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Mitsubishi Electric Melfa RV2FR series Specifications Manual PDF
Summary of Content for Mitsubishi Electric Melfa RV2FR series Specifications Manual PDF
Mitsubishi Electric Industrial Robot CR800 Series Controller
RV-FR Series Standard Specifications Manual
RV-2FR series RV-4FR series RV-7FR series RV-13FR series RV-20FR series
BFP-A3470-S
All teaching work must be carried out by an operator who has received special training. (This also applies to maintenance work with the power source turned ON.) Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the power source turned ON.) Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work. (This also applies to maintenance work with the power source turned ON.) Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the start switch, etc. (This also applies to maintenance work with the power source turned ON.) Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and robot. Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow this method. Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that maintenance work is in progress on the start switch, etc. Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related devices, etc., and confirm that there are no errors. Inspection before starting work
Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken.
Safety Precautions
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION
The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details.
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. must be designed by the customer.
Use the robot within the environment given in the specifications. Failure to do so could lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting the robot in a non-designated posture could lead to personal injuries or faults from dropping.
Always use the robot installed on a secure table. Use in an instable posture could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to observe this could lead to personal injuries or damage if the object comes off or flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc.
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.
Never carry out modifications based on personal judgments, or use non- designated maintenance parts. Failure to observe this could lead to faults or failures.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
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.
Do not stop the robot or apply emergency stop by turning the robot controller's main power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected. Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or rewriting the program or parameters, the internal information of the robot controller may be damaged.
Do not connect the Handy GOT when using the GOT direct connection function of this product. Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.
Do not connect the Handy GOT to a programmable controller when using an iQ Platform compatible product with the CR800-R/CR800-Q controller. Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.
Do not remove the SSCNET III cable while power is supplied to the multiple CPU system or the servo amplifier. Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo amplifier. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
Do not remove the SSCNET III cable while power is supplied to the controller. Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables. Eye discomfort may be felt if exposed to the light. (Reference: SSCNET III employs a Class 1 or equivalent light source as specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, and leading to malfunction.
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 emer- gency stop, and door switch) are working properly after the wiring setup is com- pleted.
WARNING
CAUTION
CAUTION
DANGER
DANGER
DANGER
DANGER
DANGER
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. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.
To maintain the security (confidentiality, integrity, and availability) of the robot
and the system against unauthorized access, DoS*1 attacks, computer viruses, and other cyberattacks from unreliable networks and devices via network, take appropriate measures such as firewalls, virtual private networks (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.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading sys- tems or exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.
CAUTION
CAUTION
*CR800 controller
Notes of the basic component are shown.
Please install the earth leakage breaker in the primary side power supply of the controller because of leakage protection.
1) Prepare the following items.
2) Confirm that the primary power matches the specifications. 3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF. 4) Connect the ACIN cable to the breaker.
Connect the power terminals of the ACIN cable to the secondary side terminals of the earth leakage breaker. Also, ground the FG terminal of the cable.
5) Connect the ACIN cable to the ACIN connector on the rear of the controller. <1> Face the main key on the ACIN cable plug upwards. (Refer to the "ACIN cable connection" illustration.) <2> Align the main key of the ACIN cable plug with the grooves on the ACIN connector. Push the plug into the connector as far as it will go. The plug may be damaged if it is not correctly aligned with the connector. <3> Tighten the coupling on the ACIN cable, turning it to the right until it locks.
6) Connect one end of the grounding cable to the PE (protective earth) terminal on the controller and ground the other end (2-point grounding) in order to comply with the requirements of EN 61800-5-1 for the touch cur- rent of 3.5 mA AC or more.
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
Part name Specifications Remarks
Earth leakage breaker The following is recommended product. Prepared by customer.
Single phase: NV30FAU-2P-10A-AC100-240V-30mA
(Terminal cover: TCS-05FA2)
Three phase: NV30FAU-3P-10A-AC100-240V-30mA
(Terminal cover: TCS-05FA3)
Cable for primary power supply AWG14 (2mm2) or above Prepared by customer.
Tightening torque for terminal
fixing screw is 2 3Nm.
Grounding cable AWG14 (2mm2) or above Prepared by customer.
Tightening torque for terminal
fixing screw is 2 3Nm.
ACIN cable Terminal: M5, cable length: 3m Supplied with the product.
CAUTION
Note 1) Always use the terminal cover for the earth leakage breaker.
L1 L2 L3 L N
Controller rear
ACIN cable (attachment)
PE terminal PE terminal
PE terminal
Primary side
Secondry side
Single phase AC200V
Three phase AC200V
ACIN connector
PE (protective earth) terminal M4 screw
Grounding cable
Note 1) Earth leakage breaker (NV)
<3>
<1> <2>
ACIN cable connection
ACIN cable (male)
ACIN connector (female) Main key (wide)
Top
Top
Coupling
Groove for main key (wide)
Revision history
Date of print Specifications No. Details of revisions
2017-04-06 BFP-A3470 First print.
2017-06-29 BFP-A3470-A The distance to a minimum bendable radius of the machine cable was corrected. (Fig.
2-19, Fig. 2-21)
2017-11-01 BFP-A3470-B Description of countermeasures against unauthorized access was added.
Descriptions of CR800-R controller were supplemented.
Correction of errors.
GOT1000 was deleted.
Description of optional SD memory card was moved to "3.9.2 CR800-D controller".
2018-03-01 BFP-A3470-C Descriptions of CR800-Q controller were added.
Correction of figures. (Fig. 2-25 to 38, 49, and 50)
Correction of errors. (Table 2-4: Secondary piping of RV-7FRLL)
Notes were added to section 3.6.
Environmental conditions of electromagnetic noise was modified.
2018-06-01 BFP-A3470-D Revised the cycle time of RV-7FRL-SH (0.35 was incorrect)
Listed the representative models for the cycle time (Tables 2-2 to 2-5)
2018-09-03 BFP-A3470-E Function extension card (2F-DQ520, 2F-DQ521) were added.
MELFA-3D Vision 2.0 (4F-3DVS2-PKG3) was added.
MELFA-3D Vision (4F-3DVS2-PKG1) was deleted.
2018-12-25 BFP-A3470-F Added further explanation of the ACIN cable.
Added a network base card for EtherCAT (2F-DQ535-EC).
3.8 Magnet contactor control connector output (AXMC) for addition axes was
modified.
2019-04-19 BFP-A3470-G Correction of errors.
Communication interface between robot controllers of CR800-D controller was
deleted.
Description of connectors (EXT1, OPT1, OPT2) was modified.
2019-07-18 BFP-A3470-H Added the procedure for enabling the safety diagnosis function (STO function).
2020-01-24 BFP-A3470-J Adopted the DVD-ROM format for RT ToolBox3/RT ToolBox3 mini.
Added a figure to "2.1.2 The counter-force applied to the installation surface".
Correction of errors.
Corrected the specifications of valves for solenoid valve sets. (Table 2-32)
Corrected the name of a contact for NETcable-1 and the number of connectors/
contacts. (Fig. 3-33)
Corrected the name of a signal. (Table 7-2)
2020-10-30 BFP-A3470-K Amended the precautions regarding the prevention of unauthorized access.
Corrected the precautions that should be taken when ceiling-mounting the robot.
Added an example of a protective circuit. (Fig. 3-10)
Removed Windows XP and Windows Vista from the supported operating systems for
RT ToolBox3, RT ToolBox3 mini, and RT ToolBox3 Pro.
Added information to the specifications of the earth leakage breaker.
Added precautions for vertical installation of the robot controller.
Corrected other mistakes and changed some sections.
2021-01-22 BFP-A3470-M Added 6.4 EMC installation guideline.
2021-01-29 BFP-A3470-N Updated contents for the optional product "MELFA-3D Vision 3.0 (3F-53U-WINM)".
Deleted the optional product "MELFA-3D Vision 2.0 (4F-3DVS2-PKG3)" and
associated parts.
2021-04-01 BFP-A3470-P Added the Safety Communication Function Instruction Manual.
Elaborated on explanations on the STO function.
2021-09-30 BFP-A3470-R Corrected the explanation of the parameter "SRVON".
Added illustrations showing the installation position of ferrite cores. (Fig. 3-11)
Revised "(1) Parallel I/O interface".
Revised "(3) Parallel I/O unit".
Corrected the explanation of noise in "6.2 Working environment".
Corrected other mistakes and changed some sections.
2022-01-31 BFP-A3470-S Revised "6.4 EMC installation guideline".
Corrected other mistakes and changed some sections.
Date of print Specifications No. Details of revisions
Introduction
This series provides compact vertical multi-joint robots for use in machine processes and assemblies.
However, to comply with the target application, a work system having a well-balanced robot arm, periph- eral devices or robot and hand section must be structured.
When creating these specifications manual, we have edited them so that the Mitsubishi robot's character- istics and specifications can be easily understood by users considering the implementation of robots. However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these specifications manual and use our robots.
Note that in this specification document the specifications related to the robot arm is described Page 21, "2 Robot arm", the specifications related to the controller Page 107, "3 Controller", and software func- tions and a command list Page 184, "4 Software" separately.
This document has indicated the specification of the following types robot.
Robot type Series
(generic name used in this document for robots listed
in each row)
RV-2FR-D/R/Q RV-2FRL-D/R/Q RV-2FRB-D/R/Q
RV-2FRLB-D/R/Q
RV-2FR series
RV-4FR-D/R/Q RV-4FRL-D/R/Q RV-4FRJL-D/R/Q RV-4FR series
RV-7FR-D/R/Q RV-7FRL-D/R/Q RV-7FR series
RV-7FRLL-D/R/Q, RV-13FR-D/R/Q, RV-13FRL-D/R/Q,
RV-20FR-D/R/Q
RV-13FR series
No part of this manual may be reproduced by any means or in any form, without prior consent from Mit- subishi.
The contents of this manual are subject to change without notice. The specifications values are based on Mitsubishi standard testing methods. The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may occur". Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
This is the original document. Microsoft, Windows, Windows 7, Windows 8, Windows 8.1, Windows 10 are either registered trademarks or
trademarks of Microsoft Corporation in the United States and/or other countries. The official name of Windows is MicrosoftWindowsOperating System. Windows 7, Windows 8, Windows 8.1, Windows 10 are either product names of Microsoft Corpora-
tion in the United States. Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States. 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. Illustrations in this Instruction Manual may differ from the actual products.
Copyright(C) 2017-2022 MITSUBISHI ELECTRIC CORPORATION
Contents
i
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 ................................................................................................................................ 1-2
(1) RV-2FR series .............................................................................................................................................................. 1-2 (2) RV-4FR/7FR/13FR series ...................................................................................................................................... 1-3
1.2.2 Combination of the robot arm and the controller .............................................................................................. 1-4 (1) Stand alone type .......................................................................................................................................................... 1-4 (2) MELSEC iQ-R compatible type ............................................................................................................................. 1-5 (3) MELSEC-Q compatible type .................................................................................................................................. 1-6
1.2.3 Internal wiring and piping specification types ...................................................................................................... 1-7
1.3 Indirect export .......................................................................................................................................................................... 1-7
1.4 Instruction manuals ................................................................................................................................................................ 1-7
1.5 Contents of the structural equipment ............................................................................................................................ 1-8 1.5.1 Robot arm ........................................................................................................................................................................... 1-8
(1) RV-2FR series .............................................................................................................................................................. 1-8 (2) RV-4FR/7FR/13FR series ...................................................................................................................................... 1-9
1.5.2 Controller .......................................................................................................................................................................... 1-10 (1) CR800-D controller .................................................................................................................................................. 1-10 (2) CR800-R controller .................................................................................................................................................. 1-11 (3) CR800-Q controller .................................................................................................................................................. 1-13
1.5.3 Function extension device ......................................................................................................................................... 1-15
1.6 Contents of the Option equipment and special specification ............................................................................ 1-16 1.6.1 List of the robot arm option equipment and special specification ........................................................... 1-16
(1) RV-2FR series ............................................................................................................................................................ 1-16 (2) RV-4FR/7FR/13FR series .................................................................................................................................... 1-16
1.6.2 List of the controller option equipment and special specification ............................................................ 1-18 1.6.3 Function extension device ......................................................................................................................................... 1-19
2 Robot arm ......................................................................................................................................................................................... 2-21
2.1 Standard specifications ...................................................................................................................................................... 2-21 2.1.1 Basic specifications ...................................................................................................................................................... 2-21
(1) RV-2FR series ............................................................................................................................................................ 2-21 (2) RV-4FR/7FR series ................................................................................................................................................. 2-23 (3) RV-13FR series ......................................................................................................................................................... 2-27
2.1.2 The counter-force applied to the installation surface ................................................................................... 2-30
2.2 Definition of specifications ................................................................................................................................................ 2-31 2.2.1 Pose repeatability .......................................................................................................................................................... 2-31 2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-32 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-35
(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-35 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-36 2.2.5 Collision detection ......................................................................................................................................................... 2-36 2.2.6 Protection specifications ............................................................................................................................................ 2-37
(1) Types of protection specifications .................................................................................................................... 2-37 (2) About the use with the bad environment ........................................................................................................ 2-38
2.2.7 Clean specifications ...................................................................................................................................................... 2-39
2.3 Names of each part of the robot .................................................................................................................................... 2-40
2.4 Outside dimensions Operating range diagram ........................................................................................................ 2-41 (1) RV-2FR/2FRB ............................................................................................................................................................ 2-41 (2) RV-2FRL/2FRLB ...................................................................................................................................................... 2-43 (3) RV-4FR ......................................................................................................................................................................... 2-45
Contents
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Page
(4) RV-4FRL/4FRJL ....................................................................................................................................................... 2-47 (5) RV-7FR ......................................................................................................................................................................... 2-49 (6) RV-7FRL ....................................................................................................................................................................... 2-51 (7) RV-7FRLL .................................................................................................................................................................... 2-53 (8) RV-13FR/20FR .......................................................................................................................................................... 2-55 (9) RV-13FRL .................................................................................................................................................................... 2-57
2.4.1 Outside dimensions of machine cables ................................................................................................................ 2-59
2.5 Tooling ........................................................................................................................................................................................ 2-60 2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-60
(1) RV-2FR series ............................................................................................................................................................ 2-60 (2) RV-4FR/7FR/13FR series standard specification (with no internal wiring and piping) .............. 2-61 (3) RV-4F/7F/13F series internal wiring and piping specification (SH01) .............................................. 2-62 (4) RV-4FR/7FR/13FR series internal wiring and piping specification (SH02) ..................................... 2-63 (5) RV-4FR/7FR/13FR series internal wiring and piping specification (SH03) ..................................... 2-64 (6) RV-4FR/7FR/13FR series internal wiring and piping specification (SH04) ..................................... 2-65 (7) RV-4FR/7FR/13FR series internal wiring and piping specification (SH05) ..................................... 2-66
2.5.2 Internal air piping ............................................................................................................................................................ 2-67 (1) RV-2FR series ............................................................................................................................................................ 2-67 (2) RV-4FR/7FR/13FR series .................................................................................................................................... 2-67
2.5.3 Internal wiring for the hand output cable ............................................................................................................ 2-67 (1) RV-2FR series ............................................................................................................................................................ 2-67 (2) RV-4FR/7FR/13FR series .................................................................................................................................... 2-67
2.5.4 Internal wiring for the hand input cable ................................................................................................................ 2-68 (1) RV-2FR series ............................................................................................................................................................ 2-68 (2) RV-4FR/7FR/13FR series .................................................................................................................................... 2-68
2.5.5 Ethernet cable, option wiring cable ........................................................................................................................ 2-68 (1) RV-4FR/7FR/13FR series .................................................................................................................................... 2-68
2.5.6 Wiring and piping system diagram for hand ......................................................................................................... 2-69 (1) RV-2FR series ............................................................................................................................................................ 2-69 (2) RV-4FR/7FR/13FR series standard specification (with no internal wiring and piping) .............. 2-70 (3) RV-4FR/7FR/13FR series internal wiring and piping specification (SH01) ..................................... 2-71 (4) RV-4FR/7FR/13FR series internal wiring and piping specification (SH02) ..................................... 2-72 (5) RV-4FR/7FR/13FR series internal wiring and piping specification (SH03) ..................................... 2-73 (6) RV-4FR/7FR/13FR series internal wiring and piping specification (SH04) ..................................... 2-74 (7) RV-4FR/7FR/13FR series internal wiring and piping specification (SH05) ..................................... 2-75
2.5.7 Electrical specifications of hand input/output .................................................................................................. 2-76 2.5.8 Air supply circuit example for the hand ............................................................................................................... 2-77 2.5.9 About the Installation of Tooling Wiring and Piping ......................................................................................... 2-77
2.6 Options ....................................................................................................................................................................................... 2-78 (1) Machine cable (replacement) ............................................................................................................................... 2-79 (2) Stopper for changing the operating range (RV-2FR series) ................................................................... 2-82 (3) J1 axis operating range change (RV-4FR/7FR/13FR series) ............................................................... 2-83 (4) Solenoid valve set (RV-2FR series) .................................................................................................................. 2-89 (5) Solenoid valve set (RV-4FR/7FR/13FR series) .......................................................................................... 2-91 (6) Hand input cable (RV-2FR series) ..................................................................................................................... 2-95 (7) Hand input cable (RV-4FR/7FR/13FR series) ............................................................................................. 2-96 (8) Hand output cable (RV-2FR series) .................................................................................................................. 2-97 (9) Hand output cable (RV-4FR/7FR/13FR series) .......................................................................................... 2-98 (10) Hand curl tube .......................................................................................................................................................... 2-99 (11) Forearm external wiring set/ Base external wiring set (RV-4FR/7FR/13FR series) ............ 2-101
2.7 About Overhaul ................................................................................................................................................................... 2-105
2.8 Maintenance parts .............................................................................................................................................................. 2-106
3 Controller ....................................................................................................................................................................................... 3-107
3.1 Standard specifications ................................................................................................................................................... 3-107 3.1.1 Basic specifications ................................................................................................................................................... 3-107
(1) CR800-D controller ............................................................................................................................................... 3-107
Contents
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Page
(2) CR800-R controller ............................................................................................................................................... 3-110 (3) CR800-Q controller ............................................................................................................................................... 3-113
3.1.2 Protection specifications and operating supply ............................................................................................. 3-115 (1) Protection specifications .................................................................................................................................... 3-115 (2) Operating supply ..................................................................................................................................................... 3-115
3.2 Names of each part ........................................................................................................................................................... 3-116 3.2.1 Controller ....................................................................................................................................................................... 3-116 3.2.2 Robot CPU unit ........................................................................................................................................................... 3-118
(1) CR800-R controller ............................................................................................................................................... 3-118 (2) CR800-Q controller ............................................................................................................................................... 3-119
3.3 Outside dimensions/Installation dimensions ........................................................................................................... 3-120 3.3.1 Outside dimensions .................................................................................................................................................... 3-120
(1) Controller ................................................................................................................................................................... 3-120 (2) Robot CPU unit ....................................................................................................................................................... 3-121
3.3.2 Installation dimensions .............................................................................................................................................. 3-123 (1) Controller ................................................................................................................................................................... 3-123 (2) Robot CPU unit ....................................................................................................................................................... 3-125
3.4 External input/output ....................................................................................................................................................... 3-126 3.4.1 Types ............................................................................................................................................................................... 3-126
3.5 Dedicated input/output ................................................................................................................................................... 3-127
3.6 Emergency stop input and output etc. ...................................................................................................................... 3-130 3.6.1 Connection of the external emergency stop and mode selector switch ............................................ 3-131 3.6.2 Special stop input (SKIP) ........................................................................................................................................ 3-135 3.6.3 Door switch function ................................................................................................................................................. 3-136 3.6.4 Mode selector switch function .............................................................................................................................. 3-136
(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings ........... 3-137
3.7 Additional Axis Function .................................................................................................................................................. 3-138 3.7.1 Wiring of the Additional Axis Interface .............................................................................................................. 3-138 3.7.2 Example of the installation of the noise filter ................................................................................................. 3-139
(1) Line noise filter ....................................................................................................................................................... 3-141
3.8 Additional axis synchronization output ..................................................................................................................... 3-142 (1) Example circuit ........................................................................................................................................................ 3-142 (2) Image of how to connect the controller connector ................................................................................. 3-143
3.9 Options .................................................................................................................................................................................... 3-144 3.9.1 CR800-D/R/Q controller common ..................................................................................................................... 3-145
(1) Teaching pendant (T/B) ...................................................................................................................................... 3-145 (2) High efficient teaching pendant (T/B) ........................................................................................................... 3-148 (3) Function extension card ...................................................................................................................................... 3-150 (4) Controller protection box .................................................................................................................................... 3-151 (5) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro ............ 3-156 (6) Instruction Manual (bookbinding) ..................................................................................................................... 3-158
3.9.2 CR800-D controller ................................................................................................................................................... 3-159 (1) Parallel I/O interface ............................................................................................................................................ 3-159 (2) External I/O cable .................................................................................................................................................. 3-165 (3) Parallel I/O unit ...................................................................................................................................................... 3-167 (4) External I/O cable .................................................................................................................................................. 3-177 (5) CC-Link interface .................................................................................................................................................. 3-179 (6) SD memory card ..................................................................................................................................................... 3-182
3.10 Maintenance parts ........................................................................................................................................................... 3-183
4 Software ......................................................................................................................................................................................... 4-184
4.1 List of commands ............................................................................................................................................................... 4-184
4.2 List of parameters .............................................................................................................................................................. 4-187
5 Instruction Manual ..................................................................................................................................................................... 5-189
5.1 The details of each instruction manuals ................................................................................................................... 5-189
Contents
iv
Page
6 Safety .............................................................................................................................................................................................. 6-190
6.1 Safety ...................................................................................................................................................................................... 6-190 6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-190 6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-191 6.1.3 Precautions for using robot .................................................................................................................................... 6-191
(1) Robot installation .................................................................................................................................................... 6-191 (2) Prevention of contact with operator .............................................................................................................. 6-191 (3) Work procedures ..................................................................................................................................................... 6-191 (4) Training ....................................................................................................................................................................... 6-192 (5) Daily inspection and periodic inspection ...................................................................................................... 6-192
6.1.4 Safety measures for automatic operation ........................................................................................................ 6-192 6.1.5 Safety measures for teaching ............................................................................................................................... 6-192 6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-192 6.1.7 Examples of safety measures ................................................................................................................................ 6-193
(1) External emergency stop connection [supplementary explanation] ................................................. 6-197
6.2 Working environment ......................................................................................................................................................... 6-198 (1) Power supply ............................................................................................................................................................ 6-198 (2) Noise ............................................................................................................................................................................ 6-198 (3) Temperature and humidity .................................................................................................................................. 6-198 (4) Vibration ..................................................................................................................................................................... 6-198 (5) Installation environment ...................................................................................................................................... 6-198
6.3 Precautions for handling .................................................................................................................................................. 6-198
6.4 EMC installation guideline ............................................................................................................................................... 6-201 6.4.1 Outlines ........................................................................................................................................................................... 6-201 6.4.2 EMC .................................................................................................................................................................................. 6-201 6.4.3 EMC measures ............................................................................................................................................................. 6-201 6.4.4 Example of EMC measures ..................................................................................................................................... 6-202
(1) RV-2FR series, RV-4FR series, RV-7FR series ...................................................................................... 6-202 (2) RV-13FR series (RV-13FR/13FRL, RV-20FR, RV-7FRLL) ................................................................ 6-203
6.4.5 Parts for EMC measures ......................................................................................................................................... 6-203 7Appendix ........................................................................................................................................................................... Appendix-204
Appendix 1 Inertia calculation method ........................................................................................................ Appendix-204 Appendix 2 Classification of functions using external input/output signals ................................ Appendix-205 Appendix 3 Safety diagnosis function (Test pulse diagnosis) ............................................................ Appendix-206 Appendix 4 Safety block diagram ................................................................................................................... Appendix-207 Appendix 5 Specifications discussion material (RV-2FR series) ..................................................... Appendix-208 Appendix 6 Specifications discussion material (RV-4FR/7FR series) .......................................... Appendix-209 Appendix 7 Specifications discussion material (RV-7FRLL) .............................................................. Appendix-210 Appendix 8 Specifications discussion material (RV-13FR/13FRL) ................................................. Appendix-211 Appendix 9 Specifications discussion material (RV-20FR) ................................................................ Appendix-212
1General configuration
Structural equipment 1-1
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.
1.1.2 Special specifications For the special specifications, some standard configuration equipment and specifications have to be changed before factory shipping. Confirm the delivery date and specify the special specifications at the order.
1.1.3 Options User can install options after their delivery. The customer needs to arrange for the installation.
1.1.4 Maintenance parts Materials and parts for the maintenance use.
No. Item Stand alone type MELSEC iQ-R compatible type
MELSEC-Q compatible type
1 Robot arm
2 Controller
3 Robot CPU unit (MELSEC iQ-R compatible)Note1)
Note1) Including robot CPU unit connecting cable
- -
Robot CPU unit (MELSEC-Q compatible)Note1) - -
4 Machine cable
5 Robot arm installation bolts
6 CD-ROM (Instruction manual)
1-2 Model type name of robot
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 (1) RV-2FR series
RV - 2FR L - -Sxx (a) (b) (c) (d) (e)
(a) RV-2FR .................................... Indicates the RV-2FR series
(b) L................................................... Indicates long arm type. Ex)
Omitted: Standard type L: Long arm type
(c) ................................................ Indicates the existence of the brake. Ex)
Omitted: J2, J3, and J5 axse have a brake. B: All axes have a brake.
(d) ................................................ Indicates the controller type. D: Stand alone type R: MELSEC iQ-R compatible type Q: MELSEC-Q compatible type
(e) -Sxx........................................... Indicates a special model. In order, limit special specification.
1General configuration
Model type name of robot 1-3
(2) RV-4FR/7FR/13FR series
RV - FR J L - -Sxx (a) (b) (c) (d) (e) (f) (g) (h)
(a) RV................................................Indicates the vertical multiple-joint robot.
(b) .................................................Indicates the maximum load. Ex)
4 : 4kg 7 : 7kg 13 : 13kg 20 : 20kg
(c) FR ................................................Indicates the FR series.
(d) J ...................................................Indicates axis configuration. Ex)
Omitted: 6-axis type J: 5-axis type (RV-4FRJL only)
(e) L ...................................................Indicates long arm type. Ex)
Omitted: Standard type L or LL: Long arm type
(f) ..................................................Indicates environment specification. Ex)
Omitted: General specifications (IP40) M: Oil mist specifications (IP67) C: Clean specifications (ISO class3)
(g) .................................................Indicates the controller type. D: Stand alone type R: MELSEC iQ-R compatible type Q: MELSEC-Q compatible type
( i ) -Sxx ..........................................Indicates a special model. In order, limit special specification. Ex)
-SHxx: Indicates the internal wiring and piping specification. -Sxx: Indicates a special model.
1-4 Model type name of robot
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
Robot arm
Controller Type name Note1)
Note1) The " " indicates the load mass."4" for 4kg, "7" for 7kg, "13" for 13kg (" " of the controller type name is "04", "07", or "13".)
Protection specification
Arm length Note2)
Note2) The RV-4FRJL (5-axis type robot) is long arm type only.
Internal wiring and piping
specification (Mechanical I/F)
Brake Axial
constitution
RV-2FR-D
Standard
specification
Standard arm
-
Only J2, J3, J5
axes
6-axis type
CR800-02VD RV-2FRL-D Long arm
RV-2FRB-D Standard arm
All axes
RV-2FRLB-D Long arm
RV- FR-D Standard arm
CR800- VD
RV-20FR-D CR800-20VD
RV- FRL-D Long arm
equipped Note3)
Note3) The types of the internal wiring and piping specification models are shown in Page 7, "1.2.3 Internal wiring and pip- ing specification types". This robot arm is a shipping special specification model. Check the delivery date.
CR800- VD
RV-4FRJL-D 5-axis type CR800-04VJD
RV-7FRLL-D
6-axis type
CR800-07VLD
RV- FR-D-SH Standard arm
CR800- VD
RV-20FR-D-SH CR800-20VD
RV- FRL-D-SH Long arm CR800- VD
RV-4FRJL-D-SH 5-axis type CR800-04VJD
RV-7FRLL-D-SH
6-axis type
CR800-07VLD
RV- FRM-D
Protection
specification Note4)
Note4) This robot arm's protective structure is IP67. The protective structure of all the controllers is IP20 (open type). To protect a controller, use the optional controller protection box (IP54).
Standard arm
--
CR800- VD
RV-20FRM-D CR800-20VD
RV- FRLM-D Long arm CR800- VD
RV-4FRJLM-D 5-axis type CR800-04VJD
RV-7FRLLM-D
6-axis type
CR800-07VLD
RV- FRC-D Clean specifi- cation Note5)
Note5) The protective structure of all the controllers is IP20 (open type). To use a controllers in a clean environment, install the controllers to a place that does not violate the cleanliness.
Standard arm CR800- VD
RV-20FRC-D CR800-20VD
RV- FRLC-D Long arm CR800- VD
RV-4FRJLC-D 5-axis type CR800-04VJD
RV-7FRLLC-D 6-axis type CR800-07VLD
1General configuration
Model type name of robot 1-5
(2) MELSEC iQ-R compatible type Table 1-2 Combination of the robot arm and the controller
Robot arm
Controller Type name Note1)
Note1) The " " indicates the load mass."4" for 4kg, "7" for 7kg, "13" for 13kg (" " of the controller type name is "04", "07", or "13".)
Protection specification
Arm length Note2)
Note2) The RV-4FRJL (5-axis type robot) is long arm type only.
Internal wiring and piping
specification (Mechanical I/F)
Brake Axial
constitution
RV-2FR-R
Standard
specification
Standard arm
-
Only J2, J3, J5
axes
6-axis type
CR800-02VR RV-2FRL-R Long arm
RV-2FRB-R Standard arm
All axes
RV-2FRLB-R Long arm
RV- FR-R Standard arm
CR800- VR
RV-20FR-R CR800-20VR
RV- FRL-R Long arm
equipped Note3)
Note3) The types of the internal wiring and piping specification models are shown in Page 7, "1.2.3 Internal wiring and pip- ing specification types". This robot arm is a shipping special specification model. Check the delivery date.
CR800- VR
RV-4FRJL-R 5-axis type CR800-04VJR
RV-7FRLL-R
6-axis type
CR800-07VLR
RV- FR-R-SH Standard arm
CR800- VR
RV-20FR-R-SH CR800-20VR
RV- FRL-R-SH Long arm CR800- VR
RV-4FRJL-R-SH 5-axis type CR800-04VJR
RV-7FRLL-R-SH
6-axis type
CR800-07VLR
RV- FRM-R
Protection
specification Note4)
Note4) This robot arm's protective structure is IP67. The protective structure of all the controllers is IP20 (open type). To protect a controller, use the optional controller protection box (IP54).
Standard arm
--
CR800- VR
RV-20FRM-R CR800-20VR
RV- FRLM-R Long arm CR800- VR
RV-4FRJLM-R 5-axis type CR800-04VJR
RV-7FRLLM-R
6-axis type
CR800-07VLR
RV- FRC-R Clean specifi- cation Note5)
Note5) The protective structure of all the controllers is IP20 (open type). To use a controllers in a clean environment, install the controllers to a place that does not violate the cleanliness.
Standard arm CR800- VR
RV-20FRC-R CR800-20VR
RV- FRLC-R Long arm CR800- VR
RV-4FRJLC-R 5-axis type CR800-04VJR
RV-7FRLLC-R 6-axis type CR800-07VLR
1-6 Model type name of robot
1General configuration
(3) MELSEC-Q compatible type Table 1-3 Combination of the robot arm and the controller
Robot arm
Controller Type name Note1)
Note1) The " " indicates the load mass."4" for 4kg, "7" for 7kg, "13" for 13kg (" " of the controller type name is "04", "07", or "13".)
Protection specification
Arm length Note2)
Note2) The RV-4FRJL (5-axis type robot) is long arm type only.
Internal wiring and piping
specification (Mechanical I/F)
Brake Axial
constitution
RV-2FR-Q
Standard
specification
Standard arm
-
Only J2, J3, J5
axes
6-axis type
CR800-02VQ RV-2FRL-Q Long arm
RV-2FRB-Q Standard arm
All axes
RV-2FRLB-Q Long arm
RV- FR-Q Standard arm
CR800- VQ
RV-20FR-Q CR800-20VQ
RV- FRL-Q Long arm
equipped Note3)
Note3) The types of the internal wiring and piping specification models are shown in Page 7, "1.2.3 Internal wiring and pip- ing specification types". This robot arm is a shipping special specification model. Check the delivery date.
CR800- VQ
RV-4FRJL-Q 5-axis type CR800-04VJQ
RV-7FRLL-Q
6-axis type
CR800-07VLQ
RV- FR-Q-SH Standard arm
CR800- VQ
RV-20FR-Q-SH CR800-20VQ
RV- FRL-Q-SH Long arm CR800- VQ
RV-4FRJL-Q-SH 5-axis type CR800-04VJQ
RV-7FRLL-Q-SH
6-axis type
CR800-07VLQ
RV- FRM-Q
Protection
specification Note4)
Note4) This robot arm's protective structure is IP67. The protective structure of all the controllers is IP20 (open type). To protect a controller, use the optional controller protection box (IP54).
Standard arm
--
CR800- VQ
RV-20FRM-Q CR800-20VQ
RV- FRLM-Q Long arm CR800- VQ
RV-4FRJLM-Q 5-axis type CR800-04VJQ
RV-7FRLLM-Q
6-axis type
CR800-07VLQ
RV- FRC-Q Clean specifi- cation Note5)
Note5) The protective structure of all the controllers is IP20 (open type). To use a controllers in a clean environment, install the controllers to a place that does not violate the cleanliness.
Standard arm CR800- VQ
RV-20FRC-Q CR800-20VQ
RV- FRLC-Q Long arm CR800- VQ
RV-4FRJLC-Q 5-axis type CR800-04VJQ
RV-7FRLLC-Q 6-axis type CR800-07VLQ
1General configuration
Indirect export 1-7
1.2.3 Internal wiring and piping specification types The robot arm with in-wrist cables and piping is available. Before the robot arm is shipped from the factory, the tool cables/piping are built into the robot arm's wrist and pulled out from the side of the mechanical interface. This robot arm model eases wiring/piping tasks at the customer's side and improves the reliability against cable dis- connections, etc. The following section shows the types. For wiring/piping system diagram for hand of each mod- els, refer to Page 69, "2.5.6 Wiring and piping system diagram for hand".
(The unlisted robot arms do not have internal cables/pipes. However, they can use the hand input signals and devices such as a visual sensor.)
Table 1-4 Internal wiring and piping specification types
1.3 Indirect export The display in English is available by setting parameter LNG as "ENG."
1.4 Instruction manuals The instruction manuals supplied in CD-ROM.
Special model number Note1)
Note1) In order to confirm a special model number, see at the end of a type name of a robot.
Piping
Wiring (cable for the connection to each equipment) Base section external wiring set
(corresponding option) Note2)
Note2) The corresponding base external wiring set is attached.
Hand input signal
Vision sensor camera
Force sensor unit
Multifunc- tional elec- tric hand
-SH01 4x4 Note3)
Note3) It can use as a secondary piping of the solenoid-valve set option.
8 points Not available Not available
-SH02 Not available 8 points 1 Either 1 1F-HA01S-01
-SH03 Not available Not available 1 1 1 1F-HA02S-01
-SH04 4x2 8 points - 1 - 1F-HA01S-01
-SH05 4x2 8 points 1 - 1F-HA01S-01
1-8 Contents of the structural equipment
1 General configuration
1.5 Contents of the structural equipment
1.5.1 Robot arm The list of structural equipment is shown in below.
(1) RV-2FR series
Fig.1-1 Structural equipment (RV-2FR series)
Vertical six-axis multiple- jointed type RV-2FR series
* Refer to Page 21, "2.1 Standard specifications" for details on the specifications.
Solenoid valve set (sink/source) (Dedicated hand output cable is attached))
1 set: 1E-VD01/1E-VD01E 2 set: 1E-VD02/1E-VD02E
Hand curl tube 1 set: 1E-ST0402C 2 set: 1E-ST0404C
Machine cable (Fixed type: 5m)
Stopper for changing the operating range J1 axis: 1S-DH-11J1 J2 axis: 1S-DH-11J2 J3 axis: 1S-DH-11J3
*Refer to Table 1-11 for the angle which can be changed
*Installed by customer.
Against wall specification Limit the operation range of the J1 axis.
Hand output cable 1E-GR35S
Hand input cable 1S-HC30C-11
P ne
um at
ic h
an d
cu st
o m
er -m
an u fa
ct ur
ed
p ar
ts
S o le
no id
v al
ve
C u st
o m
e r
pr e pa
ra ti o n
Caution Standard configuration
Special specifications
Option
equipment
Prepared by customer
Machine cable (replacement) Fixed type: 1F- UCBL-41 Flexed type: 1F- LUCBL-41
Note 1) refer the length. Refer to Table 1-11 for details.
Note 2) Replace the enclosed stan- dard cable with this cable.
1 General configuration
Contents of the structural equipment 1-9
(2) RV-4FR/7FR/13FR series
Fig.1-2 Structural equipment (RV-4FR/7FR/13FR series)
Internal wiring and piping specification
The robot of the factory-shipments special specification which equipped the inside of the wrist with wiring and the piping, and was pulled out from the mechanical interface
Refer to Page 7, "1.2.3 Internal wiring and piping specification types" for details.
Machine cable (replacement) Fixed type: 1F- UCBL-41 Flexed type: 1F- LUCBL-41
Note 1) refer the length. Refer to Table 1-12 for details.
Note 2) Replace the enclosed standard cable with this cable.
Hand output cable
1F-GR35S-02
Hand input cable
1F-HC35S-02
Hand curl tube RV-4FR/7FR series, RV-7FRLL:
1E-ST040*C (1 - 4 sets) RV-13FR/13FRL, RV-20FR:
1N-ST060*C (1 - 4 sets)
Note) "*" differs by 1 - 4 sets. Refer to Table 1-12 for details.
(RV-13FR/13FRL, RV-7FRLL, RV-20FR)
Either one
Vertical six-axis multiple-jointed type
(RV-4FR/4FRL/4FRJL, RV-7FR/7FRL)
Solenoid valve set (sink/source) (Dedicated hand output cable is attached) 1 set: 1F-VD01-**/1F-VD01E-** 2 sets: 1F-VD02-**/1F-VD02E-** 3 sets: 1F-VD03-**/1F-VD03E-** 4 sets: 1F-VD04-**/1F-VD04E-**
Note) "**" differs by
robot arm. Refer
to Table 1-12 for
details.
1F-VD04-02 1F-VD04-03
J1 axis operating range change (Stopper parts) RV-4FR series : 1F-DH-03 RV-7FR series : 1F-DH-04 RV-13FR series : 1F-DH-05J1
* Installed by customer.
Machine cable (Fixed type: 5m)
P n e u m
at ic
h an
d c u st
o m
e r-
m an
u fa
c tu
re d
p ar
ts
Pulled out from robot arm Forearm external wiring set/ Base
external wiring set
Forearm
Option attachment positions
Base (Opposite side)
*The figure is an example.
Caution Standard configuration
Special specifications
Option
equipment
Prepared by customer
1-10
1 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
Fig.1-3 Structural equipment (CR800-D)
PLC (Programmable Logic Controller) External device
Prepared by customer
Network base card EtherNet/IP interface PROFINET interface CC-Link IE Field interface EtherCAT interface
Refer to Table 1-13 for details of each inter- face card.
RT ToolBox3 3F-14C-WINE (DVD-ROM)
RT ToolBox3 mini 3F-15C-WINE (DVD-ROM)
RT ToolBox3 Pro 3F-16D-WINE (DVD-ROM)
(Windows 7, Windows 8, Windows 8.1,
Windows 10)
Personal computer Prepared by customer
*)Refer to Table
1-15 for USB
cable
Instruction Manual (bookbinding) 5F-GA01-PE01
Parallel I/O interface 2D-TZ368 (Sink)
2D-TZ378 (Source)
CC-Link interface 2D-TZ576
Teaching pendant (T/B) R32TB
High efficient teaching pendant (T/B)
R56TB
Controller CR800-D
External I/O cable 2D-CBL05 (5m)
2D-CBL15 (15m)
Parallel I/O unit 2A-RZ361 (Sink)
2A-RZ371 (Source)
External I/O cable 2A-CBL05 (5m)
2A-CBL15 (15m)
Controller protection box CR800-MB
Function extension card SD memory card 2F-2GBSD
Safety option 4F-SF002-01
Refer to Table 1-13 for detail.
Standard configuration
Special specifications
Options
Prepared by
Caution
equipment
customer
1 General configuration
1-11
(2) CR800-R controller
Fig.1-4 Structural equipment (CR800-R)
Teaching pendant (T/B) R32TB
High efficient teaching pendant (T/B) R56TB
Robot CPU unit R16RTCPU
Robot CPU unit connecting cable SSCNET cable ........... MR-J3BUS10M-A
This 10m cable connects the controller with the robot CPU unit.
Robot CPU unit connecting cable SSCNET cable ..........MR-J3BUS5M-A 5m
MR-J3BUS20M-A 20m MR-J3BUS30M-B 30m
Controller
CR800-R
Controller protection box CR800-MB
Safety option 4F-SF002-01
Refer to Table 1-13 for detail.
Personal computer Prepared by customer
Instruction Manual (bookbinding) 5F-GA01-PE01
Function extension card
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 1-5)
Power supply unit (Refer to Table 1-6)
PLC CPU unit (Refer to Table 1-7)
Standard configuration
Special specifications
Options
Prepared by
Caution
equipment
customer
RT ToolBox3 3F-14C-WINE (DVD-ROM)
RT ToolBox3 mini 3F-15C-WINE (DVD-ROM)
RT ToolBox3 Pro 3F-16D-WINE (DVD-ROM)
(Windows 7, Windows 8, Windows 8.1,
Windows 10)
1-12
1 General configuration
Table 1-5 Base unit
Table 1-6 Power supply unit
Table 1-7 PLC CPU 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
Type name Remarks
R61P AC power supply unit. Input: AC100 to 240V, output: DC5V/6.5A
R62P AC power supply unit. Input: AC100 to 240V, output: DC5V/3.5A, DC24V/0.6A
R63P DC power supply unit. Input: DC24V, output: DC5V/6.5A
R64P AC power supply module. Input: AC100 to 240V, output: DC5V/9A
Type name Remarks
R00CPU Program capacity: 10k steps, Elementary operation processing speed (LD command): 31.36ns
R01CPU Program capacity: 15k steps, Elementary operation processing speed (LD command): 31.36ns
R02CPU Program capacity: 20k steps, Elementary operation processing speed (LD command): 3.92ns
R04CPU Program capacity: 40k steps, Elementary operation processing speed (LD command): 0.98ns
R08CPU Program capacity: 80k steps, Elementary operation processing speed (LD command): 0.98ns
R16CPU Program capacity: 160k steps, Elementary operation processing speed (LD command): 0.98ns
R32CPU Program capacity: 320k steps, Elementary operation processing speed (LD command): 0.98ns
R120CPU Program capacity: 1200k steps, Elementary operation processing speed (LD command): 0.98ns
1 General configuration
1-13
(3) CR800-Q controller
Fig.1-5 Structural equipment (CR800-Q)
Teaching pendant (T/B) R32TB
High efficient teaching pendant (T/B) R56TB
Robot CPU unit Q172DSRCPU
Robot CPU unit connecting cable SSCNET cable ........... MR-J3BUS10M-A
This 10m cable connects the controller with the robot CPU unit.
Robot CPU unit connecting cable SSCNET cable ..........MR-J3BUS5M-A 5m
MR-J3BUS20M-A 20m MR-J3BUS30M-B 30m
Controller
CR800-Q
Controller protection box CR800-MB
Safety option 4F-SF002-01
Refer to Table 1-13 for detail.
Personal computer Prepared by customer
Instruction Manual (bookbinding) 5F-GA01-PE01
Function extension card
The following Mitsubishi MELSEC-Q series
products are required to install the robot CPU
unit. The customer needs to prepare them.
Base unit (Refer to Table 1-8)
Power supply unit (Refer to Table 1-9)
PLC CPU unit (Refer to Table 1-10)
Standard configuration
Special specifications
Options
Prepared by
Caution
equipment
customer
RT ToolBox3 3F-14C-WINE (DVD-ROM)
RT ToolBox3 mini 3F-15C-WINE (DVD-ROM)
RT ToolBox3 Pro 3F-16D-WINE (DVD-ROM)
(Windows 7, Windows 8, Windows 8.1,
Windows 10)
1-14
1 General configuration
Table 1-8 Base unit
Table 1-9 Power supply unit
Table 1-10 PLC CPU unit
Type name Remarks
Q35DB 5 slots: for mounting MELSEC-Q series unit
Q38DB 8 slots: for mounting MELSEC-Q series unit
Q312DB 12 slots: for mounting MELSEC-Q series unit
Type name Remarks
Q61P AC power supply unit. Input: AC100 to 240V, output: DC5V/6.5A
Q62P AC power supply unit. Input: AC100 to 240V, output: DC5V/3A, DC24V/0.6A
Q63P DC power supply unit. Input: DC24V, output: DC5V/3A, DC5V/6A
Q64PN AC power supply module. Input: AC100 to 240V/AC200 to 240V, output: DC5V/8.5A
Type name Remarks
Q03UDCPU Program capacity: 30k steps, Elementary operation processing speed (LD command): 20ns
Q03UDECPU Program capacity: 30k steps, Elementary operation processing speed (LD command): 20ns
Q04UDHCPU Program capacity: 40k steps, Elementary operation processing speed (LD command): 9.5ns
Q04UDEHCPU Program capacity: 40k steps, Elementary operation processing speed (LD command): 9.5ns
Q06UDHCPU Program capacity: 60k steps, Elementary operation processing speed (LD command): 9.5ns
Q06UDEHCPU Program capacity: 60k steps, Elementary operation processing speed (LD command): 9.5ns
Q10UDHCPU Program capacity: 100k steps, Elementary operation processing speed (LD command): 9.5ns
Q10UDEHCPU Program capacity: 100k steps, Elementary operation processing speed (LD command): 9.5ns
Q13UDHCPU Program capacity: 130k steps, Elementary operation processing speed (LD command): 9.5ns
Q13UDEHCPU Program capacity: 130k steps, Elementary operation processing speed (LD command): 9.5ns
Q20UDHCPU Program capacity: 200k steps, Elementary operation processing speed (LD command): 9.5ns
Q20UDEHCPU Program capacity: 200k steps, Elementary operation processing speed (LD command): 9.5ns
Q26UDHCPU Program capacity: 260k steps, Elementary operation processing speed (LD command): 9.5ns
Q26UDEHCPU Program capacity: 260k steps, Elementary operation processing speed (LD command): 9.5ns
Q50UDEHCPU Program capacity: 500k steps, Elementary operation processing speed (LD command): 9.5ns
Q100UDEHCPU Program capacity: 1000k steps, Elementary operation processing speed (LD command): 9.5ns
Q03UDVCPU Program capacity: 30k steps, Elementary operation processing speed (LD command): 1.9ns
Q04UDVCPU Program capacity: 40k steps, Elementary operation processing speed (LD command): 1.9ns
Q06UDVCPU Program capacity: 60k steps, Elementary operation processing speed (LD command): 1.9ns
Q13UDVCPU Program capacity: 130k steps, Elementary operation processing speed (LD command): 1.9ns
Q26UDVCPU Program capacity: 260k steps, Elementary operation processing speed (LD command): 1.9ns
1 General configuration
1-15
1.5.3 Function extension device These devices (option) are used to extend the function of the robot.
Fig.1-6 Function extension device
Force sensor set 4F-FS002H-W200
4F-FS002H-W1000
MELFA-3D Vision 3.0 3F-53U-WINM
1-16 Contents of the Option equipment and special specification
1 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 (1) RV-2FR series Table 1-11 The list of robot option equipment and special specification (RV-2FR series)
(2) RV-4FR/7FR/13FR series Table 1-12 The list of the robot arm option equipment and special specification (RV-4FR/7FR/13FR series)
Item Type Specifications Classification
Note1)
Note1) : option, : special specifications.
Description
Stopper for changing
the operating range
1S-DH-11J1 J1 axis + side: +210 +150 +90 deg. - side: -210 -150 -90 deg. One place selection is possible each for + side / - side. Standard specification is +/-240 deg.
This must be installed by the customer.
1S-DH-11J2 J2 axis + side: +30 deg. - side: -30 deg. One place selection is possible each for + side / - side. Standard specification is +/-120 deg
1S-DH-11J3 J3 axis + side: +70 deg. - side: Nothing Standard specification is 0 to +160 deg
Machine cable
(replacement)
1F- UCBL-41 For fixing
" " in type shows the length of the cables as follows. 02=2m, 10=10m, 15=15m, 20=20m
1F- LUCBL-41 For flexing
" " in type shows the length of the cables as follows. 10=10m, 15=15m, 20=20m
Solenoid valve set 1E-VD01/1E-VD01E 1 set (Sink type/Source type) A solenoid valve set for the pneumatic hand
1E-VD02/1E-VD01E 2 set (Sink type/Source type)
Hand input cable 1S-HC30C-11 Robot side: connector. Hand side: wire.
The cable is connected to the sensor by the customer.
Hand output cable 1E-GR35S Robot side: connector Hand side: wire
The cable is connected to the hand out- put connector by the customer.
Hand curl tube 1E-ST0402C For solenoid valve 1set: 4x2 Curl type air tube
1E-ST0404C For solenoid valve 2set: 4x4
Item Type Specifications Classification
Note1) Description
Internal wiring and pip- ing specification
(robot arm)
Special model number
-SH01
Functions equipped inside of wrist: Air-hose 4 x 4, Eight hand input signals.
In order to confirm a special model
number, see at the end of a type name of a robot. Example: RV-4FR-D-SH01
The connection with the force sensor unit uses the attached adapter cable in the force-sensor option. The force-sensor option does not support RV-4FRJL.
The corresponding base external wiring set is attached.
Special model number
-SH02
Functions equipped inside of wrist: Eight hand input signals, connection cable for vision-sensor camera, connection cable for force sensor unit.
Special model number
-SH03
Functions equipped inside of wrist: Connection cable for vision-sensor camera and force sensor unit.
Special model number
-SH04
Functions equipped inside of wrist: Air-hose 4 x 2, Eight hand input signals, connection cable for force sensor unit.
Special model number
-SH05
Functions equipped inside of wrist: Air-hose 4 x 2, Eight hand input signals, connection cable for vision- sensor camera.
1 General configuration
Contents of the Option equipment and special specification 1-17
J1 axis operating range change
1F-DH-03 Stopper part for RV-4FR series: Sets as the + side/- side each by the combination within 30, 73, 103 and 146.
This must be installed and setting the parameter by the customer. * Refer to Page 83, "(3) J1 axis
operating range change (RV-4FR/ 7FR/13FR series)" for details.1F-DH-04 Stopper part for RV-7FR series:
Sets as the + side/- side each by the combination within 35, 77, 99 and 141.
1F-DH-05J1 Stopper part for RV-13FR series:
Sets as the + side/- side each by the
combination within 30, 73, 103 and
146.
Machine cable
(replacement)
1F- UCBL-41 For fixing
" " in type shows the length of the cables as follows. 02=2m, 10=10m, 15=15m, 20=20m
1F- LUCBL-41 For flexing
" " in type shows the length of the cables as follows. 10=10m, 15=15m, 20=20m
Solenoid valve set 1F-VD01-02/VD01E-02 1 set (Sink type/Source type) The solenoid-valve set for the hand of the customer setup. Use for RV-4FR/7FR series and RV- 7FRLL.
1F-VD02-02/VD02E-02 2 set (Sink type/Source type)
1F-VD03-02/VD03E-02 3 set (Sink type/Source type)
1F-VD04-02/VD04E-02 4 set (Sink type/Source type)
1F-VD01-03/VD01E-03 1 set (Sink type)/(Source type) The solenoid-valve set for the hand of
the customer setup.
Use for RV-13FR/13FRL and RV-20FR. 1F-VD02-03/VD02E-03 2 set (Sink type)/(Source type)
1F-VD03-03/VD03E-03 3 set (Sink type)/(Source type)
1F-VD04-03/VD04E-03 4 set (Sink type)/(Source type)
Hand input cable 1F-HC35S-02 Robot side: connector. Hand side: wire.
The cable is connected to the sensor by the customer.
Hand output cable 1F-GR35S-02 Robot side: connector. Hand side: wire
This cable can be used for the solenoid valve prepared by the customer.
Hand curl tube 1E-ST0402C For solenoid valve 1set.: 4x2 Curl type air tube For RV-4FR/7FR series and RV-7FRLL.1E-ST0404C For solenoid valve 2set.: 4x4
1E-ST0406C For solenoid valve 3set.: 4x6
1E-ST0408C For solenoid valve 4set.: 4x8
1N-ST0602C For solenoid valve 1set.: 6x2 Curl type air tube For RV-13FR/13FRL and RV-20FR.
1N-ST0604C For solenoid valve 2set.: 6x4
1N-ST0606C For solenoid valve 3set.: 6x6
1N-ST0608C For solenoid valve 4set.: 6x8
Forearm external
wiring set
1F-HB01S-01 The following cables can be wired outside: hand input signals, multifunctional electric hand/force sensor, and vision sensor.
Pulls out from forearm lower part.
1F-HB02S-01 The following cables can be wired outside: multifunctional electric hand, force sensor, and vision-sensor.
Base external wiring
set
1F-HA01S-01 The following cables can be wired outside: multifunctional electric hand/force sensor, and vision-sensor.
Pulls out from base side.
1F-HA02S-01 The following cables can be wired outside: multifunctional electric hand, force sensor, and vision-sensor.
Note1) : option, : special specifications.
Item Type Specifications Classification
Note1) Description
1-18 Contents of the Option equipment and special specification
1 General configuration
1.6.2 List of the controller option equipment and special specification Table 1-13 The list of the controller option equipment and special specification
Item Type Specifications
Classification Note1)
Description CR800
-D CR800 -R/Q
Simple teaching pen- dant
R32TB Cable length 7m With 3-position enable switch IP65
R32TB-15 Cable length 15m
Highly efficient teaching pendant
R56TB Cable length 7m
R56TB-15 Cable length 15m
Parallel I/O Interface 2D-TZ368(Sink type)/ 2D-TZ378(Source type)
DO: 32 point DI: 32 point Insulated type output signal
(0.1A/24V /point) Insulated type input signal
(9mA/ 24V /point)
-
The card type external input-and-output. Interface. Install to the slot of controller.
External I/O cable (For Parallel I/O Interface)
2D-CBL05 5m - Use to connect the external peripheral device to the parallel input/output interface.2D-CBL15 15m -
Parallel I/O Unit 2A-RZ361(Sink type)/ 2A-RZ371(Source type)
DO: 32 point/ DI: 32 point Insulated type output signal
(0.1A/24V /point) Insulated type input signal
(7mA/ 24V /point)
-
The unit for expansion the external input/ output. Electrical isolated Type (100mA/Point)
External I/O cable (For Parallel I/O Unit)
2A-CBL05 5m - Use to connect the external peripheral device to the parallel input/output unit
2A-CBL15 15m -
CC-Link interface 2D-TZ576 Only Intelligent device station, Local station
- For MELSEC PLC with CC-Link connec- tion.
Network base card
(EtherNet/IP inter- face)
2D-TZ535 Communication interface for
mounting the Anybus CompactCom
module manufactured by HMS.
The customer needs to prepare the
EtherNet/IP module (AB6314)
manufactured by HMS.
-
Refer to separate volume "Network Base
Card Instruction Manual" for details.
Network base card
(PROFINET inter- face)
2D-TZ535-PN Communication interface for
mounting the Anybus CompactCom
module manufactured by HMS.
The customer needs to prepare the
PROFINET IO module (AB6489-B)
manufactured by HMS.
-
Refer to separate volume "Network Base
Card Instruction Manual" for details.
Network base card
(CC-Link IE Field
interface)
2F-DQ535 Communication interface for
mounting the Anybus CompactCom
module manufactured by HMS.
The customer needs to prepare the
CC-Link IE Field module (AB6709)
manufactured by HMS.
-
Refer to separate volume "Network Base
Card Instruction Manual" for details.
Network base card
(EtherCAT interface)
2F-DQ535-EC Communication interface for
mounting the Anybus CompactCom
module manufactured by HMS.
The customer needs to prepare the
EtherCAT module (AB6607)
manufactured by HMS.
-
Refer to separate volume "Network Base
Card Instruction Manual" for details.
Function extension
card
2F-DQ510 MELFA Smart Plus card pack (A-
type)
Item to enable the software extension
function MELFA Smart Plus.
2F-DQ520 MELFA Smart Plus card pack (AB-
type)
Software version of controller: Ver.
A3 or later
2F-DQ511 MELFA Smart Plus card (A-type)
2F-DQ521 MELFA Smart Plus card (B-type)
Software version of controller: Ver.
A3 or later
SD memory card 2F-2GBSD Memory card capacity 2GB. -
1 General configuration
Contents of the Option equipment and special specification 1-19
1.6.3 Function extension device
Table 1-14 The list of function extension device
Safety option 4F-SF002-01 Item to support the safety I/O.
Refer to separate volume "Robot Safety
Option Instruction Manual" for details.
Controller protection box
C800-MB IP54
The controller protection box is used to protect the controller from an oilmist or other operating environment.
RT ToolBox3 3F-14C-WINE DVD-ROM
Windows 7, Windows 8, Windows 8.1, Windows 10 Supporting English. (With the simulation function)
RT ToolBox3 mini 3F-15C-WINE DVD-ROM
Windows 7, Windows 8, Windows 8.1, Windows 10 Supporting English.
RT ToolBox3 Pro 3F-16D-WINE DVD-ROM
Windows 7, Windows 8, Windows 8.1, Windows 10 Supporting English.
Robot CPU unit con- nection cable
MR-J3BUS M-A Cable length 5, 20m - For the servo communication between robot CPU and controller.
MR-J3BUS30M-B Cable length 30m -
Instruction Manual 5F-GA01-PE01 RV-FR series
Note1) : option, : special specifications.
Item Type name Specifications
Classification Note1)
Note1) : option.
Remarks CR800
-D CR800 -R/Q
Force sensor set 4F-FS002H-W200 A set of devices necessary for
force sense control function, such
as a force sensor, an interface unit,
and support software.
Refer to separate volume "Force
Sense Function Instruction Man- ual" for details.
4F-FS002H-W1000
MELFA-3D Vision 3.0 3F-53U-WINM Software that connects a compact
3D vision sensor for robots to
measure and recognize parts.
Refer to separate volume
"MELFA-3D Vision 3.0 Instruc- tion Manual" for details.
Item Type Specifications
Classification Note1)
Description CR800
-D CR800 -R/Q
1-20 Contents of the Option equipment and special specification
1 General configuration
[Reference]:The recommendation products of the USB cable are shown below
Table 1-15 Recommendation article of the USB cable
Be careful to the USB cable to apply neither the static electricity nor the noise. Otherwise, it becomes the cause of malfunction.
Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by manufacturer. The thing unsuitable for the FA environment (related with conformity, tem- perature 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. Please fully confirm the operation by customer. Guarantee and maintenance of the equipment on the market (usual office automation equipment) cannot be performed.
Fig.1-7 USB cable (GT09-C30USB-5P)
Fig.1-8 USB cable (MR-J3USBCBL3M)
Name Type name Supplier Outside dimensions
USB cable
(USB A type-USB mini B type) GT09-C30USB-5P
MITSUBISHI ELECTRIC SYSTEM & SERVICE CO.,
LTD. Fig. 1-7
MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. Fig. 1-8
Caution
Caution
2Robot arm
Standard specifications 2-21
2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications (1) RV-2FR series
Table 2-1 Standard specifications of robot
Item Unit Specifications
Type RV-2FR/2FRB Note1)
Note1) RV-2FRB/2FRLB is with the brake to all the axes.
RV-2FRL/2FRLBNote1)
Degree of freedom 6
Installation posture On floor, hanging
(against wall Note2) )
Note2) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used. Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor
(RV-2FR/2FRL: J2, J3, J5 axes have the brake)
(RV-2FRB/2FRLB: All axes have the brake)
Position detection method Absolute encoder
Arm length Upper arm 230 310
Fore arm 270 335
Operating range
Waist (J1) Degree 480 (-240 to +240)
Shoulder (J2) 240 (-120 to +120) 237 (-117 to +120)
Elbow (J3) 160 (0 to +160)
Wrist twist (J4) 400 (-200 to +200)
Wrist pitch (J5) 240 (-120 to +120)
Wrist roll (J6) 720 (-360 to +360)
Speed of motion
Waist (J1) Degree/
s
300 225
Shoulder (J2) 150 105
Elbow (J3) 300 165
Wrist twist (J4) 450 412
Wrist pitch (J5) 450
Wrist roll (J6) 720
Maximum resultant velocityNote3)
Note3) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 4,950 4,200
Load MaximumNote4)
Note4) The maximum load capacity is the mass with the mechanical interface posture facing down word at the 10limit.
kg 3.0
Rating 2.0
Pose repeatabilityNote5)
Note5) The pose repeatability details are given in Page 31, "2.2.1 Pose repeatability"
0.02
Ambient temperatureNote6) 0 to 40
Mass kg 19 21
Allowable moment load
Wrist twist (J4) N m 4.17
Wrist pitch (J5) 4.17
Wrist roll (J6) 2.45
Allowable inertia (Maximum) Note7)
Wrist twist (J4) kg 2 0.18 (0.27)
Wrist pitch (J5) 0.18 (0.27)
Wrist roll (J6) 0.04 (0.1)
Arm reachable radius front p-
axis center point
mm 504 649
Tool wiring Hand input 4 points/hand output 4 points
Tool pneumatic pipes Primary side: 4 x 4 (Base to fore arm section)
Supply pressure MPa 0.510%
Protection specification Note8) IP30 All axis
Degree of cleanliness
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
2-22 Standard specifications
2Robot arm
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note7) The allowable inertia values are the values at the rated load mass. The values in parentheses are the values at the maximum load mass. By controlling the optimum acceleration/deceleration, the allowable inertia (maximum) can be supported.
Note8) The protection specification details are given in Page 37, "2.2.6 Protection specifications".
2Robot arm
Standard specifications 2-23
(2) RV-4FR/7FR series Table 2-2 Standard specifications of RV-4FR/7FR series robot (with no internal wiring and piping)
Item Unit Specifications
Type RV-4FR RV-4FRL RV-4FRJL RV-7FR RV-7FRL
Environment Omitted: Standard specification C: Clean specification M: Oil mist specification
Degree of freedom 6 5 6
Installation posture On floor, hanging, (against wall Note1) )
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used. Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Motor capac- ity
Waist (J1) W 400 750
Shoulder (J2) 400 750
Elbow (J3) 100 400
Wrist twist (J4) 100 - 100
Wrist pitch (J5) 100
Wrist roll (J6) 50
Operating range
Waist (J1) Degree 240
Shoulder (J2) 120 -115 to 125 -110 to 130
Elbow (J3) 0 to 161 0 to 164 0 to 156 0 to 162
Wrist twist (J4) 200 - 200
Wrist pitch (J5) 120
Wrist roll (J6) 360
Speed of motion
Waist (J1) Degree/ s
450 420 360 288
Shoulder (J2) 450 336 401 321
Elbow (J3) 300 250 450 360
Wrist twist (J4) 540 - 337
Wrist pitch (J5) 623 450
Wrist roll (J6) 720
Maximum reach radius (P point) mm 514.5 648.7 713.4 907.7
Maximum resultant velocity Note2)
Note2) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 9,000 8,800 11,000
Load kg(N) 4 7
Pose repeatability Note3)
Note3) The pose repeatability details are given in Page 31, "2.2.1 Pose repeatability"
mm 0.02
Cycle time Note4) sec 0.36 0.32 0.35
Ambient temperature Note5) 0 to 40
Mass kg 39 41 39 65 67
Allowable moment load
Wrist twist (J4)
N m
6.66 - 16.2
Wrist pitch (J5) 6.66 16.2
Wrist roll (J6) 3.90 6.86
Allowable inertia
Wrist twist (J4)
kg m2
0.20 - 0.45
Wrist pitch (J5) 0.20 0.45
Wrist roll (J6) 0.10
Tool wiring Hand input/output Hand input eight points/hand output eight points
LAN cable Equipped (eight cores) <100BASE-TX>
Wiring for user Equipped (24 cores)
Tool pneu- matic pipes
Primary piping 62
Secondary piping 48
Supply pressure MPa 0.54
Protection specification Note6) Standard specification: IP40
Clean specification: ISO class 3 Note7)
Oil mist specification: IP67 Note8) Note9)
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
2-24 Standard specifications
2Robot arm
Note4) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position. Cycle time shows the values of RV-4FR- R, RV-4FRL-R, RV-4FRJL-R, RV-7FR-R and RV-7FRL-R.
Note5) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note6) The protection specification details are given in Page 37, "2.2.6 Protection specifications". Note7) The details of the clean specifications are described in Page 39, "2.2.7 Clean specifications". Note8) The protection performance cannot be ensured with some oil characteristics. Please contact the dealer. Note9) If you use the controller in oil mist or similar environments, use the controller protection box to protect the controller from the
operation environment. A robot equipped with the controller protection box as standard is available.
300
2 5
2Robot arm
Standard specifications 2-25
Table 2-3 Standard specifications of RV-4FR/7FR series robot (with internal wiring and piping)
Item Unit Specifications
Type RV-4FR-SH RV-4FRL-SH RV-4FRJL-SH RV-7FR-SH RV-7FRL-SH
Environment Standard specification
Degree of freedom 6 5 6
Installation posture On floor, hanging, (against wall Note1) )
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used. Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Motor capac- ity
Waist (J1) W 400 750
Shoulder (J2) 400 750
Elbow (J3) 100 400
Wrist twist (J4) 100 - 100
Wrist pitch (J5) 100
Wrist roll (J6) 50
Operating range
Waist (J1) Degree 240
Shoulder (J2) 120 -115 125 -110 130
Elbow (J3) 0 to 161 0 to 164 0 to 156 0 to 162
Wrist twist (J4) 200 - 200
Wrist pitch (J5) 120
Wrist roll (J6) 200 Note2)
Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.
Speed of motion
Waist (J1) Degree/ s
450 420 360 288
Shoulder (J2) 450 336 401 321
Elbow (J3) 300 250 450 360
Wrist twist (J4) 540 337
Wrist pitch (J5) 623 450
Wrist roll (J6) 720
Maximum reach radius (P point) mm 514.5 648.7 713.4 907.7
Maximum resultant velocity Note3)
Note3) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 10,000 9,900 12,000 11,700
Load kg(N) 4 7
Pose repeatability Note4)
Note4) The pose repeatability details are given in Page 31, "2.2.1 Pose repeatability"
mm 0.02
Cycle time Note5) sec 0.36 0.32 0.36
Ambient temperatureNote6) 0 to 40
Mass kg 40 42 40 66 68
Allowable moment load
Wrist twist (J4)
N m
6.66 - 16.2
Wrist pitch (J5) 6.66 16.2
Wrist roll (J6) 3.90 6.86
Allowable inertia
Wrist twist (J4)
kg m2
0.20 - 0.45
Wrist pitch (J5) 0.20 0.45
Wrist roll (J6) 0.10
Tool wiring Hand input/output Hand input eight points / hand output eight points
LAN cable Equipped (eight cores) <100BASE-TX>
Wiring for user Equipped (24 cores)
Tool pneu- matic pipes
Primary piping 62
Secondary piping 44: forearm section 44: passes through in the wrist. Note7)
Supply pressure MPa 0.54
Protection specification Note8) Standard specification: IP40
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
2-26 Standard specifications
2Robot arm
Note5) The required time period to execute one cycle of the following operation pattern with 1kg load. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position.Cycle time shows the values of RV-4FR-R-SH, RV- 4FRL-R-SH, RV-4FRJL-R-SH, RV-7FR-R-SH, RV-7FRL-R-SH.
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note7) The internal wiring and piping specification is 4x4. Note8) The protection specification details are given in Page 37, "2.2.6 Protection specifications".
300
2 5
2Robot arm
Standard specifications 2-27
(3) RV-13FR series Table 2-4 Standard specifications of RV-13FR series robot (with no internal wiring and piping)
Item Unit Specifications
Type RV-13FR RV-13FRL RV-20FR RV-7FRLL
Environment Omitted: Standard specification C: Clean specification M: Oil mist specification
Degree of freedom 6
Installation posture On floor, hanging (against wallNote1) )
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used. Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Motor capac- ity
Waist (J1) W 1500
Shoulder (J2) 1500
Elbow (J3) 750
Wrist twist (J4) 400
Wrist pitch (J5) 200 100
Wrist roll (J6) 100 50
Operating range
Waist (J1) Degree 190
Shoulder (J2) -90 to +150
Elbow (J3) -10 to +157.5
Wrist twist (J4) 200
Wrist pitch (J5) 120
Wrist roll (J6) 360
Speed of motion
Waist (J1) Degree/s 290 234 110 234
Shoulder (J2) 234 164 110 164
Elbow (J3) 312 219 110 219
Wrist twist (J4) 375 124 375
Wrist pitch (J5) 375 125 450
Wrist roll (J6) 720 360 720
Maximum reach radius (P point) mm 1,094 1,388 1,094 1,503
Maximum resultant velocityNote2)
Note2) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 10,450 9,700 4,200 15,300
Load Rating (MaximumNote3) ) kg 12(13) 15(20) 7(7)
Pose repeatabilityNote4) mm 0.05 0.06
Cycle timeNote5) sec 0.53 0.68 0.70 0.63
Ambient temperatureNote6) 0 to 40
Mass kg 120 130 120 130
Allowable moment load
Wrist twist (J4) N m 19.3 49 16.2
Wrist pitch (J5) 19.3 49 16.2
Wrist roll (J6) 11 6.86
Allowable inertia
Wrist twist (J4) kg m2 0.47 1.4 0.45
Wrist pitch (J5) 0.47 1.4 0.45
Wrist roll (J6) 0.14 0.1
Tool wiring Hand input/output Hand input eight points / hand output eight points
LAN cable Equipped (eight cores) <100BASE-TX>
Wiring for user Equipped (24 cores)
Tool pneu- matic pipes
Promary piping 62
Secondary piping 68 48
Supply pressure MPa 0.54
Protection specification Note7) Standard specification: IP40
Clean specification: ISO class 3 Note8)
Oil mist specification: IP67 Note9) Note10) IP40
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
2-28 Standard specifications
2Robot arm
Note3) The maximum load means the load which can be carried when the posture of the mechanical interface is restricted downward (less than 10% to a vertical direction).
Note4) The pose repeatability details are given in Page 31, "2.2.1 Pose repeatability" Note5) The required time period to execute one cycle of the following operation pattern. The cycle time may be longer depending on the
required positioning accuracy for the workpiece and the operating position. Cycle time shows the values of RV-13FR-R, RV-13FRL-R, RV-20FR-R, RV-7FRLL-R.
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note7) The protection specification details are given in Page 37, "2.2.6 Protection specifications". Note8) The details of the clean specifications are described in Page 39, "2.2.7 Clean specifications". Note9) The protection performance cannot be ensured with some oil characteristics. Contact the dealer. Note10) To use a controller in an oil mist environment, use the optional controller protection box and protect the controller from oil mists.
300
2 5
RV-7FRLL: carrying mass of 1kg
RV-13FR(L)/RV-20FR: carrying mass of 5kg
2Robot arm
Standard specifications 2-29
Table 2-5 Standard specifications of RV-13FR series robot (with internal wiring and piping)
Item Unit Specifications
Type RV-13FR-SH RV-13FRL-SH RV-20FR-SH RV-7FRLL-SH
Environment Standard specification
Degree of freedom 6
Installation posture On floor, hanging (against wallNote1) )
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used. Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Motor capac- ity
Waist (J1) W 1500
Shoulder (J2) 1500
Elbow (J3) 750
Wrist twist (J4) 400
Wrist pitch (J5) 200 100
Wrist roll (J6) 100 50
Operating range
Waist (J1) Degree 190
Shoulder (J2) -90 to +150
Elbow (J3) -10 to +157.5
Wrist twist (J4) 200
Wrist pitch (J5) 120
Wrist roll (J6) 200Note2)
Note2) The operating range of the wrist roll is small compared to the model without internal cables/pipes.
Speed of motion
Waist (J1) Degree/s 290 234 110 234
Shoulder (J2) 234 164 110 164
Elbow (J3) 312 219 110 219
Wrist twist (J4) 375 124 375
Wrist pitch (J5) 375 125 450
Wrist roll (J6) 720 360 720
Maximum reach radius (P point) mm 1,094 1,388 1,094 1,503
Maximum resultant velocityNote3)
Note3) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 10,450 9,700 4,200 15,300
Load Rating (MaximumNote4) )
Note4) The maximum load means the load which can be carried when the posture of the mechanical interface is restricted downward (less than 10% to a vertical direction).
kg 12(13) 15(20) 7(7)
Pose repeatabilityNote5)
Note5) The pose repeatability details are given in Page 31, "2.2.1 Pose repeatability"
mm 0.05 0.06
Cycle timeNote6) sec 0.53 0.68 0.70 0.63
Ambient temperatureNote7) 0-40
Mass kg 120 130 120 130
Allowable moment load
Wrist twist (J4) N m 19.3 49 16.2
Wrist pitch (J5) 19.3 49 16.2
Wrist roll (J6) 11 6.86
Allowable inertia
Wrist twist (J4) kg m2 0.47 1.4 0.45
Wrist pitch (J5) 0.47 1.4 0.45
Wrist roll (J6) 0.14 0.1
Tool wiring Hand input/output Hand input eight points / hand output eight points
LAN cable Equipped (eight cores) <100BASE-TX>
Wiring for user Equipped (24 cores)
Tool pneu- matic pipes
Promary piping 62
Secondary piping 44Note8)
Supply pressure MPa 0.54
Protection specification Note9) Standard specification: IP40
Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
2-30 Standard specifications
2Robot arm
2.1.2 The counter-force applied to the installation surface The counter-force applied to the installation surface for the strength design of the robot installation surface is shown.
Table 2-6 Value of each counter-force
Note6) The required time period to execute one cycle of the following operation pattern. The cycle time may be longer depending on the required positioning accuracy for the workpiece and the operating position. Cycle time shows the values of RV-13FR-R-SH, RV- 13FRL-R-SH, RV-20FR-R-SH, RV-7FRLL-R-SH.
Note7) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note8) The internal wiring and piping specification is 4x4. Note9) The protection specification details are given in Page 37, "2.2.6 Protection specifications".
Item Unit Value
RV-2FR series
Falls moment: ML N m 240
Torsion moment: MT N m 150
Horizontal translation force: FH N 700
Vertical translation force: FV N 820
RV-4FR series
Falls moment: ML N m 410
Torsion moment: MT N m 400
Horizontal translation force: FH N 700
Vertical translation force: FV N 1,200
RV-7FR series
Falls moment: ML N m 900
Torsion moment: MT N m 900
Horizontal translation force: FH N 1,000
Vertical translation force: FV N 1,700
RV-7FRLL, RV-13FR/13FRL, RV-20FR
Falls moment: ML N m 2,060
Torsion moment: MT N m 2,060
Horizontal translation force: FH N 1,750
Vertical translation force: FV N 2,900
300
2 5
RV-7FRLL: carrying mass of 1kg
RV-13FR(L)/RV-20FR: carrying mass of 5kg
FH
FH
FH
FH
FV
FV
MT
ML
ML
2 Robot arm
Definition of specifications 2-31
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).
Caution The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.
[1] Operation pattern factors 1) When an operation that approaches from different directions and orientations are included in rela-
tion to the teaching position during repeated operations
2) When the speed at teaching and the speed at execution are different
[2] Load fluctuation factor 1) When work is present/absent in repeated operations
[3] Disturbance factor during operation 1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway
[4] Temperature factors 1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation
[5] Factors due to differences in accuracy definition 1) When accuracy is required between a position set by a numeric value in the robot's internal coor-
dinate system and a position within the actual space
2) When accuracy is required between a position generated by the pallet function and a position within the actual space
2-32
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.
(1) The tooling should have the value less or equal than the smaller of the allowable inertia and the allowable moment found in Page 21, "2.1.1 Basic specifications". The examples of inertia calculation methods are described in Page 204, "Appendix 1 Inertia calculation method".
(2) Fig. 2-1 to Fig. 2-5 shows the distribution dimensions for the center of gravity in the case where the vol- ume of the load is relatively small. Use this figure as a reference when designing the tooling.
(3) Even if the load is force, not the mass, design the tooling so that moment does not exceed the allowable moment. Refer to Page 21, "2.1 Standard specifications" for details of allowable moment value.
[Caution] The mass capacity is greatly influenced by the operating speed of the robot and the motion posture. Even if you are within the allowable range mentioned previously, an overload or generate an overcurrnt alarm could occur. In such cases, it will be necessary to change the time setting for acceleration/deceler- ation, the operating speed, and the motion posture.
[Caution] The overhang amount of the load, such as the mass capacity and the allowable moment of inertia defined in this section, are dynamic limit values determined by the capacity of the motor that drives axes or the capacity of the speed reducer. Therefore, it does not guarantee the accuracy on all areas of tooling. Guaranteed accuracy is measured from the center point of the mechanical interface surface. Please note that if the point of operation is kept away from the mechanical interface surface by long and low-rigid tooling, the positioning accuracy may deteriorate or may cause vibration.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated if an ascend- ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending speed.
Fig.2-1 Position of center of gravity for loads (for loads with comparatively small volume): RV-2FR(B)/2FRL(B)
200
200
0
: mm
J6
J5
100
2.0kg
100
100
400
170350 70
1.0kg
200300 1 00
Unit:
axis rotation center
J6 axis rotation center
Robot arm
2-33
Fig.2-2Position of center of gravity for loads (for loads with comparatively small volume): RV-4FR/4FRL/4FRJL
Fig.2-3Position of center of gravity for loads (for loads with comparatively small volume): RV-7FR/7FRL/7FRLL
400
200
100200300
150
100
0
170
J6
J5 220
155
100
1kg
225290405
2kg
3kg
4kg 120
50
: mm
85
125
11 4
Unit: mm
Rotation center for J5 axis
Rotation center for J6 axis
*1)
*2) *1) Standard/clean/oil mist specification
*2) -SHxx (internal wiring and piping) specification
: mm
85
125
11 4
600 400 300 200 100
300
200
500
100
175
155
115
135
100
240310
355
430600
220
310
J6
J5
1kg
2kg
3kg
4kg 5kg 6kg
7kg
280 255
0
Unit: mm
Rotation center for J5 axis
Rotation center for J6 axis
*1)
*2) *1) Standard/clean/oil mist specification
*2) -SHxx (internal wiring and piping) specification
2-34
Robot arm
Fig.2-4 Position of center of gravity for loads (for loads with comparatively small volume): RV-13FR/13FRL
Fig.2-5 Position of center of gravity for loads (for loads with comparatively small volume): RV-20FR
: mm
150
97
16 6
600 400 300 200 100
300
200
500
100
210
120
90
J6
J5
3kg
6kg
9kg
12kg
215
150
390 160275
0
Unit:
Rotation center for J6 axis
Rotation center for J5 axis
*1)
*2) *1) Standard/clean/oil mist specification
*2) -SHxx (internal wiring and piping) specification
: mm
150
97
16 6
600 400 300 200 100
300
200
500
100
120
90
J6
J5
6kg
9kg
335
150
475 300390
7015kg
12kg
0
Unit:
Rotation center for J6 axis
Rotation center for J5 axis
*1)
*2) *1) Standard/clean/oil mist specification
*2) -SHxx (internal wiring and piping) specification
Robot arm
2-35
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.
To achieve that, it is necessary to correctly set the actual load data (mass and size of hand and work) to be used. However, vibration, overheating and errors such as excessive margin of error and overload may occur, depending on the robot operation pattern or ambient temperature. In such a case, change the setting value to the +20% range.
If a setting is performed in such a way that it falls below the mounted load, the life span of the mechanism ele- ments used in the robot may be shortened.
(1) Setting Load Capacity and Size (Hand Conditions) Set up the capacity and size of the hand with the "HNDDAT*" parameter (optimum acceleration/deceleration setting parameter), and set up the capacity and size of the work with the "WRKDAT*" parameter. Numbers 0 to 8 can be used for the asterisk (*) part. Designate the "HNDDAT*" and "WRKDAT*" parameters to be used using the "LoadSet" command in a program. For more details, refer to the separate "Instruction Manual/Detailed Explanation of Functions and Operations." It is the same meaning as "LoadSet 0.0" if not using the "LoadSet".
Hand mass Size X Size Y Size Z Center-of-grav- ity position X
Center-of-grav- ity position Y
Center-of-grav- ity position Z
[kg] [mm] [mm] [mm] [mm] [mm] [mm] HNDDAT* = 3.0 200.0 200.0 150.0 0.0 0.0 100.0 WRKDAT* = 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Hand mass Size X Size Y Size Z Center-of-grav- ity position X
Center-of-grav- ity position Y
Center-of-grav- ity position Z
[kg] [mm] [mm] [mm] [mm] [mm] [mm] HNDDAT* = 4.0 78.0 78.0 90.0 0.0 0.0 85.0Note1)
Note1) -SHxx (internal wiring and piping) specification is 45.0 [mm].
WRKDAT* = 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Hand mass Size X Size Y Size Z Center-of-grav- ity position X
Center-of-grav- ity position Y
Center-of-grav- ity position Z
[kg] [mm] [mm] [mm] [mm] [mm] [mm] HNDDAT* = 7.0 95.0 95.0 95.0 0.0 0.0 155.0Note1)
Note1) -SHxx (internal wiring and piping) specification is 115.0 [mm].
WRKDAT* = 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Hand mass Size X Size Y Size Z Center-of-grav- ity position X
Center-of-grav- ity position Y
Center-of-grav- ity position Z
[kg] [mm] [mm] [mm] [mm] [mm] [mm] HNDDAT* = 13.0 120.0 120.0 117.0 0.0 0.0 100.0Note1)
Note1) -SHxx (internal wiring and piping) specification is 47.0 [mm].
WRKDAT* = 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Hand mass Size X Size Y Size Z Center-of-grav- ity position X
Center-of-grav- ity position Y
Center-of-grav- ity position Z
[kg] [mm] [mm] [mm] [mm] [mm] [mm] HNDDAT* = 20.0 160.0 160.0 100.0 0.0 0.0 168.0Note1)
Note1) -SHxx (internal wiring and piping) specification is 115.0 [mm].
WRKDAT* = 0.0 0.0 0.0 0.0 0.0 0.0 0.0
2-36
Robot arm
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot Vibrations at the tip of the arm may increase substantially during the low-speed operation of the robot, depending on the combination of robot operation, hand mass and hand inertia. This problem occurs when the vibration count specific to the robot arm and the vibration count of the arm driving force are coming close to each other. These vibrations at the tip of the arm can be reduced by taking the following measures:
1) Lower the robot's operating speed by approximately 5% from high speed using the Ovrd command. 2) Change and move the teaching points of the robot. 3) Change the hand mass and hand inertia.
2.2.5 Collision detection This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, however initial setting is in invalid condition. The enable/disable of this function can be changed by parameter: COL and command: ColChk, this function is effective for protect of the robot and of the peripheral equipment.
The abnormalities are detected by the robot's kinetics model, presuming torque necessary for movement at any time. Therefore, the setting parameter (HNDDAT*, WRKDAT*) of the hand and the work piece conditions should be right. And, it may be detected as the collision in movement as speed and motor torque are changed rapidly. (for example, the movement near the place of the origin by linear interpolation, the reversal movement, the cold con- dition, the operation after long term stoppage)
In such a case, by adjusting the value of the setting parameter (COLLVL, COLLVLJG) of the collision detection level according to actual use environment, the sensitivity of collision detection can be optimized and the damage risk can be reduced further. And, in the operation after the low temperature or long term stoppage, please operate by accustoming at low speed (warm-up), or use the warm-up operation mode.
Refer to the separate instruction manual "Detailed explanations of functions and operations" for details of related
parameter.
Table 2-7 Factory-shipments condition
JOG operation Automatic
RV-2FR/4FR/7FR/13FR series Invalid Invalid
Robot arm
2-37
2.2.6 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 2-8.
Table 2-8 Protection specifications and applicable fields
Use the controller protection box to protect the controller from the environment when the controller will be used in the environment such as the oil mist shown in the Table 2-8.
The IEC IP symbols define the degree of protection against solids and fluids, and do not indicate a protective structure against the entry of oil.
The IEC standard is described by the following "Information" And, the corrosion of the rust etc. may occur to the robot with the liquids.
Information
The IEC IP30
The protection standard for approach in the dangerous spot in the tool. It indicates the protective structure that the proximity probe 2.5mm in diameter must not advance.
The IEC IP40
The protection standard for approach in the dangerous spot in the tool. It indicates the protective structure that the proximity probe 2.5mm in diameter must not advance.
The IEC IP67
Protection against water infiltration as specified in IP67 indicates a protective structure that is not harmfully affected, even if the test device dives underwater for the 30 minutes. The diving depth is shown below. When the height of the test device is less than 850 mm, the position of the lowest part is 1 m from the water sur- face.
When the height of the test device is 850 mm or more, the position of the highest part is 150 mm from the water surface.
Type Protection
specifications (IEC Standards value)
Classification Applicable field Remarks
RV-2FR/2FRL/2FRB/2FRLB IP30
General envi- ronment specifi- cations
General assembly
Slightly dusty environment
RV-4FR/4FRL/4FRJL
RV-7FR/7FRL
RV-7FRLL
RV-13FR/13FRL
RV-20FR
IP40
RV-4FRM/4FRLM/4FRJLM
RV-7FRM/7FRLM
RV-7FRLLM
RV-13FRM/13FRLM
RV-20FRM
IP67 Oil mist specifi- cations
Machine tool (cutting)
Machine shop with heavy oil
mist
Dusty work shop
Note that if the cutting
machine is using abra- sive materials, the
robot's life will be
shortened.
CAUTION
2-38
Robot arm
(2) About the use with the bad environment The robot arm with protection specification (oil mist specification) is made by order. This robot has protection methods that conform to IEC's IP67 standards (splashproof type).
Usage conditions are shown below.
1) The robot is designed for use in combination with machining device. 2) To ensure IP67 over the warranty period and further, the inside of the robot arm needs to be pressurized.
Use the provided 8 joint (AIR PURGE) to supply dry air for pressurizing (Fig. 2-26). The 8 joint (AIR PURGE) can be found at the base rear part of the robot arm. Recommended air purge equipment is shown in Table 2-10.
Table 2-9 Specification of the dry air for pressurization
Table 2-10 Recommended air purge equipment
3) We have confirmed that the robot arm meets the protection specifications by testing it using our specified cutting oil. However, the parts of the controller may be damaged by the cutting oil. When using the controller in an oil mist environment, always use the controller protection box. Our warranty does not cover damages or failure resulting from the robot being operated in any environment where other cutting oils than those listed in the table are used (except cutting oils with respect to which the robot's compatibility with the pro- tection specification is verified through our operability evaluation) or where the robot body may be directly splashed with water, oil or dust in quantities larger than stated in the protection specification.
4) Take measures so that the robot will not be exposed to water, oil and/or chips for a long period of time.
Also, entrained water droplets lead to the formation of rust on the robot, but would not usually affect the robot's ability to operate normally.
The warranty is invalid for any faults that occur when the robot is used under the following conditions.
Also, if the cover and/or other parts are damaged by interferences caused by the peripheral devices and the robot, the protection specification (seal performance, etc.) may be degraded. Therefore, please pay extra attention when handling the robot.
Refer to Page 198, "6.2 Working environment".
1) In surroundings that generate inflammable gases or corrosive gasses. 2) Atmosphere of the mist containing polish liquid etc. 3) Atmosphere in which the water, the oil, and the dust exceeding protection specification fall on the robot arm
directly. 4) Pressurization by the dry air exceeding the specification of Table 2-9.
Item Dew point Pressure
Specification The atmospheric pressure dew point is -
20 degree or less.
0.01MPa or less
Item Part name Required number Manufacture
Membrane air dryer IDG3M-02C-S 1 SMC
Precision regulator IR1000-01G 1 SMC
Spacer (Connection part) Y20 1 SMC
Robot arm
2-39
2.2.7 Clean specifications The robot arm with clean specification is made by order. Please check the delivery schedule.
Table 2-11 Clean specifications
Precautions for use 1) A 8 VACUUM coupling is provided in the base section of the robot arm for vacuum inside the robot arm.
(Refer to Fig. 2-26) When using the robot, connect this coupling with the vacuum generating valve (Refer to Table 2-12) and vacuum pump (furnished by the customer).
2) To suck in the robot arm, use the vacuum generator of the specification shown in following a) and b). a) When using the vacuum generator
Table 2-12 Specifications of vacuum generation valve (Confirmed in our company
b) When using the vacuum pump
Assure the vacuum flow rate of more than 30 L/min.
And, secure the exhaust course from the pump not to affect the power supply and the cleanness for the vacuum pumps.
Type Degree of cleanliness Internal suction Remarks
RV-4FRC/4FRLC/4FRJLC
RV-7FRC/7FRLC
RV-7FRLLC
RV-13FRC/13FRLC
RV-20FRC
ISO class3 Concentrated suction with vacuum
generating valve.
Use it in the clean room with the
down flow (flow velocity 0.3 m/s
above).
The use of a vacuum generating valve
is recommended.
Type Maker Air pressure Note1)
Note1) It is the vacuum pump maker's written specification.
Quantity
MEDT 14 KOGANEI CORPORATION Vacuum rate: 90.0 L/min(ANR) 1
2-40 Names of each part of the robot
Robot arm
2.3 Names of each part of the robot
Fig.2-6 Names of each part of the robot
Note) Although the figure is RV-4FR. RV-4FRL/4FRJL, RV-2FR series and RV-7FR/13FR series is also the same. But the RV-4FRJL (5-axis type robot) has no J4 axis.
Robot arm
Outside dimensions Operating range diagram 2-41
2.4 Outside dimensions Operating range diagram
(1) RV-2FR/2FRB
Fig.2-7 RV-2FR/2FRB outside dimensions
A
2 3 0
2 9 5
5 0
27070
(1 6 0 )
160
1 0 0
6 2 3
37.5
(Installation surface)
(I n st
al la
ti o n
su rf
ac e )
(5 0 )
(5 0 )
(80) (80)
Minimum. 300
40h8 depth 6 P.C.D.
31. 5
20H7 depth 6
45
B
View B
View A
C
View C
2-M3 screw depth 6
1 2
1 2
20 59 62.529
1 2
1 2
1 8
1 8
3 0
3 0
59
3 0
3 0
R a6
.3
Ra6.3
1 4
1 4
177.5
8 2
67.5 67.5
82
(40)
(1 2 0 )
(1 3 5 )
6 7 .5
6 7 .5
(135)
(160)
2-M5 screw (Grounding)
2-M3 screw depth 6
2-M3 screw depth 6
5H7 depth 8
4-M5 screw depth 8 4-9 installation hole
2-M3 screw depth 6
2-M3 screw depth 6
80 75
5 8 5
140
Solenoid valve (option) installation space
Solenoid valve (option) installation space
440
8 0
*3)
*2)
*1)
1 6 6
* 3 )
(1 8 5 )
155
Cable connection space
Detail of mechanical interface
*1) The depth in which the screw is tightened is 7.5 to 8mm. *2) The distance to a minimum bendable radius of the machine cable. *3) Ensure the cable connection space to connect machine cables.
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
Detail of installation dimension
Rev. *
2-42 Outside dimensions Operating range diagram
Robot arm
Fig.2-8 RV-2FR/2FRB operating range diagram
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-43
(2) RV-2FRL/2FRLB
Fig.2-9 RV-2FRL/2FRLB outside dimensions
155
A
3 1 0
2 9 5
5 0
33570
(1 6 0 )
160
1 0 0
7 0 3
37.5
(5 0 )
(5 0 )
(1 8 5 )
(80) (80)
P.C.D. 31.
5
45
B
C
1 2
1 2
20 59 62.529
1 2
1 2
1 8
1 8
3 0
3 0
59
3 0
3 0
1 4
1 4
177.5
8 2
67.5 67.5
82
(40)
(1 2 0 )
(1 3 5 )
6 7 .5
6 7 .5
(135)
(160)
440 8 0
1 6 6
* 3 )
*3)
*2)
*1)
Ra6.3
R a6
.3
(Installation surface)
(I n st
al la
ti o n
su rf
ac e )
Minimum. 300
40h8 depth 6
20H7 depth 6
View B
View A
View C
2-M3 screw depth 6
2-M5 screw (Grounding) 2-M3 screw depth 6
2-M3 screw depth 6
5H7 depth 8
4-M5 screw depth 8 4-9 installation hole
2-M3 screw depth 6
2-M3 screw depth 6
Cable connection space
Detail of mechanical interface
*1) The depth in which the screw is tightened is 7.5 to 8mm. *2) The distance to a minimum bendable radius of the machine cable. *3) Ensure the cable connection space to connect machine cables.
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
Detail of installation dimension
Rev. *
2-44 Outside dimensions Operating range diagram
Robot arm
Fig.2-10 RV-2FRL/2FRLB operating range diagram
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-45
(3) RV-4FR
Fig.2-11 Outside dimensions: RV-4FR
View B bottom view: Detail of installation dimension View A: Detail of mechanical interface
40h8
P.C.D. 31.
5
20H7 depth 6
45 5H7 depth 8
4-M5 screw depth8
(2 0 0 )
1 0 2
80 80
102
(1 6 0 )
(160)
(200)
4-9 installation hole
8 0
8 0
1 2 8
(Installation surface)
(I n st
al la
ti o n s
u rf
ac e )
*3)
*6
R 131
1 6 6
3 0
205
4 6
* 1 )
*4) 45
*4)
8 0
1 1 4
6 6
44
4 6
Oilmist Clean
-SH**
Standard
Oilmist Clean
-SH**
4 6
8 0
*4) 20544
Standard
85
125 3 5 0
275 2 3 5
5 0
A
*5)
B 183
1 2 0
6 4
168
1 9 0
30
30
30
30 70
*1)
*7)
*4)
83.5
108
*4)
30
*4) 7 6
6 6
Minimum. 300
Oilmist Clean
Oilmist Clean
(241)
170
6 9 0
Approx. 100
1 4 .7
-SH**
-SH**
115 126
*2)
R a6
.3
Ra6.3
440
Cable connection space
Maintenance space
Rev. * Notes
1. *1) Ensure the cable connection space to connect machine cables. 2. *2) Ensure the maintenance space to take out the cover. 3. *3) The screw should go in to a depth of 7.5mm to 8mm. 4. *4) Screw hole (M4 depth 8) for securing the user cables/piping. 5. *5) The size of the internal wiring and piping specification model (-SHxx). 6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specifica-
tion. 7. *7) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
2-46 Outside dimensions Operating range diagram
Robot arm
Fig.2-12 Operating range diagram: RV-4FR
Notes 1. *1) Rear face operation limit: When the J axis angle is -60 <= J1 <= +140, the J2 axis operation is limited to -113 <=
J2 <= +120. 2. The following figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-47
(4) RV-4FRL/4FRJL
Fig.2-13 Outside dimensions: RV-4FRL/4FRJL
Cable connection space *1)
*7)
View B bottom view: Detail of installation dimension
(Installation surface)
(I n st
al la
ti o n s
u rf
ac e )
(2 0 0 )
1 0 2
80 80
102
(1 6 0 )
(160)
(200)
4-9 installation hole
8 0
8 0
1 2 8
40h8P.C.D.
31. 5
20H7 depth 6
45 5H7 depth 8
4-M5 screw depth 8 *3)
*6
View A: Detail of machanical interface
* 1 )
R 131
1 6 6
3 0
265 45
4 6
*4)
8 0
1 1 4 6 6
44
4 6
*4
Oilmist Clean
-SH**
Standard
4 6
8 0
*4) 26544
Standard
Oilmist Clean
-SH**
*4)
B
A
3 1 0
3 5 0
5 0
335
183
440
1 2 0
*5)
228
30
30
30 70
1 9 0
30
*4)
83.5
108
30
*4) 85
125
7 6
6 6
6 4
Minimum. 300
Oilmist Clean
Oilmist Clean
-SH**
(241)
170
7 6 4 .9
Approx. 100
1 4 .7
-SH**
115 126
*2)
R a6
.3
Ra6.3
Maintenance space
Notes 1. *1) Ensure the cable connection space to connect machine cables. 2. *2) Ensure the maintenance space to take out the cover. 3. *3) The screw should go in to a depth of 7.5mm to 8mm. 4. *4) Screw hole (M4 depth 8) for securing the user cables/piping. 5. *5) The size of the internal wiring and piping specification model (-SHxx). 6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification. 7. *7) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Rev. *
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
2-48 Outside dimensions Operating range diagram
Robot arm
Fig.2-14 Operating range diagram: RV-4FRL/4FRJL
Notes 1. *1) Rear face operation limit: When the J axis angle is -35 <= J1 <= +35, the J2 axis operation is limited to -114 <= J2
<= +120. 2. The following figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 3. *3) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Note)
Note) RV-4FRJL does not have this.
Robot arm
Outside dimensions Operating range diagram 2-49
(5) RV-7FR
Fig.2-15 Outside dimensions: RV-7FR
View B bottom view: Detail of installation dimension
(Installation surface)
(I n st
al la
ti o n s
u rf
ac e )
1 0 2 .5
1 0 2 .5
(2 0 5 )
1 2 4 .5
124.5
102.5 102.5 4-9 installation hole
(205)
2 4 5
1 6 2
245.7
40h8P.C.D.
31. 5
20H7 depth 6
45 5H7 depth 8
4-M5 screw depth 8 *3)
*6)
View A: Detail of mechanical interface
* 1 )
1 6 6
8 0
1 1 4 6 6
R 159
3 0
44
4 6
*4) 75
*4)
Oilmist Clean
-SH**
Standard
*4)
B
A
*4)
*5) 4 0 0
3 4 0
5 0
370
85
125
207.6 250 1 2 0
7 6
6 6
102
6 4
263
100
30
30
1 6 0
30
*4)
137.8
30
30
Minimum. 324
Oilmist Clean
Oilmist Clean
-SH**
6 4
*2)
200
(278)
8 4 4 .4
Approx. 100
Maintenance space
2 0
-SH**
4 6
8 0
30044
Oilmist Clean
-SH**
Standard
*4)
135 143
300
R a6
.3
Ra6.3
Cable connection space *1)
*7)
Notes 1. *1) Ensure the cable connection space to connect machine cables. 2. *2) Ensure the maintenance space to take out the cover. 3. *3) The screw should go in to a depth of 7.5mm to 8mm. 4. *4) Screw hole (M4 depth 8) for securing the user cables/piping. 5. *5) The size of the internal wiring and piping specification model (-SHxx). 6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification. 7. *7) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
Rev. *
2-50 Outside dimensions Operating range diagram
Robot arm
Fig.2-16 Operating range diagram: RV-7FR
Notes 1. The following figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 2. *1) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-51
(6) RV-7FRL
Fig.2-17 Outside dimensions: RV-7FRL
View B bottom view: Detail of installation dimension View A: Detail of mechanical interface
40h8P.C.D.
31. 5
20H7 depth 6
45 5H7 depth 8
4-M5 screw depth 8 *3)
*6)
1 1 4
6 6
R 15
9
* 1 )
1 6 6
8 0
3 0
400
44
4 6
*4)
75 *4)
Standard
6 4
363
30 100
30
30
1 6 0
470
85
125
B
A
207.6
7 6
6 6
4 0 0
4 3 5
5 0
*4) *4)
250
1 2 0
102
30
*4)
*5)
Cable connection space *1)
*7)
30
137.8
Minimum. 324
Oilmist Clean
Oilmist Clean
-SH**
4 6
8 0
400*4) 44
Oilmist Clean
-SH**
Standard
(278)
200
9 3 9 .4
Approx. 100
Maintenance space
2 0
-SH**
*2)
Oilmist Clean
-SH**
(Installation surface)
(I n st
al la
ti o n s
u rf
ac e )
1 0 2 .5
1 0 2 .5
(2 0 5 )
1 2 4 .5
124.5
102.5 102.5 4-9 installation hole
(205)
2 4 5
1 6 2
245.7
143135
R a6
.3
Ra6.3
Notes 1. *1) Ensure the cable connection space to connect machine cables. 2. *2) Ensure the maintenance space to take out the cover. 3. *3) The screw should go in to a depth of 7.5mm to 8mm. 4. *4) Screw hole (M4 depth 8) for securing the user cables/piping. 5. *5) The size of the internal wiring and piping specification model (-SHxx). 6. *6) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specifica-
tion. 7. *7) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
Rev. *
2-52 Outside dimensions Operating range diagram
Robot arm
Fig.2-18 Operating range diagram: RV-7FRL
Notes 1. The following figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 2. *1) Front face operation limit: When the J1 axis angle is +145 <= J1 <= +215 or -145 <= J1 <= -215, the J2 axis
operation is limited to -110 <= J2 <= +120. 3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-53
(7) RV-7FRLL
Fig.2-19 Outside dimensions: RV-7FRLL
Ra6.3
R a6
.3
300
50
155
250
100
1 3 5
1 3 5
2 5 0
1 5 5
1 2 0
85 805 130
1 1 5 2
6 5
5 6 5
4 5 0
242.5
160
300 347
300
1 8 5
Miniumu 375 300
125
6 6
1 1 4
R277.6
1 3 0
510
3045
3 0
1 2 0
146
30
100
70
12
250
3 0
3 0 0
1 0 0
30
30
45
40h8P.C.D.
31. 5
20H7 depth 6
45 5H7 depth 8
4-M5 screw depth 8 *2)
*5)
4-14 installation hole
(Installation surface)
2-8H7 reamer
(I n st
al la
ti o n s
u rf
ac e )
B
Oil mist Clean
-SH**
A
Oil mist Clean
-SH**
Oil mist Clean
-SH**
Standard
*1)
*6)
*3)
*3) (The holes are on opposite sides.)6
4 107
*3) *1)
8 0
*3)
*4)
70
*3)
*3)
*3)
44
4 6
View B bottom view drawing: Detail of installation dimension View A: Detail of mechanical interface
Notes 1. *1) Ensure the cable connection space to connect machine cables. 2. *2) The screw should go in to a depth of 7.5mm to 8mm. 3. *3) Screw hole (M4 depth 8) for securing the user cables/piping. 4. *4) The size of the internal wiring and piping specification model (-SHxx). 5. *5) The depth is 6mm for the normal specification, 3.5mm for the clean/oil mist specification and 6.5mm for -SH** specification. 6. *6) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Rev. *
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
2-54 Outside dimensions Operating range diagram
Robot arm
Fig.2-20 Operating range diagram: RV-7FRLL
Notes 1. The side view figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 2. *1) Front face operation limit: When the J1 axis angle is +120 <= J1 or J1 <= -120, the J2 axis operation is limited to -
90 <= J2 <= +130. 3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-55
(8) RV-13FR/20FR
Fig.2-21 Outside dimensions: RV-13FR/20FR
510
R a6
.3
Ra6.3
B
P.C.D 40 50h8 depth 6.5
25H7 depth 10
A
2-8H7 rimer 4-14 installation hole
6H7 depth 845
4-M6 depth 10
(I n st
al la
ti o n s
u rf
ac e )
(Installation surface)
25H7 depth 6 (-SH** specification)
50h8 depth 8 (-SH** specification)
-SH**
-SH**
-SH**
*3)
*1)
*1)
*3)
*3)(The holes are on opposite sides
(The holes are on opposite sides*3)
*3)
*3)
*2)
* 1 )
4 5 0
4 1 0
6 5
550
300
347
R 277.6
242.5
9 9 7
1 4 1 .2
1 6 6
160
130
300 Minimum 375
300
250
1 3 5
1 5 5
155
1 3 5
1 2 0
3 0 0
2 5 0
100
50
1 8 5
150
97 3 0 3045
146
12
70 30
1 2 0
100
250
3 085
1 1 0
8 1
148
30
4530
1 0 0
1 2 0
300
*4)
*5)
View B bottom view drawing: Detail of installation dimension View A: Detail of mechanical interface
Notes 1. *1) Ensure the cable connection space to connect machine cables. 2. *2) The screw should go in to a depth of 9mm to 10mm. 3. *3) Screw hole (M4 depth 8) for securing the user cables/piping. 4. *4) The size of the internal wiring and piping specification model (-SHxx). 5. *5) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Rev. *
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
2-56 Outside dimensions Operating range diagram
Robot arm
Fig.2-22 Operating range diagram: RV-13FR/20FR
Notes 1. The side view figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 2. *1) Front face operation limit: When the J1 axis angle is +120 <= J1 or J1 <= -130, the J2 axis operation is limited to
-90 <= J2 <= +130. 3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-57
(9) RV-13FRL
Fig.2-23 Outside dimensions: RV-13FRL
Ra6.3
R a6
.3
45
(I n st
al la
ti o n s
u rf
ac e )
2-8H7 rimer
(Installation surface)
4-14 installation hole
P.C.D 40 50h8 depth 6.5
25H7 depth 10
6H7 depth 8
4-M6 depth 10
A
B
25H7 depth 6 (-SH** specification)
50h8 depth 8 (-SH** specification)
*1)
*3)
*3) (The holes are on opposite sides
(The holes are on opposite sides
*3)
-SH**
*3)
-SH**
*3) *1)
*3)
-SH**
*2)
300
1 1 5 2
6 5
5 6 5
4 5 0
347
160
300
130
242.5
69097
1 6 6
1 4 1 .2
R277.6
Minimum 375
300
100
250
1 5 5
155
1 2 0
2 5 0
1 3 5
1 3 5
50
150
300
1 3 0
510
3 0
1 2 0
45 30
146
30
100
70
12
8 1
148
85
1 1 0
250
3 0
1 8 5
30
45
1 0 0
30
3 0 0
*4)
View B bottom view drawing: Detail of installation dimension View A: Detail of mechanical interface
Notes 1. *1) Ensure the cable connection space to connect machine cables. 2. *2) The screw should go in to a depth of 9mm to 10mm. 3. *3) Screw hole (M4 depth 8) for securing the user cables/piping. 4. *4) The size of the internal wiring and piping specification model (-SHxx). 5. *5) The dimension a shows the distance to a minimum bendable radius of the machine cable.
Rev. *
Note) Don't install the robot arm in the position where direct rays or the heat of lighting hits. The skin temperature of the robot arm may rise, and the error may occur.
2-58 Outside dimensions Operating range diagram
Robot arm
Fig.2-24 Operating range diagram: RV-13FRL
Notes 1. The side view figure shows a robot at the position of:
J1=0, J2=0, J3=90, J4=0, J5=0, and J6=0 2. *1) Front face operation limit: When the J1 axis angle is +130 <= J1 or J1 <= -140, the J2 axis operation is limited to
-90 <= J2 <= +130. 3. *2) The area which P point cannot be moved: P point cannot move to this area. This limitation is valid at factory shipping,
but it can be released by parameter MELTEXS.
Rev. *
Robot arm
Outside dimensions Operating range diagram 2-59
2.4.1 Outside dimensions of machine cables
Note) If using an optional machine cable (replacement), refer to Page 79, "(1) Machine cable (replacement)" in a diameter of the cable.
2-60 Tooling
Robot arm
2.5 Tooling
2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a hand.
(1) RV-2FR series
Fig.2-25 RV-2FR series wiring and piping for hand
*1) Please prelare the 4 pneumatic hoses for connecting to the solenoid valve set.
a)
b)
AIR OUT
(1) Hand input signal connectors (CON1H) Note) Opposite side of figure
(3) 1 to 4: Seocndary piping couplings (4)
Hand input signal cables (AWG24(0.2mm2)x2core: Four)
Solenoid valve set (optional) installation section
GR1 to GR4: connect to b) Hand output connector
Primary piping pneumatic hoses (6x1)
Secondary piping hoses (4x4)
Secondary piping pneumatic hoses (4)
*1)
(4) AIR IN 1 to 4 Secondary piping pneumatic coupling (4) (connect to a))
(2) GR1 to GR4 Hand output connector (connect to b))
GR connector arrangement
(Inside the CONBOX cover)
Details of view A (Rear of the base section) Battery cover is removed.
A
GR1 GR2
GR4GR3
AIR IN 1
AIR IN 2
AIR IN 3
AIR IN 4
Connector and pneumatic coupling
No Name Qty.
Robot side(Robot arm side) Counter side (customer-prepared) Note1)
Note1) The resistance (100, 1/4W) is installed to B1 and B2 terminal at factory shipping. When hand input signal line is wired by the cus- tomer, please install the resistance. When a multifunctional electric hand is connected, the resistance is not required.
Manufacturer Connectors, couplings
Connector pins Connector Connector pins
(1) Connector 1 1-1903131-6 1903112-2 1-1827864-6 1827587-2 Tyco Electronics
(2) Connector 4 SMP-02V-BC BHF-001GI-0.8BS SMR-02V-B BYM-001T-0.6 Japan solderless terminal
MFG. Co.,LTD
(3) Coupling 4 KJS04-M3 SMC. Co.,LTD
(4) Coupling 4 UKB4 Koganei
Robot arm
Tooling 2-61
(2) RV-4FR/7FR/13FR series standard specification (with no internal wiring and piping)
Fig.2-26 RV-4FR/7FR/13FR series wiring and piping for hand
GR2 GR1
R P
OP4
LAN
OP2
OP OP3
OP OP3 OP2 OP4
LAN
Connector and pneumatic coupling
No. Name Qty.
Robot side (Robot arm side) Counter side (customer-prepared)
Manufacturer Connectors,
couplings Connector pins Connector Connector pins
(1) Coupling 2 UKB6 - - - Koganei
(2) Coupling 1 Note1)
Note1) The clean/oil mist specification robot comes equipped with one coupling. The standard specification robot has no coupling.
UKB8 - - -
(3) Connector (OP1) 1 1-1827864-4 1827570-2 1-1903130-4 1903112-2 Tyco Electronics
Connector (OP2) 1 1-1827864-4 1827570-2 1-1903130-4 1903112-2
Connector (OP3) 1 1-1827864-2 1827570-2 1-1903130-2 1903112-2
Connector (OP4) 1 1-1827864-2 1827570-2 1-1903130-2 1903112-2
(4) Connector (LAN) 1 1-1827864-4 1827570-2 1-1903130-4 1903112-2
(5) Connector (GR) 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1
(6) Connector (LAN) 1 1-1903131-4 1903112-2 1-1827864-4 1827570-2
No. Name Qty.
Inside (Robot arm side) Outside (Robot arm side)Note1)
Note1) Connectors are factory installed on the robot.
Manufacturer Connectors,
couplings Connector pins Connector Connector pins
(7) Connector (CNOP1) 1 1-1903128-0 1903112-2 1-1827863-0 1827570-2 Tyco Electronics
Primary piping pneumatic hose (AIR IN, RETURN)
(1) Primary piping pneumatic cou- pling (6)
AIR IN, RETURN
(5) Hand output signal connector (GR1, GR2)
Note 1)
Mechanical interface
Fore arm
Base
Upper arm
} (2) 8 coupling Only for oil mist specification (AIR
PURGE) or clean specification
(VACUUM))
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