
  • Page 30 ２ Robot arm (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-2, Fig. 2-3) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig.
  • Page 31 ２ Robot arm RH-10CRH series J3 axis (Z) stroke: 200 mm / 300 mm <RH-10CRH60**/70**> <RH-10CRH80**> -153 -153 Shaft position (mm) Shaft position (mm) RH-20CRH series J3 axis (Z) stroke: 420 mm <RH-20CRH85**> <RH-20CRH100**> 393.5 343.5 173.5 -26.5 393.5 343.5 173.5...
  • Page 32 (3) Relationship Between Offset Amount and Maximum Speed A function to optimize the maximum speed of each axis according to the offset amount will be activated. (Refer to Fig. 2-4.) RH-10CRH series <RH-10CRH60**/70**> <RH-10CRH80**> Offset amount (mm) Offset amount (mm) RH-20CRH series <RH-20CRH85**/100**>...
  • Page 33 ２ Robot arm (4) Time to reach the position repeatability When using this robot, the time to reach the position repeatability may be prolonged due to the effect of residual vibration at the time of stopping. If this happens, take the following measures: ■If there are vibrations in the XY direction 1) Change the operation position of the Z axis to the location near the top as much as possible.
  • Page 34 ２ Robot arm 2.2.7 Protection specifications (1) Types of protection specifications The robot arm has protection specifications that comply with IEC 60529 Standards. The protection specifications and applicable fields are shown in Table 2-6. Table 2-6: Protection specifications and applicable fields Protection Type specifications...
  • Page 35 ２ Robot arm 2.3 Names of each part of the robot J2 axis Section A No.2 arm J1 axis No.1 arm J3 axis Shaft J4 axis Base φ4 pneumatic Screw hole for coupling grounding Brake release switch Machine cable (for power supply) Connector for φ4 pneumatic tools...
  • Page 36 ２ Robot arm J2 axis Section A No.2 arm J1 axis No.1 arm J3 axis Shaft Base J4 axis Screw hole for grounding Brake release switch Connector for tools (D-sub 9-pin) Connector for tools (D-sub 15-pin) Connector for tools (D-sub 15-pin) Machine cable φ8 pneumatic (for power supply)
  • Page 37 ２ Robot arm 2.4 Outside dimensions / Operating range diagram 2.4.1 Outside dimensions / Operating range diagram (1) Normal environmental specification Rev. * Note *1) Dimensions including the minimum bending radius for the machine cable. *2) The screw hole for fixing wiring and piping installed by the user. (Unit: mm) X dimensions Model...
  • Page 38 ２ Robot arm Rev. * 525.6 488.7 244.9 Robot installation sufrace Side view Top view (Unit: mm) Fig.2-10: Operating range diagram of RH-10CRH6020/30 2-25 Outside dimensions / Operating range diagram...
  • Page 39 ２ Robot arm Rev. * Note *1) Dimensions including the minimum bending radius for the machine cable. *2) The screw hole for fixing wiring and piping installed by the user. (Unit: mm) X dimensions Model Y dimensions Z dimensions (J3 stroke) RH-10CRH7020 RH-10CRH7030 4-M4 screw depth 6 *2)
  • Page 40 ２ Robot arm Rev. * 592.5 508.5 244.9 Robot installation sufrace Side viewt Top view (Unit: mm) Fig.2-12: Operating range diagram of RH-10CRH7020/30 2-27 Outside dimensions / Operating range diagram...
  • Page 41 ２ Robot arm Rev. * Note *1) Dimensions including the minimum bending radius for the machine cable. *2) The screw hole for fixing wiring and piping installed by the user. (Unit: mm) X dimensions Model Y dimensions Z dimensions (J3 stroke) RH-10CRH8020 RH-10CRH8030 4-M4 screw depth 6 *2)
  • Page 42 ２ Robot arm Rev. * 659.4 494.2 Robot installation sufrace Side view Top view (Unit: mm) Fig.2-14: Operating range diagram of RH-10CRH8020/30 2-29 Outside dimensions / Operating range diagram...
  • Page 43 ２ Robot arm Rev. * Note *1) Dimensions including the minimum bending radius for the machine cable. *2) The screw hole for fixing wiring and piping installed by the user. 2-M4 screw depth 11 *2) 2-M3 screw depth 4.5 *2) φ46 2-M5 screw depth 15 *2)
  • Page 44 ２ Robot arm Rev. * 844.3 Robot installation sufrace Side view Top view (Unit: mm) Fig.2-16: Operating range diagram of RH-20CRH8542 2-31 Outside dimensions / Operating range diagram...
  • Page 45 ２ Robot arm Rev. * Note *1) Dimensions including the minimum bending radius for the machine cable. *2) The screw hole for fixing wiring and piping installed by the user. 2-M4 screw depth 11 *2) 2-M3 screw depth 4.5 *2) φ46 2-M5 screw depth 15 *2) View A...
  • Page 46 ２ Robot arm Rev. * Robot installation sufrace Side view Top view (Unit: mm) Fig.2-18: Operating range diagram of RH-20CRH10042 2.4.2 Outside dimensions of machine cables (1) RH-10CRH/RH-20CRH (flexed type) [Controller side] Approx.101 Mass: 2.3kg Minimum bending radius: 85mm Cable 85mm [Robot arm] (Unit: mm)
  • Page 47 ２ Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a standard-equipped hand. Wiring and piping system AWG#24（0.2mm ) × 15 White Black Green Brown Yellow Orange (D-sub 15-pin) (D-sub 15-pin) Blue Purple Gray Pink...
  • Page 48 ２ Robot arm Wiring and piping system AWG#24（0.2mm ) × 15 White Black Green Brown Yellow Orange (D-sub 15-pin) (D-sub 15-pin) Blue Purple Gray Pink Light blue (Black)/Yellow (Black)/White (Black)/Blue AWG#24（0.2mm ) × 9 White Black Green (3) Connector for tools Brown (D-sub 9-pin) (D-sub 9-pin)
  • Page 49 ２ Robot arm 2.5.2 Internal wiring and piping (1) General environment ■RH-10CRH 1) In the robot, two lengths of 6 pneumatic hose and a length of φ4 pneumatic hose are piped as the primary piping between the pneumatic inlet on the base and the top part of the No.2 arm. 2) The pneumatic inlet ports on both the base and the No.2 arm equip φ6 pneumatic couplings and φ4 pneumatic couplings as a bridge.
  • Page 50 ２ Robot arm 2.5.4 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) The customer is required to provide tooling wiring, piping and metal fixtures. Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to the Fig.
  • Page 51 ２ Robot arm 2-M4 screw depth 11 2-M3 screw depth 4.5 2-M5 screw depth 15 View A 4-M4 screw depth 10 4-M4 screw depth 10 2-M4 screw depth 10 46.5 35 20 (Unit: mm) Fig.2-22: Location of screw holes for fixing wiring/piping (RH-20CRH) Tooling 2-38...
  • Page 52 2 Robot arm 2.5.5 Air supply circuit example for the hand Fig. 2-23 shows an example of the pneumatic circuit of air supply for the hand. (1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in parallel.
  • Page 53 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. Options 2-40...
  • Page 54 ２ Robot arm (1) Machine cable (replacement): Flexed type ■Order type: ●1F-□□LUCBL-45 Note) □□ represents the cable 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 (5 m) with these cables.
  • Page 55 NK-10N Controller connector face *1) Motor power cable and motor signal cable should be fixed at the same position. The bending radius for each cable is shown below. <RH-10CRH series> <RH-20CRH series> MIN. 235 MIN. 260 Fig.2-24: Fixing the flexed cable...
  • Page 56 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 57 As needed Timing belt J3 axis Mitsubishi Electric J4 axis motor side J4 axis shaft side Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-44...
  • Page 58 Controller 3 Controller 3.1 Standard specifications 3.1.1 Basic specifications Table 3-1: Specifications of controller Item Unit Specification Remarks Type CR800-C2HD Note1) Number of control axis Simultaneously 4 Additional 8 axes available. Memory Programmed positions point 39,000 capacity No. of steps step 78,000 Number of program...
  • Page 59 Controller Item Unit Specification Remarks Ambient In use 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) Pollution level...
  • Page 60 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 61 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. [Information] •...
  • Page 62 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 63 3 Controller Details ERROR Indicates the error status. On: Error occurred. Rapid flashing: High-level error occurred. Off: Normal operation READY Indicates the operation status. On: ON (ready) Slow flashing: During operation Rapid flashing: Operation suspended. <8> HAND FUSE .......Fuse for the hand. <9>...
  • Page 64 3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions Fig.3-2: Outside dimensions of controller 3-51 Outside dimensions/Installation dimensions...
  • Page 65 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. Fig.3-3: Installation dimensions CAUTION When installing the controller vertically, ensure that the air intake is at the bottom as illustrated in Fig.
  • Page 66 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 67 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 68 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 69 3 Controller Input Output Parameter Note1) name Name Function Level Name Function OUTRESET General-purpose Resets the general-purpose None output signal output signal. reset EMGERR None Emergency stop Outputs that an emergency stop has output signal occurred. S1START Start input Starts each slot. In operation output Outputs the operating state for each slot.
  • Page 70 3 Controller Input Output Parameter Note1) name Name Function Level Name Function HNDERR1 Mechanism 1 Requests the hand error Mechanism 1 hand Outputs that a hand error is hand error input occurrence. error output signal occurring. signal HNDERR3 Mechanism 3 hand Mechanism 3 error output signal hand error input...
  • Page 71 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 72 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 73 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 74 3 Controller Internal circuit structure (Customer) (Customer) (Controller side) T/B emergency stop switch +24V +24V +3.3V CNUSR11 +3.3V External emergency 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 75 3 Controller 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. The customer needs to prepare the following items. • Cable: AWG24 to 16 (0.2 to 1.5mm •...
  • Page 76 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 77 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 78 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 79 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 80 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 81 3 Controller ■Installing an EMC noise filter Note 1) Note 2) 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. Note 2) The example is when a surge protector is connected.
  • Page 82 3 Controller (1) Line noise filter This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Fig.3-15: Example of noise filter installation 3-69 Additional Axis Function...
  • Page 83 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 84 3 Controller (2) Image of how to connect the controller connector * Refer to Page 62 "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 3-71 Additional axis synchronization output...
  • Page 85 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. 3-72...
  • Page 86 "enable device" is at a specified position. Regarding Mitsubishi Electric industrial robots, the aforementioned "enable device" consists of a "[T/B ENABLE] switch" and a "3-position enable switch".
  • Page 87 3 Controller 195.2 [T/B ENABLE] switch 105.5 Emergency stop switch Operation key Body 3-position enable switch Cable (with connector) <Side> <Back> <Front> <Bottom> 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) 3-74...
  • Page 88 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 89 "enable device" is at a specified position. Regarding Mitsubishi Electric industrial robots, the aforementioned "enable device" consists of a "key switch" and a "3-position enable switch". A 3-position enable switch has three states, and each state represents the following modes: a) Not pressed: The robot cannot operate.
  • Page 90 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 91 3 Controller (3) 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 92 3 Controller ■Functions Table 3-15: Functions Note1) Function Details Functional existence Compatible model Note2) ○ ○ ○ Personal computer running Windows 10 or Windows 11. Program editing Editing • MELFA BASIC V, VI language compatible functions functions • Multiple editing screen simultaneously display •...
  • Page 93 3 Controller (4) 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 94 3 Controller Table 3-18: Electrical specifications for the output circuits Specification Internal circuit Item Type Transistor output <Sink type> 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 95 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.3-21: 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 96 3 Controller Table 3-20: 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 97 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 98 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 99 3 Controller (5) 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 100 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 3-33: 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 101 3 Controller (6) 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 102 3 Controller Table 3-26: 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 103 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 104 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 105 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 106 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 107 3 Controller ■Parallel I/O interface (First expansion unit) Table 3-29: 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 26 Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A...
  • Page 108 3 Controller Table 3-30: Connector CN300pin 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, 10-13 Gray/Blue A 0V:For pins 29-32, 35-38 White/Red A 12V/24V:For pins 4-7...
  • Page 109 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 110 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 111 3 Controller (7) 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 112 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 3-33: 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 113 3 Controller (8) 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 3-34: Configuration device Part name...
  • Page 114 3 Controller ■Specifications Table 3-36: 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 115 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 116 3 Controller (9) 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 3-37: Configuration device Part name Type Qty. Remarks SD memory card 2F-2GBSD Memory card capacity: 2GB...
  • Page 117 Table 3-38: 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. Maintenance parts 3-104...
  • Page 118 Software 4 Software 4.1 Functions and specifications of RH-10CRH/RH-20CRH 4.1.1 Changed functions/specifications Some functions of RH-10CRH/RH-20CRH controller and some functions/specifications of MELFA-BASIC VI programming language are changed from the functions/specifications of RH-F series. Table 4-1 shows details on the changes. Table 4-1: List of changed functions/specifications Changed function/specification Outline...
  • Page 119 Software Fig.4-2: Definition of component C for RH-10CRH/RH-20CRH (over ±180) As the component C covers a value less than -180 or more than +180, an actual rotational angle can be set for the rotational angle for linear interpolation or perfect circle/circular interpolation. To move the work at a target angle in the robot programming, the rotation direction was set by specifying an operation in the argument Type or changing the multi-rotation flag (FL2) for conventional robots but is set just by specifying an angle for RH-10CRH/RH-20CRH value of the FL2 is always 0.
  • Page 120 Software ■Parameter to select the component C indication method The definition of component C in XYZ coordinate data is changed for RH-10CRH/RH-20CRH. However, in order to maintain operational compatibility with the conventional models (RH-F, RH-SD/SQ, etc.), it is possible to use the definition of component C in XYZ coordinate data for the conventional models by setting the parameter.
  • Page 121 Software 4.1.3 Origin position adjustment of J2 axis When a calculated point is used for a robot's work point, the accuracy of J2 axis is important. This paragraph "4.1.3 Origin position adjustment of J2 axis" gives the details of an origin position adjustment by the configuration flag (RIGHT/LEFT).
  • Page 122 Software 4.2 List of commands The available new functions in MELFA-BASIC VI are given in Table 4-4. Table 4-4: List of MELFA-BASIC VI commands Type Class Function Input format (example) Structured Function Defines the Function procedure. Function M Func(M1, M2) programming procedure Function procedure summarizes a series of processing...
  • Page 123 Software Type Class Function Input format (example) Position and Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1 operation Operates the pallet grid point position. Plt 1,M1 control Singular point Move to a specified position using linear interpolation passing Mvs P1 Type 0,2 passage through a singular point.
  • Page 124 Software Type Class Function Input format (example) Others Definition Defines the integer type or real number type variable. Def Inte KAISUU Defines the character string variable. Def Char MESSAGE Defines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3) Defines the joint variable. Def Jnt TAIHI Defines the position variable.
  • Page 125 Software 4.3 List of parameters Show the main parameter in the Table 4-5. Table 4-5: 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 126 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 127 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 128 Safety 6 Safety 6.1 Safety Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation Rules". Always follow these rules when using the robot to ensure safety. 6.1.1 Self-diagnosis stop functions This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-...
  • Page 129 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 Connector This servo power is shut off, and the Externally installed emergency stop emergency CNUSR11...
  • Page 130 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 131 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 132 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 133 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 134 2 systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)). 2) When connecting the output of the emergency stop to an external safety relay, set the polarity so that the current flows in the direction indicated by the dotted arrows in the wiring diagram above.
  • Page 135 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 136 Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures. (1) Power supply •...
  • Page 137 Safety premature wear of moving parts. To avoid such situation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed). Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or more for about 10 minutes. After that, speed up the operation gradually.
  • Page 138 Safety 6.4 EMC installation guideline 6.4.1 Outlines Industrial robots are one of the components of automation systems as well as main components. This sec- tion 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 139 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. However, it does not mean that every system meets the requirements of EMC standards. Electromagnetic compatibility depends on the relationship between the industrial robot and devices in the system, wiring conditions, layout, or other factors.
  • Page 140 Safety (2) RH-20CRH <6> <1> CN2 cable <2>×2 CN1 cable <3> <4><5> <5> <4> <3> Fig.6-6: Example of EMC measures (RH-20CRH) 1) Install ferrite cores <3>, <4>, and <5> as follows: Install the ferrite cores <3> and <4> on both the CN1 and CN2 cables. Install the ferrite cores <5>...
  • Page 141 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 error may occur.
  • Page 142 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 143 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 144 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 145 Appendix Appendix 5 : Specifications discussion material (RH-10CRH series) ■Customer information Company name Name Address Telephone ■Purchased mode Item Type Arm length Stroke Controller General specification RH-10CRH□□ □600 □700 □800 □200 □300 CR800-C2HD  ■Options (Installable after shipment) Item Type Provision, and specifications when provided.
  • Page 146 Appendix Appendix 6 : Specifications discussion material (RH-20CRH series) ■Customer information Company name Name Address Telephone ■Purchased model Item Type Arm length Stroke Controller General specification RH-20CRH□□42-D □850 □1000 ■420 CR800-C2HD ■Options (Installable after shipment) Item Type Provision, and specifications when provided. Robot Machine cable (replacement) 1F-□□LUCBL-45...
  • Page 148 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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