Summary of Contents for Mitsubishi Electric MELFA CR800 Series
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Mitsubishi Electric Industrial Robot CR800 Series Controller RH-1FRHR Series Special Specifications Manual BFP-A3537-C...
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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.
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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.
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WARNING When the robot arm has to be moved by hand from an external area, do not place hands or fingers in the openings. Failure to observe this could lead to hands or fingers catching depending on the posture. CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF.
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CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, temperature or noise) exists in the equipments connected to USB. When using network equipment, measures against the noise, such as measures against EMI and the addition of the ferrite core, may be necessary.
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*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) AC200V...
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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.
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■Revision history Date of print Specifications No. Details of revisions 2017-06-26 BFP-A3537 ・ First print. 2017-11-01 BFP-A3537-A ・ Description of countermeasures against unauthorized access was added. ・ Descriptions of CR800-R controller in “3.2.1 Controller” were supplemented. ・ Correction of errors. GOT1000 was deleted.
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・ All other company names and production names in this document are the trademarks or registered trademarks of their respective owners. ・ Referenced Standard (Requirement of Chinese standardized law): This Product is designed and manu - factured accordance with GB 11291.1. Copyright(C) 2017-2018 MITSUBISHI ELECTRIC CORPORATION...
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 ..........................
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Contents Page (1) Example of wiring and piping <1> ........................2-34 (2) Wiring and piping example <2> ..........................2-34 (3) Precautions for the shaft through hole ......................2-35 2.5.7 Wiring and piping system diagram for hand ......................2-36 2.5.8 Electrical specifications of hand input/output ....................2-38 2.5.9 Air supply circuit example for the hand .......................
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Contents Page (2) Image of how to connect the controller connector ..................3-88 3.9 Options ....................................... 3-89 3.9.1 CR800-D/R controller common ..........................3-90 (1) Teaching pendant (T/B) ............................3-90 (2) High efficient teaching pendant (T/B) ......................3-93 (3) Function extension card ............................3-95 (4) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro ....
1General 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. MELSEC iQ-R Item Stand alone type compatible type Robot arm ○ ○ Controller ○...
1General 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 - 1 FRH R 55 15 - ●...
1General configuration 1.2.2 Combination of the robot arm and the controller (1) Stand alone type Table 1-1 ： Combination of the robot arm and the controller Protection specification J3-axis stroke Robot arm length Controller (mm) (mm) General-purpose environment RH-1FRHR5515-D CR800-01HRD (2) MELSEC iQ-R compatible type Table 1-2 ：...
General configuration 1.5 Contents of the structural equipment 1.5.1 Robot arm The list of structural equipment is shown in below. Horizontal four-axis multiple-jointed type Machine cable （RH-1FRHR series） (Fixed type: 5m) Machine cable (replacement) ・ Fixed type: 1F- □□ UCBL-41 ・...
General configuration 1.5.2 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".) (1) CR800-D controller Controller Teaching pendant (T/B) ・...
General configuration (2) CR800-R controller Controller Robot CPU unit ・ R16RTCPU ・ CR800-R The following Mitsubishi MELSEC iQ-R series products are required to install the robot CPU unit. The customer needs to prepare them. ・ Base unit (Refer to Table 1-3) ・...
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General configuration Table 1-3 ： Base unit Type name Remarks R35B 5 slots: for mounting MELSEC iQ-R series unit R38B 8 slots: for mounting MELSEC iQ-R series unit R312B 12 slots: for mounting MELSEC iQ-R series unit Table 1-4 ： Power supply unit Type name Remarks R61P...
General configuration 1.5.3 Function extension device These devices (option) are used to extend the function of the robot. Force sensor set ・ 4F-FS002H-W200 ・ 4F-FS002H-W1000 Fig.1-4 ： Function extension device...
General configuration 1.6 Contents of the Option equipment and special specification A list of all Optional equipment and special specifications are shown below. 1.6.1 List of the robot arm option equipment and special specification Table 1-6 ： The list of the robot arm option equipment and special specification Classification Item Type...
General configuration 1.6.2 List of the controller option equipment and special specification Table 1-7 ： The list of the controller option equipment and special specification Classification Note1) Item Type Specifications Description CR800 CR800 Simple teaching pen - R32TB Cable length 7m ○...
General configuration Classification Note1) Item Type Specifications Description CR800 CR800 RT ToolBox3 Pro 3F-16D-WINE DVD-ROM Windows XP, Windows Vista, Windows 7, ○ ○ Windows 8, Windows 8.1, Windows 10 Supporting English. Robot CPU unit con - MR-J3BUS □ M-A Cable length 5, 20m □...
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[Reference]:The recommendation products of the USB cable are shown below Table 1-9 ： Recommendation article of the USB cable Name Type name Supplier Outside dimensions USB cable MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., GT09-C30USB-5P Fig. 1-5 (USB A type-USB mini B type) LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.
2Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications Table 2-1 ： Standard specifications of robot arm Item Unit Specifications RH-1FRHR5515 Type Environment Standard specification Installation posture Hanging Degree of freedom Structure Horizontal, multiple-joint type Drive system AC servo motor Position detection method Absolute encoder Motor capacity...
2Robot arm Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 1kg. ･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position. ･...
2Robot arm 2.1.3 The conveyance performance in conveyor tracking An example of the transfer system during conveyor tracking is shown for reference. We confirmed in our evaluation that an operation of 150 times per minute under the following conditions was possible.
2Robot arm (1) About the numbers of conveyance times in changing an operating range The number of transfer times for possible continuous operation when the tracking function is OFF is shown for reference. 1) Pattern 1 150 to 900mm (X-Y) Z=-450mm 300mm 25mm (Z)
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2Robot arm 2) Pattern 2 200 to 900mm (X-Y) Z=-450mm 300mm 25mm (Z) Z=-475mm 600mm Place x 1 Pick x 1 Dly: 0.035 [s] Dly: 0.035 [s] 900mm ・ Tracking: OFF ・ Payload: 1kg ・ Y-axis parallel ・ Conveyance pattern of the the Y-axis as a center (movement of J1 axis only) ・...
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2Robot arm 3) Pattern 3 200 to 500mm (X-Y) Z=-450mm 200mm 25mm (Z) Z=-475mm 300mm Place x 1 Pick x 1 Dly: 0.035 [s] Dly: 0.035 [s] 500mm ・ Tracking: OFF ・ Payload: 1kg ・ Y-axis parallel ・ Placing on the Y-axis (movement of both J1 and J2 axes) ・...
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).
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 fol - lowing issues.
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. Therefore, it is necessary to set the data of the actually mounted load in advance.
２ Robot arm 2.2.5 Vibration of shaft (J3 axis) position and arm end Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes long.
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２ Robot arm Table 2-7 ： Area in which acceleration/deceleration speed is compensated J3 axis stroke (mm) Compensation area (P2 to P3) Stroke length (Upper end) (Lower end) -480 -600 -600 ～ 510 (With optional bellows set) -450 -600 -600 ～ 510 J3 axis (Z) 120mm/150mm stroke...
２ Robot arm (3) 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: 1) Change the operation position of the Z axis to the location near the top as much as possible.
２ Robot arm 2.2.7 Protection specifications (1) Types of protection specifications The robot arm has protection specifications that comply with the IEC Standards. The protection specifications and applicable fields are shown in Table 2-9. Table 2-9 ： Protection specifications and applicable fields Protection Type specifications...
２ Robot arm 2.3 Names of each part of the robot Note1) Brake release switch ブレーキ解除スイッチ View A Note 1) The operation method of the brake release switch. The brake of the J3 axis can be released by operating this switch. When releasing the brake, please provide support or take other recaution to prevent the falling of J3 axis.
２ Robot arm 2.4 Outside dimensions ・ Operating range diagram (1) Standard Specification Note Rev. * 1. *1) indicates the space necessary to replace the battery. 2. *2) indicates The distance to a minimum bendable radius of the machine cable. 3.
２ Robot arm (2) Standard Specification (With bellows) Note Rev. * 1. *1) indicates the space necessary to replace the battery. 2. *2) indicates The distance to a minimum bendable radius of the machine cable. 3. *3) indicates screw holes (M4, depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, Two places on front surface.
２ Robot arm 2.4.2 Outside dimensions of machine cables Note) If using an optional machine cable (replacement), refer to Page 43, "(1) Machine cable (replacement)" in a diameter of the cable. Outside dimensions ・ Operating range diagram 2-30...
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. Primary piping pneumatic hose (AIR OUT, RETURN) Note) (7)Ethernet cable (8 cores) (4)Hand input signal connector (HC1, 2) (3)Hand output signal connector (GR1, 2) (5)Spare wire (two wires) Note) If the LAN connector is cut and...
２ Robot arm 2.5.2 Internal air piping 1) The robot has two φ6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. 2) The pneumatic inlet in the base section has a φ6 pneumatic coupling bridge. 3) The solenoid valve set (optional) or vacuum valve set (option) can be installed to the side on No.2 arm.
２ Robot arm 2.5.6 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 Fig.
２ Robot arm (1) Example of wiring and piping <1> By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact. 2次配管エアホースなど Secondary piping air hose, etc ・ケーブル内装配線・配管セット(オプション) ・ Internal Wiring/Piping set for hand (Option) (ハンドチューブ：φ3×4本、ハンド入力ケーブル(信号用4本、電源用2本)) (Hand tube: φ3 x 4 hoses, Hand input cable (For signal: 4 cable, For power: 2 cable)) または...
２ Robot arm (3) Precautions for the shaft through hole The through hole of the top part of the tip shaft are taped at shipment. Perform the following actions as necessary in order to ensure that the robot keeps sufficiently protective performance during the operation: 1) When the through hole of the shaft is not used Keep the top part of the tip shaft taped while the robot is in use.
２ Robot arm 2.5.7 Wiring and piping system diagram for hand *1), *2) *1), *2) * Refer to Fig. 2-22 for air supply circuit example. *1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally. (This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping, and holes for pulling out the cables.) *2) Using the Internal Wiring/Piping set for...
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２ Robot arm * Refer to Fig. 2-22 for air *1), *2) supply circuit example. *1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally. (This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping, and holes for pulling out the cables.) *2) Using the Internal Wiring/Piping set for hand, the hand input signal cable and air hose can be fed through the inside of the shaft.
２ Robot arm 2.5.8 Electrical specifications of hand input/output Table 2-11 ： Electrical specifications of input circuit Item Specifications Internal circuit Type DC input No. of input points Insulation method Photo-coupler insulation Rated input voltage 24VDC Rated input current approx.
2 Robot arm 2.5.9 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 paral - lel.
２ Robot arm 2.6 Shipping special specifications, options, and maintenance parts 2.6.1 Shipping special specifications ■ What are sipping special specifications? Shipping special specifications are changed before shipping from the factory. Consequently, it is necessary to confirm the delivery date by the customer. To make changes to the specifications after shipment, service work must be performed at the work site or the robot must be returned for service.
２ Robot arm (1) Bellows set ■ Order type: 1F-JS-21 ■ Outline By installing the bellows set at the tip of the shaft, scattering of the grease from the shaft can be prevented. Also, the IP65 rating and the cleanliness of ISO class 5 or better can be achieved.
２ Robot arm 2.7 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 2-42...
２ Robot arm (1) Machine cable (replacement) ■ Order type: ● Fixed type ... 1F- □□ UCBL-41 ● Flexed type..1F- □□ LUCBL-41 Note) The numbers in the boxes □□ refer the length. ■ Outline This cable is used for extending or shortening the distance between the controller and the robot.
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２ Robot arm ■ Cable configuration The configuration of the flexible cable is shown in Table 2-17. Refer to this table when selecting the cableveyor. Table 2-17 ： Cable configuration (Flexed type) Item Motor signal cable Motor power cable No. of cores AWG #24 (0.2mm )-4P AWG #28 (0.08mm...
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２ Robot arm ■ Fixing the flexible cable (1) Connect the connector to the robot arm. The connection method to a robot arm is the same as a standard machine cable. Please refer to the sep - arate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and connect. (2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten - sion section as shown below, and fix with the nylon clamp to protect the cable from external stress.
２ Robot arm (2) Stopper for changing the operating range ■ Order type: 1F-DH-01 ■ Outline The operating range of J1 axis is limited by the robot arm's mechanical stopper and the controller parameters. If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.
２ Robot arm (3) Solenoid valve set ■ Order type: One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type) Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type) Three sets: 1F-VD03-01(Sink type)/1F-VD03E-01(Source type) Four sets: 1F-VD04-01(Sink type)/1F-VD04E-01(Source type) ■ Outline The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm.
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２ Robot arm 50mm 80mm ① ⑤ ⑥ ③ ② ④ ⑦ <シンクタイプ> <ソースタイプ> Connector name Connector name コネクタ名 コネクタ名 白 白 White White +24V (COM) Reserved 予約 Reserved 予約 Black クロ アカ SOL1A SOL1A クロ...
２ Robot arm (4) Hand input cable ■ Order type: 1F-HC35C-01 ■ Outline The hand input cable is used for customer-designed pneumatic hands. It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller. One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand.
２ Robot arm (5) Hand output cable ■ Order type: 1F-GR60S-01 ■ Outline The hand output cable (solenoid valve connection cable) is an option that is used when a solenoid valve other than one of the solenoid valve set options, is used. One end of the cable has a connector that connects to the input terminal inside the robot.
２ Robot arm (6) Hand curl tube ■ Order type: Four sets....1E-ST0408C-300 ■ Outline The hand curl tube is a curl tube for the pneumatic hand. ■ Configuration Table 2-27 ： Configuration equipment Note1) Part name Type Qty. Remarks Mass (kg) Hand curl tube (Four set: 8 pcs.) 1E-ST0408C-300 1 pc.
２ Robot arm (7) Internal Wiring/Piping set for hand ■ Order type: 1F-HS304S-01 ■ Outline This set, consisting of air hoses and cables, is for feeding air hoses and hand input signal cables from the No. 2 arm through to the shaft tip. A plate is already attached to be fixed onto the No.
２ Robot arm (8) External Wiring/Piping box ■ Order type: 1F-UT-BOX ■ Outline Pull out Wiring/Piping This is a very useful option when removing the air hoses and signal lines from the rear of the No. 2 arm, and pulling hand wiring and piping out to the robot’s exterior. The joint for connects to the external hose is prepared, and the holes which fixes the signal cable to pull out with cable clamp are prepared.
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２ Robot arm Configuration Part name Qty. Specification <1> External Wiring/Piping box housing <2> Quick coupling φ4 (Elbow) <3> Quick coupling φ6 (Elbow) The grommet is attached to each hole. <4> φ21 hole (Two holes are in the right and the left.) <5>...
２ Robot arm (9) Vacuum valve set ■ Order type: 1 set..1F-VV01E-01 (Source type) 2 sets ..1F-VV02E-01 (Source type) ■ Outline The vacuum set is an option that is used for controlling the vacuum pressure supply and tooling, such as a suction hand, which can be installed at the tip of the arm. The valve set has a built-in pressure sensor, and its supply valve and breaking valve are interlocked.
２ Robot arm 2.8 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 speci - fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin - ued use.
J3 axis J4 axis motor side J4 axis shaft side Bellows set J4 axis shaft (Option) Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. Maintenance parts 2-58...
3Controller 3 Controller 3.1 Standard specifications 3.1.1 Basic specifications (1) CR800-D controller Table 3-1 ： Specifications of CR800-D controller Item Unit Specification Remarks Type CR800-01HRD Number of control axis Simultaneously 4 Additional 8 axes available. Memory Programmed positions point 39,000 capacity No.
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3Controller Item Unit Specification Remarks Note7) 2 or less Pollution level Altitude 1000 or less Note8) Grounding Ω 100 or less or less (class D grounding) Ω Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8, PANTONE: 432C Note1) Pose teaching method: The method to register the current position of the robot arm. MDI method: The method to register by inputting the numerical value Immediate.
3Controller (2) CR800-R controller Use the robot CPU unit which connects to CR800-R controller, equipping the base unit of the sequencer of the MELSEC iQ-R series of our company. Specifications such as the power supply and outside dimension of the robot CPU unit are the same as the sequencer's specification.
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3Controller Item Unit Specification Remarks Note6) II or less Overvoltage category Note7) 2 or less Pollution level Altitude 1000 or less Note8) Grounding Ω 100 or less Ω or less (class D grounding) Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8, PANTONE: 432C Note1) Pose teaching method: The method to register the current position of the robot arm.
3Controller Table 3-3 ： Robot CPU unit (CR800-R controller) standard specification Item Unit Specification Remarks Type R16RTCPU Interface Addition axis synchronization port Power source Power capacity (DC5V) Outline dimension 27.8(W)×110(D)×106(H) Mass Ambient In use ℃ 0 to 55 Without freeze temperature At transport/storage -15 to +70...
3 Controller 3.2 Names of each part 3.2.1 Controller Fig.3-1 ： Names of controller parts <1> ACIN connector........Supplied ACIN cable connector (input voltage: AC200V). Refer to a separate manual “INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance” for how to connect a power cable. Number of ACIN cable phase...
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3 Controller <6> TB connector..........Dedicated connector for connecting T/B. <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.
3 Controller 3.2.2 Robot CPU unit (1) CR800-R controller Fig.3-2 ： Names of each part of the robot CPU unit (CR800-R controller) <1> <2> LED ............Indicators for the operation status and the error status of the robot CPU. READY LED ERROR LED CPU status Power is off or a hardware error occurred.
3 Controller 3.3.2 Installation dimensions (1) Controller 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.3-5 ： Installation dimensions CAUTION Fixing installation section sure for prevention from the fall, when using the controller placing vertically.
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3 Controller Fig.3-6 ： Reference figure of the fixing metal plate for vertical installation Outside dimensions/Installation dimensions 3-70...
3 Controller (2) Robot CPU unit Because to improve ventilation and to make unit replacement easy, please secure the following distance between the upper and lower sides of the unit and the structure, etc. Fig.3-7 ： Installation of robot CPU Unit Outside dimensions/Installation dimensions 3-71...
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 .........These are inputs and outputs related to the hand that the customer can program.
3 Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-4. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi - cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.
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3 Controller Input Output Parameter Note1) name Name Function Level Name Function S1STOP Outputs that each slot is temporarily Stop input Stops each slot. In wait output stopped. S32STOP PRGSEL Program selection Designates the setting value for input signal the program No. with numeric value None input signals.
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3 Controller Input Output Parameter Note1) name Name Function Level Name Function M1PTEXC Maintenance parts replacement time Outputs that the maintenance parts None warning signal have reached the replacement time. M3PTEXC USER - Outputs that the robot is in the user- User-designated area None Note3)
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 3-5 ： Special input/output terminal Item Name Function...
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3 Controller CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.
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3 Controller Fig.3-9 ： External emergency stop connection CAUTION Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 131, "6.1.7 Examples of safety measures". This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.
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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 ...
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 Fig. 3-11. Table 3-6 ： Special stop input electric specification Item Specifications Internal circuit Type DC input...
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.
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 3-8 ： Various operations and necessary switch settings Note1) Related switch settings Mode selector Door switch Operation...
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.
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 3-10 ： Combination of a servo amplifier and filter (Soshin Electric) Recommended filter (Soshin Electric) Servo amplifier Mass [kg]...
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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.
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.3-16 ：...
3 Controller 3.8 Magnet contactor control connector output (AXMC) for addition axes When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (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.
3 Controller (2) Image of how to connect the controller connector * Refer to Page 79 "Fig. 3-10: Wiring method to the user wiring connector" for more details about how to wire a connector. Fig.3-18 ： AXMC terminal connector Magnet contactor control connector output (AXMC) for addition axes 3-88...
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. 3-89...
In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".
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3 Controller 195.2 105.5 Enable/Disable switch Emergency stop Operetion key Body Enable switch Cable (with connector) Fig.3-19 ： 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) 3-91...
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3 Controller ■ Key layout and main functions ② ④ ① ③ ⑤ ⑤ ⑥ ⑥ ⑧ ⑦ ⑨ ⑩ ⑪ ⑰ ⑫ ⑱ ⑬ ⑭ ⑲ ⑮ ⑯ ⑳ ① [Emergency stop] switch ......The robot servo turns OFF and the operation stops immediately. ②...
In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".
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3 Controller ■ Outside dimensions and main functions ) 9) 19) 20) 37.2 55.3 21.5 1) TEACH button ........This changeover switch is used to enable or disable the T/B key operations. The lamp (white) lights up during enabling state. 2) Wheel ............Move the cursor to select the menu and so on. 3) Emergency stop button .....This stops the robot in an emergency state.
3 Controller (3) Function extension card ■ Order type: 2F-DQ510 ......MELFA Smart Plus card pack 2F-DQ511 ......MELFA Smart Plus card ■ Outline This card is used to enable the MELFA Smart Plus option. Insert this card in the option slot on the front of the controller, and enable the MELFA Smart Plus software extension function.
3 Controller (4) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro RT ToolBox3 ■ Order type ： ● MELSOFT *For windows CD-ROM : 3F-14C-WINE RT ToolBox3 mini ● MELSOFT *For windows CD-ROM : 3F-15C-WINE RT ToolBox3 Pro ● MELSOFT *For windows DVD-ROM : 3F-16D-WINE ■...
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3 Controller ■ Functions Table 3-18 ： Functions Note1) Function Details Functional existence Compatible model Personal computer running Windows XP, Windows Vista, Windows 7, ○ ○ ○ Note2) Windows 8, Windows 8.1, or Windows 10. Program editing Editing functions ・ MELFA BASIC V, VI language compatible functions ・...
3 Controller (5) Instruction Manual (bookbinding) ■ Order type: ● 5F-GM01-PE01.....RH-1FRHR 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-GM01-PE01...
3 Controller 3.9.2 CR800-D controller (1) 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.
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3 Controller Table 3-22 ： Electrical specifications for the output circuits Specification Internal circuit Item 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 ～ 30V (peak voltage DC30V) Max.
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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.3-23 ： 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.
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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 5D- Black a +24V/+12V(COM): For Orange/Red Orange/ pins 5D-20D COM ：...
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3 Controller The example of connection with our PLC QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (+24/+12V) Output Output Fuse (24G/12G) External power supply *The input/output circuit external QY41P power supply (24 VDC) must be (Mitsubishi programmable (Input) controller) prepared by the customer.
3 Controller (2) 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 con - nector on the parallel I/O interface.
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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 speci - fications in "Table 3-41: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...
3 Controller (3) 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). ・...
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3 Controller Table 3-33 ： Electrical specifications for the output circuits Item Specification Internal circuit Type Transistor output No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage 12VDC/24VDC Output 出力 Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC) Max.
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3 Controller List of parts and manufacturer Type Connector type Contact type Resistant Manufacturer 1-178288-3 (2) 1-175218-2 (6) Tyco Electronics NETcable-1 51103-0300 (1) 50351-8100 (3) MOLEX J21DF-06V-KX-L (4) J21DF-06V-KX-L (1) DCcable-2 2-178288-3 (1) 1-175218-5 (3) Tyco Electronics R-TM 1-178288-3 (1) 1-175218-3 (2) 100Ω(1/4W) (1) Equivalent to KOA.
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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...
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3 Controller Sheath Sheath Metal braid section Peel the sheath in the position about 200-300mm from the connector end of the cable, so you can install and remove the cover. * Don't damage the shield line. RIOコネクタ Parallel I/O unit 7 Parallel I/O unit 1 .
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3 Controller ■ Pin arrangement of the connector Channel No. setting LED display *1)TXD LED display ＜CN300＞ Indicator for the 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 Output 0 to 15 condition.
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3 Controller ■ Parallel I/O interface (First expansion unit) Table 3-35 ： Connector CN100pin No. and signal assignment list (2A-CBL □□ Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common Orange/Red A Orange/Blue A Gray/Red A 0V:For pins 4-7, 10-13 Gray/Blue A...
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3 Controller Table 3-36 ： 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...
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3 Controller The example of connection with our PLC QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (+24/+12V) Output Output Fuse (24G/12G) External *The input/output circuit external power supply QY41P power supply (24 VDC) must be (Mitsubishi programmable (Input) prepared by the customer.
3 Controller (4) External I/O cable ■ Order type: 2A-CBL □□ Note） The numbers in the boxes □□ refer to the length. （05: 5m、 15: 15m） ■ Outline This is the dedicated cable used to connect an external peripheral device to the con - nector on the parallel input/output unit.
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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 speci - fications in "Table 3-41: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication １...
3 Controller (5) 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. ■...
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3 Controller ■ Specifications Table 3-44 ： Specifications Item Specifications Remarks Communication function Bit data and word data can be transmitted. Word data are used by the registers. Note1) Station type Intelligent device station Support station Local station No master station function The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.
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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. ・...
3 Controller (6) SD memory card ■ Order type: 2F-2GBSD ■ Outline This card is used as an extended memory. Insert this card to the slot (SD CARD) on the front of the controller, and store robot programs, logging data, or other data. ■...
Table 3-46 ： 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 3-121...
4Software 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) Structured Function procedure Defines the Function procedure. Function M Func(M1, M2) program - Function procedure summarizes a series of processing enclosed by...
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4Software Type Class Function Input format (example) Position Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1 and opera - Operates the pallet grid point position. Plt 1,M1 tion control Singular point pas - Move to a specified position using linear interpolation passing Mvs P1 Type 0,2 sage through a singular point.
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4Software 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.
4Software 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.
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4Software 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.
5Instruction Manual 5 Instruction Manual 5.1 The details of each instruction manuals The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application. For special specifications, a separate instruction manual describing the special section may be enclosed. Manual name Description Safety Manual...
6Safety 6 Safety 6.1 Safety Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation Rules". Always follow these rules when using the robot to ensure safety. 6.1.1 Self-diagnosis stop functions This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2...
6Safety 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 switch.
6Safety (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 Com - mittee, etc., is recommended for safety training.
6Safety 6.1.7 Examples of safety measures Two emergency-stop input circuits are prepared on the user wiring terminal block of the controller. 6-4. Create a circuit as shown below for safety mea - The safety measure examples are shown in Fig. 6-1 Fig.
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6Safety : 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 emer - gency stop state by the peripheral equipment side. ...
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6Safety : 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 of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side. ...
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2 systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)). 3) 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.
6Safety (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.
6Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures. (1) Power supply ・...
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6Safety (6) The robot arm and controller must be grounded with 100Ω or less (class D grounding) to secure the noise resistance and to prevent electric shocks. (7) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.
7Appendix 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.
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7Appendix Appendix 3 ： Specifications discussion material ■ Customer information Company name Name Address Telephone ■ Purchased model Item Type Arm length Stroke Controller General specification RH-1FRHR5515-D CR800-01HRD ■ 550 ■ 150 RH-1FRHR5515-R CR800-01HRR ■ Shipping special specifications Item Standard specification Special shipping specifications Robot arm Bellows set...
7Appendix Specifications discussion material Appendix-141...
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HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: Mitsubishi Electric Europe B.V. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 Dec., 2018 MEE Printed in Japan on recycled paper.
