Contents

Mitsubishi RH-3FRH Robot Specification Manual PDF

1 of 276
1 of 276

Summary of Content for Mitsubishi RH-3FRH Robot Specification Manual PDF

Mitsubishi Electric Industrial Robot CR800 Series Controller

RH-FRH Series Standard Specifications Manual

RH-3FRH series RH-6FRH series RH-12FRH series RH-20FRH series RH-3FRHR series

BFP-A3468-U

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)

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

L N

Controller rear

ACIN cable (attachment)

PE terminal PE terminal

Primary side

Secondry side

Single 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 socket (female)

Main key (wide)

Groove for main key (wide)

Top

Top

Coupling

Note 1) Always use the terminal cover for the earth leakage breaker.

Be careful of interference with peripheral equipment. Especially don't give a shock to the shaft (J3 axis). When you install the hand, be careful not to knock at the shaft end by the hammer etc. The shaft may be damaged.

Collision detection function is valid condition for both of automatic and jog operation at shipping in RH-3FRHR series. However, damage to the ball screw shaft cannot be prevented completely.

Refer to the separate instruction manual "Detailed explanations of functions and operations" for collision detection function.

Take care also of the following items.

(1)The robot's locus of movement may change with specified speed. Especially as for the corner section, short cut distance may change. Therefore, when begin- ning automatic operation, moves at low speed at first, and you should gather speed slowly with being careful of interference with peripheral equipment.

(2)It can be confirmed whether the specified position exist in the defined area by using the instruc- tion command "Zone". It can utilize as one of the methods for collision evasion. Refer to the "detailed description of the instructions manual/function, and operation" of the separate volume for the details of the instruction command.

CAUTION

Short cut

Arch movement (example)

Revision history

Date of print Specifications No. Details of revisions

2017-04-06 BFP-A3468 First print.

2017-07-11 BFP-A3468-A Additional camera head (4F-3DVS2-OPT1) and optional visual field expander (2F-

3DVS2-OPT2) were deleted. (Error correction)

2017-11-01 BFP-A3468-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-A3468-C Descriptions of CR800-Q controller were added.

Correction of figures. (Fig. 2-71, 72, 82, 83)

Notes were added to section 3.6.

Environmental conditions of electromagnetic noise was modified.

2018-06-01 BFP-A3468-D Revised the operation method of the brake release switch (Fig. 2-17, 18)

2018-09-03 BFP-A3468-E Function extension card (2F-DQ520, 2F-DQ521) were added.

2018-12-25 BFP-A3468-F The attachments for the external wiring/piping box were corrected.

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-A3468-G Correction of errors.

Communication interface between robot controllers of CR800-D controller was

deleted.

Description of connectors (EXT1, OPT1, OPT2) was modified.

Correction of figures. (Fig. 2-43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 65 to 68)

2019-07-18 BFP-A3468-H Added the procedure for enabling the safety diagnosis function (STO function).

2020-01-24 BFP-A3468-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".

Added information on the space required for installing and removing the cover. (Fig.

2-19, 21, 23, 25, 27, 29, 31, 33, 35, 37, 39, 41)

Correction of errors.

Corrected the specifications of valves for solenoid valve sets. (Table 2-25)

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-A3468-K Amended the precautions regarding the prevention of unauthorized access.

Added "Appendix 5: Origin position adjustment of J2 axis".

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-A3468-M Added 6.4 EMC installation guideline.

2021-01-29 BFP-A3468-N Updated contents for the optional product "MELFA-3D Vision 3.0 (3F-53U-WINM)".

2021-04-01 BFP-A3468-P Added the Safety Communication Function Instruction Manual.

Elaborated on explanations on the STO function.

2021-09-30 BFP-A3468-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-A3468-S Revised "6.4 EMC installation guideline".

Corrected other mistakes and changed some sections.

2022-06-30 BFP-A3468-T Corrected the model name of the EtherCAT module manufactured by HMS.

2022-11-30 BFP-A3468-U Changed the plug of the external I/O cable for the parallel I/O interface.

Corrected other mistakes and changed some sections.

Date of print Specifications No. Details of revisions

Introduction

This series offers small-size industrial robots developed using Mitsubishi's latest technology. They are especially designed to handle and assemble mechanical parts. They are Mitsubishi's answer to the cus- tomer's need to achieve a compact manufacturing facility capable of highly flexible production, as neces- sitated by the diffusion of high-density product groups and the shorter product life cycles that have become common-place in recent years.

About RH-3FRHR series, because the installation surface does not give limitation to the operating range, it can work to the layout in the customer flexibly.

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 25, "2 Robot arm", the specifications related to the controller Page 156, "3 Controller", and software func- tions and a command list Page 232, "4 Software" separately.

This document has indicated the specification of the following types robot.

On floor type...........*RH-3FRH series

*RH-6FRH series

*RH-12FRH series

*RH-20FRH series

Hanging type ...........*RH-3FRHR 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) Floor installation type ................................................................................................................................................ 1-2 (2) Hanging installation type .......................................................................................................................................... 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 ............................................................................................................................. 1-6 (3) MELSEC-Q compatible type .................................................................................................................................. 1-8

1.3 Indirect export .......................................................................................................................................................................... 1-9

1.4 Instruction manuals ................................................................................................................................................................ 1-9

1.5 Contents of the structural equipment .......................................................................................................................... 1-10 1.5.1 Robot arm ......................................................................................................................................................................... 1-10

(1) Floor installation type .............................................................................................................................................. 1-10 (2) Hanging installation type ........................................................................................................................................ 1-13

1.5.2 Controller .......................................................................................................................................................................... 1-14 (1) CR800-D controller .................................................................................................................................................. 1-14 (2) CR800-R controller .................................................................................................................................................. 1-15 (3) CR800-Q controller .................................................................................................................................................. 1-17

1.5.3 Function extension device ......................................................................................................................................... 1-19

1.6 Contents of the Option equipment and special specification ............................................................................ 1-20 1.6.1 List of the robot arm option equipment and special specification ........................................................... 1-20 1.6.2 List of the controller option equipment and special specification ............................................................ 1-22 1.6.3 Function extension device ......................................................................................................................................... 1-23

2 Robot arm ......................................................................................................................................................................................... 2-25

2.1 Standard specifications ...................................................................................................................................................... 2-25 2.1.1 Basic specifications ...................................................................................................................................................... 2-25

(1) RH-3FRH series ........................................................................................................................................................ 2-25 (2) RH-6FRH series ........................................................................................................................................................ 2-29 (3) RH-12FRH series ...................................................................................................................................................... 2-31 (4) RH-20FRH series ...................................................................................................................................................... 2-33 (5) RH-3FRHR series ..................................................................................................................................................... 2-35

2.1.2 The counter-force applied to the installation surface ................................................................................... 2-37 2.1.3 RH-3FRHR installation stage ................................................................................................................................... 2-38

(1) Example which uses the iron material .............................................................................................................. 2-38 (2) Example which uses the aluminum ..................................................................................................................... 2-39

2.2 Definition of specifications ................................................................................................................................................ 2-40 2.2.1 Pose repeatability .......................................................................................................................................................... 2-40 2.2.2 Mass capacity .................................................................................................................................................................. 2-41 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-44

(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-44 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot ..................................... 2-45 2.2.5 Vibration of shaft (J3 axis) position and arm end ............................................................................................ 2-46

(1) Relationship Between Mass Capacity and Speed ....................................................................................... 2-46 (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed ........... 2-47 (3) Relation between offset length and the maximum speed ......................................................................... 2-49 (4) Time to reach the position repeatability ......................................................................................................... 2-51

2.2.6 About moving speed at singular point and near singular point. (RH-3FRHR series) ........................ 2-52 2.2.7 Collision detection ......................................................................................................................................................... 2-53 2.2.8 Protection specifications ............................................................................................................................................ 2-54

(1) Types of protection specifications .................................................................................................................... 2-54

Contents

ii

Page

(2) About the use with the bad environment ........................................................................................................ 2-55 2.2.9 Clean specifications ...................................................................................................................................................... 2-57

(1) Types of clean specifications ............................................................................................................................... 2-57

2.3 Names of each part of the robot .................................................................................................................................... 2-59

2.4 Outside dimensions Operating range diagram ........................................................................................................ 2-61 2.4.1 Outside dimensions Operating range diagram (RH-3FRH series) ........................................................ 2-61

(1) Standard Specification ............................................................................................................................................ 2-61 (2) Clean Specification ................................................................................................................................................... 2-67

2.4.2 Outside dimensions Operating range diagram (RH-6FRH series) ........................................................ 2-73 (1) Standard Specification ............................................................................................................................................ 2-73 (2) Clean Specification and oil mist specification .............................................................................................. 2-79

2.4.3 Outside dimensions Operating range diagram (RH-12FRH series) ....................................................... 2-85 (1) Standard Specification ............................................................................................................................................ 2-85 (2) Clean Specification and oil mist specification .............................................................................................. 2-91

2.4.4 Outside dimensions Operating range diagram (RH-20FRH series) ....................................................... 2-97 (1) Standard Specification ............................................................................................................................................ 2-97 (2) Clean Specification and oil mist specification ........................................................................................... 2-101

2.4.5 Outside dimensions Operating range diagram of RH-3FHR series .................................................... 2-105 (1) Standard Specification ......................................................................................................................................... 2-105 (2) Clean/waterproof Specification ....................................................................................................................... 2-106

2.4.6 Mechanical interface and Installation surface ................................................................................................ 2-107 (1) RH-3FRH series ..................................................................................................................................................... 2-107 (2) RH-6FRH series ..................................................................................................................................................... 2-108 (3) RH-12FRH series ................................................................................................................................................... 2-109 (4) RH-20FRH series ................................................................................................................................................... 2-110 (5) RH-3FRHR series (Standard specification) ................................................................................................ 2-111 (6) RH-3FRHR series (Clean/waterproof specification) .............................................................................. 2-112

2.4.7 Outside dimensions of machine cables ............................................................................................................. 2-113

2.5 Tooling ..................................................................................................................................................................................... 2-114 2.5.1 Wiring and piping for hand ....................................................................................................................................... 2-114 2.5.2 Internal air piping ......................................................................................................................................................... 2-116

(1) Floor installation type ........................................................................................................................................... 2-116 (2) Hanging installation type ..................................................................................................................................... 2-116

2.5.3 Internal wiring for the hand output cable ......................................................................................................... 2-116 (1) Floor installation type ........................................................................................................................................... 2-116 (2) Hanging installation type ..................................................................................................................................... 2-116

2.5.4 Internal wiring for the hand input cable ............................................................................................................. 2-117 (1) Floor installation type ........................................................................................................................................... 2-117 (2) Hanging installation type ..................................................................................................................................... 2-117

2.5.5 Ethernet cable (For RH-3FRH/6FRH/12FRH/20FRH series) ................................................................ 2-117 2.5.6 Spare Wiring (For FH-3FRHR series) ................................................................................................................. 2-118 2.5.7 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) .................... 2-119

(1) RH-3FRH series ..................................................................................................................................................... 2-119 (2) RH-6FRH series ..................................................................................................................................................... 2-120 (3) RH-12FH/20FH series ......................................................................................................................................... 2-121 (4) RH-3FRHR series .................................................................................................................................................. 2-122 (5) Example of wiring and piping <1> ..................................................................................................................... 2-123 (6) Wiring and piping example <2> .......................................................................................................................... 2-126 (7) Precautions for the oilmist/clean specification ........................................................................................ 2-126

2.5.8 Wiring and piping system diagram for hand ...................................................................................................... 2-127 2.5.9 Electrical specifications of hand input/output ............................................................................................... 2-129 2.5.10 Air supply circuit example for the hand .......................................................................................................... 2-130

2.6 Options .................................................................................................................................................................................... 2-131 (1) Machine cable (replacement) ............................................................................................................................ 2-132 (2) Stopper for changing the operating range ................................................................................................... 2-135 (3) Solenoid valve set .................................................................................................................................................. 2-136 (4) Hand input cable ..................................................................................................................................................... 2-142

Contents

iii

Page

(5) Hand output cable .................................................................................................................................................. 2-144 (6) Hand curl tube ......................................................................................................................................................... 2-146 (7) Hand tube .................................................................................................................................................................. 2-147 (8) Internal Wiring/Piping set for hand ................................................................................................................. 2-148 (9) External Wiring/Piping box ................................................................................................................................. 2-151

2.7 About Overhaul ................................................................................................................................................................... 2-154

2.8 Maintenance parts .............................................................................................................................................................. 2-155

3 Controller ....................................................................................................................................................................................... 3-156

3.1 Standard specifications ................................................................................................................................................... 3-156 3.1.1 Basic specifications ................................................................................................................................................... 3-156

(1) CR800-D controller ............................................................................................................................................... 3-156 (2) CR800-R controller ............................................................................................................................................... 3-158 (3) CR800-Q controller ............................................................................................................................................... 3-161

3.1.2 Protection specifications and operating supply ............................................................................................. 3-163 (1) Protection specifications .................................................................................................................................... 3-163 (2) Operating supply ..................................................................................................................................................... 3-163

3.2 Names of each part ........................................................................................................................................................... 3-164 3.2.1 Controller ....................................................................................................................................................................... 3-164 3.2.2 Robot CPU unit ........................................................................................................................................................... 3-166

(1) CR800-R controller ............................................................................................................................................... 3-166 (2) CR800-Q controller ............................................................................................................................................... 3-167

3.3 Outside dimensions/Installation dimensions ........................................................................................................... 3-168 3.3.1 Outside dimensions .................................................................................................................................................... 3-168

(1) Controller ................................................................................................................................................................... 3-168 (2) Robot CPU unit ....................................................................................................................................................... 3-169

3.3.2 Installation dimensions .............................................................................................................................................. 3-171 (1) Controller ................................................................................................................................................................... 3-171 (2) Robot CPU unit ....................................................................................................................................................... 3-173

3.4 External input/output ....................................................................................................................................................... 3-174 3.4.1 Types ............................................................................................................................................................................... 3-174

3.5 Dedicated input/output ................................................................................................................................................... 3-175

3.6 Emergency stop input and output etc. ...................................................................................................................... 3-178 3.6.1 Connection of the external emergency stop and mode selector switch ............................................ 3-179 3.6.2 Special stop input (SKIP) ........................................................................................................................................ 3-183 3.6.3 Door switch function ................................................................................................................................................. 3-184 3.6.4 Mode selector switch function .............................................................................................................................. 3-184

(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings ........... 3-185

3.7 Additional Axis Function .................................................................................................................................................. 3-186 3.7.1 Wiring of the Additional Axis Interface .............................................................................................................. 3-186 3.7.2 Example of the installation of the noise filter ................................................................................................. 3-187

(1) Line noise filter ....................................................................................................................................................... 3-189

3.8 Additional axis synchronization output ..................................................................................................................... 3-190 (1) Example circuit ........................................................................................................................................................ 3-190 (2) Image of how to connect the controller connector ................................................................................. 3-191

3.9 Options .................................................................................................................................................................................... 3-192 3.9.1 CR800-D/R/Q controller common ..................................................................................................................... 3-193

(1) Teaching pendant (T/B) ...................................................................................................................................... 3-193 (2) High efficient teaching pendant (T/B) ........................................................................................................... 3-196 (3) Function extension card ...................................................................................................................................... 3-198 (4) Controller protection box .................................................................................................................................... 3-199 (5) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro ............ 3-204 (6) Instruction Manual (bookbinding) ..................................................................................................................... 3-206

3.9.2 CR800-D controller ................................................................................................................................................... 3-207 (1) Parallel I/O interface ............................................................................................................................................ 3-207 (2) External I/O cable .................................................................................................................................................. 3-213

Contents

iv

Page

(3) Parallel I/O unit ...................................................................................................................................................... 3-215 (4) External I/O cable .................................................................................................................................................. 3-225 (5) CC-Link interface .................................................................................................................................................. 3-227 (6) SD memory card ..................................................................................................................................................... 3-230

3.10 Maintenance parts ........................................................................................................................................................... 3-231

4 Software ......................................................................................................................................................................................... 4-232

4.1 List of commands ............................................................................................................................................................... 4-232

4.2 List of parameters .............................................................................................................................................................. 4-235

5 Instruction Manual ..................................................................................................................................................................... 5-237

5.1 The details of each instruction manuals ................................................................................................................... 5-237

6 Safety .............................................................................................................................................................................................. 6-238

6.1 Safety ...................................................................................................................................................................................... 6-238 6.1.1 Self-diagnosis stop functions ................................................................................................................................ 6-238 6.1.2 External input/output signals that can be used for safety protection measures ........................... 6-239 6.1.3 Precautions for using robot .................................................................................................................................... 6-239

(1) Robot installation .................................................................................................................................................... 6-239 (2) Prevention of contact with operator .............................................................................................................. 6-239 (3) Work procedures ..................................................................................................................................................... 6-239 (4) Training ....................................................................................................................................................................... 6-240 (5) Daily inspection and periodic inspection ...................................................................................................... 6-240

6.1.4 Safety measures for automatic operation ........................................................................................................ 6-240 6.1.5 Safety measures for teaching ............................................................................................................................... 6-240 6.1.6 Safety measures for maintenance and inspections, etc. ........................................................................... 6-240 6.1.7 Examples of safety measures ................................................................................................................................ 6-241

(1) External emergency stop connection [supplementary explanation] ................................................. 6-245

6.2 Working environment ......................................................................................................................................................... 6-246 (1) Power supply ............................................................................................................................................................ 6-246 (2) Noise ............................................................................................................................................................................ 6-246 (3) Temperature and humidity .................................................................................................................................. 6-246 (4) Vibration ..................................................................................................................................................................... 6-246 (5) Installation environment ...................................................................................................................................... 6-246

6.3 Precautions for handling .................................................................................................................................................. 6-246

6.4 EMC installation guideline ............................................................................................................................................... 6-248 6.4.1 Outlines ........................................................................................................................................................................... 6-248 6.4.2 EMC .................................................................................................................................................................................. 6-248 6.4.3 EMC measures ............................................................................................................................................................. 6-248 6.4.4 Example of EMC measures ..................................................................................................................................... 6-249 6.4.5 Parts for EMC measures ......................................................................................................................................... 6-249

7Appendix ........................................................................................................................................................................... Appendix-250 Appendix 1 Inertia calculation method ........................................................................................................ Appendix-250 Appendix 2 Classification of functions using external input/output signals ................................ Appendix-251 Appendix 3 Safety diagnosis function (Test pulse diagnosis) ............................................................ Appendix-252 Appendix 4 Safety block diagram ................................................................................................................... Appendix-253 Appendix 5 Origin position adjustment of J2 axis .................................................................................. Appendix-254 Appendix 6 Specifications discussion material (RH-3FRH series) .................................................. Appendix-255 Appendix 7 Specifications discussion material (RH-6FRH series) .................................................. Appendix-256 Appendix 8 Specifications discussion material (RH-12FRH series) ............................................... Appendix-257 Appendix 9 Specifications discussion material (RH-20FRH series) ............................................... Appendix-258 Appendix 10 Specifications discussion material (RH-3FRHR series) ............................................ Appendix-259

1-1 Structural equipment

1General configuration

1 General configuration

1.1 Structural equipment

Structural equipment consists of the following types.

1.1.1 Standard structural equipment The following items are enclosed as a standard.

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)

1General configuration

Model type name of robot 1-2

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 There are two types of robot, one is "Floor installation type" and the other is "Hanging installation

type", each of which are different in installation posture. (1) Floor installation type

RH - FRH - - Sxx (a) (b) (c) (d) (e) (f) (g) (h)

(a) RH ...............................................Indicates the horizontal multiple-joint robot.

(b) ...........................................Indicates the maximum load.

Ex. 3: 3kg 6: 6kg 12: 12kg 20: 20kg

(c) FRH............................................Indicates the FRH series.

(d) ............................................Indicates the arm length.

Ex. 35: 350mm 45: 450mm 55: 550mm 70: 700mm 85: 850mm 100: 1000mm

(e) ...........................................Indicates the vertical stroke length.

Ex. 12: 120mm stroke 15: 150mm stroke 20: 200mm stroke 34: 340mm stroke 35: 350mm stroke 45: 450mm stroke

(f) .................................................Indicates environment specification.

Ex. Omitted: General specifications C: Clean specifications M: Oil mist specifications

(g) .................................................Indicates the controller series.

Ex. D: Stand alone type R: MELSEC iQ-R compatible type Q: MELSEC-Q compatible type

(h) -Sxx............................................ Indicates a special model. In order, limit special specification.

1-3 Model type name of robot

1General configuration

(2) Hanging installation type

RH - 3 FRH R 35 - - Sxx (a) (b) (c) (d) (e) (f) (g) (h) ( i )

(a) RH .............................................. Indicates the horizontal multiple-joint robot.

(b) 3.................................................. Indicates the maximum load. 3: 3kg

(c) FRH........................................... Indicates the FRH series.

(d) R ................................................. Indicates the installation posture is hung.

(e) 35................................................ Indicates the arm length. 35: 350mm

(f) ............................................ Indicates the vertical stroke length. Ex.

12: 120mm stroke 15: 150mm stroke

(g) ................................................ Indicates environment specification. Ex.

Omitted: General specifications C: Clean specifications W: Waterproof specifications

(h) ................................................ Indicates the controller series. Ex.

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.

1General configuration

Model type name of robot 1-4

1.2.2 Combination of the robot arm and the controller (1) Stand alone type

Table 1-1 Combination of the robot arm (floor installation type) and controller

Protection specification Robot arm

(Floor installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

RH-3FRH series

General-purpose environment RH-3FRH3515-D 350

150

CR800-03HD

RH-3FRH4515-D 450

RH-3FRH5515-D 550

Clean specifications RH-3FRH3512C-D 350

120RH-3FRH4512C-D 450

RH-3FRH5512C-D 550

RH-6FRH series

General-purpose environment RH-6FRH3520-D 350

200

CR800-06HD

RH-6FRH4520-D 450

RH-6FRH5520-D 550

RH-6FRH3534-D 350

340RH-6FRH4534-D 450

RH-6FRH5534-D 550

Clean specifications RH-6FRH3520C-D 350

200RH-6FRH4520C-D 450

RH-6FRH5520C-D 550

RH-6FRH3534C-D 350

340RH-6FRH4534C-D 450

RH-6FRH5534C-D 550

Oil mist specifications RH-6FRH3520M-D 350

200RH-6FRH4520M-D 450

RH-6FRH5520M-D 550

RH-6FRH3534M-D 350

340RH-6FRH4534M-D 450

RH-6FRH5534M-D 550

RH-12FRH series

General-purpose environment RH-12FRH5535-D 550

350

CR800-12HD

RH-12FRH7035-D 700

RH-12FRH8535-D 850

RH-12FRH5545-D 550

450RH-12FRH7045-D 700

RH-12FRH8545-D 850

Clean specifications RH-12FRH5535C-D 550

350RH-12FRH7035C-D 700

RH-12FRH8535C-D 850

RH-12FRH5545C-D 550

450RH-12FRH7045C-D 700

RH-12FRH8545C-D 850

Oil mist specifications RH-12FRH5535M-D 550

350RH-12FRH7035M-D 700

RH-12FRH8535M-D 850

RH-12FRH5545M-D 550

450RH-12FRH7045M-D 700

RH-12FRH8545M-D 850

1-5 Model type name of robot

1General configuration

Table 1-2 Combination of the robot arm (hanging installation type) and the controller

RH-20FRH series

General-purpose environment RH-20FRH8535-D 850 350

CR800-20HD

RH-20FRH10035-D 1000

RH-20FRH8545-D 850 450

RH-20FRH10045-D 1000

Clean specifications RH-20FRH8535C-D 850 350

RH-20FRH10035C-D 1000

RH-20FRH8545C-D 850 450

RH-20FRH10045C-D 1000

Oil mist specifications RH-20FRH8535M-D 850 350

RH-20FRH10035M-D 1000

RH-20FRH8545M-D 850 450

RH-20FRH10045M-D 1000

Note1) When you use by adverse environment, please use the controller protection box.

Protection specification Robot arm

(Hanging installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

Note1) When you use by adverse environment, please use the controller protection box.

RH-3FRHR series General-purpose environment RH-3FRHR3515-D 350 150

CR800-03HRDClean specifications RH-3FRHR3512C-D 350 120 Waterproof specifications RH-3FRHR3512W-D 350 120

Protection specification Robot arm

(Floor installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

1General configuration

Model type name of robot 1-6

(2) MELSEC iQ-R compatible type Table 1-3 Combination of the robot arm (floor installation type) and controller

Protection specification Robot arm

(Floor installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

RH-3FRH series

General-purpose environment RH-3FRH3515-R 350

150

CR800-03HR

RH-3FRH4515-R 450

RH-3FRH5515-R 550

Clean specifications RH-3FRH3512C-R 350

120RH-3FRH4512C-R 450

RH-3FRH5512C-R 550

RH-6FRH series

General-purpose environment RH-6FRH3520-R 350

200

CR800-06HR

RH-6FRH4520-R 450

RH-6FRH5520-R 550

RH-6FRH3534-R 350

340RH-6FRH4534-R 450

RH-6FRH5534-R 550

Clean specifications RH-6FRH3520C-R 350

200RH-6FRH4520C-R 450

RH-6FRH5520C-R 550

RH-6FRH3534C-R 350

340RH-6FRH4534C-R 450

RH-6FRH5534C-R 550

Oil mist specifications RH-6FRH3520M-R 350

200RH-6FRH4520M-R 450

RH-6FRH5520M-R 550

RH-6FRH3534M-R 350

340RH-6FRH4534M-R 450

RH-6FRH5534M-R 550

RH-12FRH series

General-purpose environment RH-12FRH5535-R 550

350

CR800-12HR

RH-12FRH7035-R 700

RH-12FRH8535-R 850

RH-12FRH5545-R 550

450RH-12FRH7045-R 700

RH-12FRH8545-R 850

Clean specifications RH-12FRH5535C-R 550

350RH-12FRH7035C-R 700

RH-12FRH8535C-R 850

RH-12FRH5545C-R 550

450RH-12FRH7045C-R 700

RH-12FRH8545C-R 850

Oil mist specifications RH-12FRH5535M-R 550

350RH-12FRH7035M-R 700

RH-12FRH8535M-R 850

RH-12FRH5545M-R 550

450RH-12FRH7045M-R 700

RH-12FRH8545M-R 850

1-7 Model type name of robot

1General configuration

Table 1-4 Combination of the robot arm (hanging installation type) and the controller

RH-20FRH series

General-purpose environment RH-20FRH8535-R 850 350

CR800-20HR

RH-20FRH10035-R 1000

RH-20FRH8545-R 850 450

RH-20FRH10045-R 1000

Clean specifications RH-20FRH8535C-R 850 350

RH-20FRH10035C-R 1000

RH-20FRH8545C-R 850 450

RH-20FRH10045C-R 1000

Oil mist specifications RH-20FRH8535M-R 850 350

RH-20FRH10035M-R 1000

RH-20FRH8545M-R 850 450

RH-20FRH10045M-R 1000

Note1) When you use by adverse environment, please use the controller protection box.

Protection specification Robot arm

(Hanging installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

Note1) When you use by adverse environment, please use the controller protection box.

RH-3FRHR series

General-purpose environment RH-3FRHR3515-R 350 150

CR800-03HRRClean specifications RH-3FRHR3512C-R 350 120

Waterproof specifications RH-3FRHR3512W-R 350 120

Protection specification Robot arm

(Floor installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

1General configuration

Model type name of robot 1-8

(3) MELSEC-Q compatible type Table 1-5 Combination of the robot arm (floor installation type) and controller

Protection specification Robot arm

(Floor installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

RH-3FRH series

General-purpose environment RH-3FRH3515-Q 350

150

CR800-03HQ

RH-3FRH4515-Q 450

RH-3FRH5515-Q 550

Clean specifications RH-3FRH3512C-Q 350

120RH-3FRH4512C-Q 450

RH-3FRH5512C-Q 550

RH-6FRH series

General-purpose environment RH-6FRH3520-Q 350

200

CR800-06HQ

RH-6FRH4520-Q 450

RH-6FRH5520-Q 550

RH-6FRH3534-Q 350

340RH-6FRH4534-Q 450

RH-6FRH5534-Q 550

Clean specifications RH-6FRH3520C-Q 350

200RH-6FRH4520C-Q 450

RH-6FRH5520C-Q 550

RH-6FRH3534C-Q 350

340RH-6FRH4534C-Q 450

RH-6FRH5534C-Q 550

Oil mist specifications RH-6FRH3520M-Q 350

200RH-6FRH4520M-Q 450

RH-6FRH5520M-Q 550

RH-6FRH3534M-Q 350

340RH-6FRH4534M-Q 450

RH-6FRH5534M-Q 550

RH-12FRH series

General-purpose environment RH-12FRH5535-Q 550

350

CR800-12HQ

RH-12FRH7035-Q 700

RH-12FRH8535-Q 850

RH-12FRH5545-Q 550

450RH-12FRH7045-Q 700

RH-12FRH8545-Q 850

Clean specifications RH-12FRH5535C-Q 550

350RH-12FRH7035C-Q 700

RH-12FRH8535C-Q 850

RH-12FRH5545C-Q 550

450RH-12FRH7045C-Q 700

RH-12FRH8545C-Q 850

Oil mist specifications RH-12FRH5535M-Q 550

350RH-12FRH7035M-Q 700

RH-12FRH8535M-Q 850

RH-12FRH5545M-Q 550

450RH-12FRH7045M-Q 700

RH-12FRH8545M-Q 850

1-9 Indirect export

1General configuration

Table 1-6 Combination of the robot arm (hanging installation type) and the controller

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.

RH-20FRH series

General-purpose environment RH-20FRH8535-Q 850 350

CR800-20HQ

RH-20FRH10035-Q 1000

RH-20FRH8545-Q 850 450

RH-20FRH10045-Q 1000

Clean specifications RH-20FRH8535C-Q 850 350

RH-20FRH10035C-Q 1000

RH-20FRH8545C-Q 850 450

RH-20FRH10045C-Q 1000

Oil mist specifications RH-20FRH8535M-Q 850 350

RH-20FRH10035M-Q 1000

RH-20FRH8545M-Q 850 450

RH-20FRH10045M-Q 1000

Note1) When you use by adverse environment, please use the controller protection box.

Protection specification Robot arm

(Hanging installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

Note1) When you use by adverse environment, please use the controller protection box.

RH-3FRHR series

General-purpose environment RH-3FRHR3515-Q 350 150

CR800-03HRQClean specifications RH-3FRHR3512C-Q 350 120

Waterproof specifications RH-3FRHR3512W-Q 350 120

Protection specification Robot arm

(Floor installation type)

Arm length (mm)

J3-axis stroke (mm)

Controller Note1)

1 General configuration

Contents of the structural equipment 1-10

1.5 Contents of the structural equipment

1.5.1 Robot arm The list of structural equipment is shown in below.

(1) Floor installation type

Fig.1-1 Structural equipment (RH-3FRH series)

* Refer to Page 25, "2.1 Standard specifica- tions" for details on the specifications.

Horizontal four-axis multiple-jointed type RH-3FRH series

Machine cable (replacement) Fixed type: 1F- UCBL-41 Flexed type: 1F- LUCBL-41

Note 1) refer the length. Refer to Table 1-13 for details.

Note 2) Replace the enclosed standard cable with this cable.

Machine cable (Fixed type: 5m)

Stopper for changing the operating range 1F-DH-01

*With hand output cable.

Solenoid valve set 1F-VD0*-01 (Sink type) 1F-VD0*E-01 (Source type) (*: 1 to 4 = 1 set to 4 set)

Hand output cable 1F-GR60S-01 4sets

Hand input cable 1F-HC35C-01

Hand curl tube 1E-ST0408C-300

Internal Wiring/Piping set for hand 1F-HS304S-01

This option

Pull out Wiring/Piping

This option

External Wiring/Piping box 1F-UT-BOX

P ne

u m

at ic

h an

d c

us to

m er

- m

an u fa

c tu

re d p

ar ts

Caution Standard configuration

Special specifications

Option equipment

Prepared by customer

1-11 Contents of the structural equipment

1 General configuration

Fig.1-2 Structural equipment (RH-6FRH series)

* Refer to Page 25, "2.1 Standard specifica- tions" for details on the specifications.

Horizontal four-axis multiple-jointed type RH-6FRH series

RH-6FRH series

Stopper for changing the operating range 1F-DH-01

*With hand output cable.

Solenoid valve set 1F-VD0*-01 (Sink type) 1F-VD0*E-01 (Source type) (*: 1 to 4 = 1 set to 4 set)

Hand output cable 1F-GR60S-01 4sets

Hand input cable 1F-HC35C-01

Hand curl tube 1E-ST0408C-300

Pull out Wiring/Piping

This option

External Wiring/Piping box 1F-UT-BOX

Internal Wiring/Piping set for hand 1F-HS408S-01 (200mm stroke) 1F-HS408S-02 (340mm stroke)

This option

Machine cable (Fixed type: 5m)

P n eu

m at

ic h

an d

c u st

o m

e r-

m an

uf ac

tu re

d p ar

ts

Caution Standard configuration

Special specifications

Optionequipment

Prepared by customer

Machine cable (replacement) Fixed type: 1F- UCBL-41 Flexed type: 1F- LUCBL-41

Note 1) refer the length. Refer to Table 1-13 for details.

Note 2) Replace the enclosed standard cable with this cable.

1 General configuration

Contents of the structural equipment 1-12

Fig.1-3 Structural equipment (RH-12FRH/20FRH series)

* Refer to Page 25, "2.1 Standard specifica- tions" for details on the specifications.

Horizontal four-axis multiple-jointed type RH-12FRH/20FRH series

RH-12FRH/20FRH series

Stopper for changing the operating range 1F-DH-02

* With hand output cable.

Solenoid valve set 1S-VD0*-01 (Sink type) 1S-VD0*E-01 (Source type) (*: 1 to 4 = 1 set to 4 set)

Hand output cable 1F-GR60S-01 4sets

Hand input cable 1F-HC35C-02

Hand curl tube 1N-ST0608C-01

Internal Wiring/Piping set for hand 1F-HS604S-01(350mm stroke) 1F-HS604S-02(450mm stroke)

This option

Pull out Wiring/Piping

This option

External Wiring/Piping box 1F-UT-BOX-01

Machine cable (Fixed type: 5m)

P ne

um at

ic h

an d c

us to

m e r-

m an

u fa

c tu

re d p

ar ts

Caution Standard configuration

Special specifications

Optionequipment

Prepared by customer

Machine cable (replacement) Fixed type: 1F- UCBL-41 Flexed type: 1F- LUCBL-41

Note 1) refer the length. Refer to Table 1-13 for details.

Note 2) Replace the enclosed standard cable with this cable.

1-13 Contents of the structural equipment

1 General configuration

(2) Hanging installation type

Fig.1-4 Structural equipment (RH-3FRHR series)

* Refer to Page 25, "2.1 Standard specifica- tions" for details on the specifications.

Horizontal four-axis multiple-jointed type RH-3FRHR series

RH-3FRHR series

Hand output cable

1S-GR35S-02 4sets

Hand input cable

1S-HC00S-01

Hand tube

1S-ST0304S

Stopper for changing the operating range For J1 axis: 1S-DH-05J1 For J2 axis: 1S-DH-05J2

*Refer to Table 1-13 for the angle which can be changed.

*Installed by customer.

* With hand output cable.

Solenoid valve set 1S-VD04-05 (Sink type) 1S-VD04E-05 (Source type)

1S-VD04W-05 (Sink type) 1S-VD04WE-05 (Source type)

Machine cable (Fixed type: 5m)

Pneumatic hand customer- manufactured parts

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 1-13 for details.

Note 2) Replace the enclosed standard cable with this cable.

1 General configuration

1-14

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.1-5 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 1-14 for details of each inter- face card.

Personal computer Prepared by customer

*)Refer to Table

1-16 for USB

cable

Instruction Manual (bookbinding) 5F-GG01-PE01

Parallel I/O interface 2D-TZ368 (Sink)

2D-TZ378 (Source)

CC-Link interface 2D-TZ576

Teaching pendant (T/B)

Simple T/B R32TB

Highly efficient 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 1-14 for detail.

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)

1-15

1 General configuration

(2) CR800-R controller

Fig.1-6 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 1-14 for detail.

Personal computer Prepared by customer

Instruction Manual (bookbinding) 5F-GG01-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 1-7)

Power supply unit (Refer to Table 1-8)

PLC CPU unit (Refer to Table 1-9)

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 General configuration

1-16

Table 1-7 Base unit

Table 1-8 Power supply unit

Table 1-9 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

1-17

1 General configuration

(3) CR800-Q controller

Fig.1-7 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 1-14 for detail.

Personal computer Prepared by customer

Instruction Manual (bookbinding) 5F-GG01-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 1-10)

Power supply unit (Refer to Table 1-11)

PLC CPU unit (Refer to Table 1-12)

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 General configuration

1-18

Table 1-10 Base unit

Table 1-11 Power supply unit

Table 1-12 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

1-19

1 General configuration

1.5.3 Function extension device These devices (option) are used to extend the function of the robot.

Fig.1-8 Function extension device

Force sensor set 4F-FS002H-W200

4F-FS002H-W1000

MELFA-3D Vision 3.0 3F-53U-WINM

1 General configuration

Contents of the Option equipment and special specification 1-20

1.6 Contents of the Option equipment and special specification

A list of all Optional equipment and special specifications are shown below.

1.6.1 List of the robot arm option equipment and special specification Table 1-13 The list of the robot arm option equipment and special specification

Item Type Specifications Classification

Note1) Description

Stopper for changing the

operating range

1F-DH-01 The stopper parts for J1 axis

This must be installed by the customer. For RH-3FRH/6FRH series

1F-DH-02 The stopper parts for J1 axis

This must be installed by the customer. For RH-12FRH/20FRH series

1S-DH-05J1 The stopper parts for J1 axis Plus side / Minus side both are 90 degree. * Change both simultaneously Standard specification is +/- 225 degree.

This must be installed by the customer. For RH-3FRHR series

1S-DH-05J2 The stopper parts for J2 axis Plus side / Minus side both are 60 degree. * Change both simultaneously Standard specification is +/- 225 degree.

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-VD01-01/VD01E-01 1 set (Sink type)/(Source type) The solenoid-valve set for the hand of the customer setup. For RH-3FRH/6FRH series. 1F-VD02-01/VD02E-01 2 sets (Sink type)/(Source type)

1F-VD03-01/VD03E-01 3 sets (Sink type)/(Source type)

1F-VD04-01/VD04E-01 4 sets (Sink type)/(Source type)

1S-VD01-01/VD01E-01 1 set (Sink type)/(Source type) The solenoid-valve set for the hand of the customer setup. For RH-12FRH/20FRH series. 1S-VD02-01/VD02E-01 2 sets (Sink type)/(Source type)

1S-VD03-01/VD03E-01 3 sets (Sink type)/(Source type)

1S-VD04-01/VD04E-01 4 sets (Sink type)/(Source type)

1S-VD04-05/

1S-VD04E-05

4 sets (Sink type)/(Source type)

For Standard specification

The solenoid-valve set for the hand of

the customer setup. For RH-3FRHR series. 1S-VD04W-05/

1S-VD04WE-05

4 sets (Sink type)/(Source type)

For Clean/waterproof specification

Hand input cable 1F-HC35C-01 Robot side: connector. Hand side: wire.

The cable is connected to the sensor by the customer. For RH-3FRH/6FRH series

1F-HC35C-02 Robot side: connector. Hand side: wire.

The cable is connected to the sensor by the customer. For RH-12FRH/20FRH series

1S-HC00S-01 Robot side: connector. Hand side: wire.

The cable is connected to the sensor by the customer. For RH-3FRHR series

Hand output cable 1F-GR60S-01 Robot side: connector. Hand side: wire

This cable can be used for the solenoid valve prepared by the customer. For RH-3FRH/6FRH/12FRH/20FRH series.

1S-GR35S-02 Robot side: connector. Hand side: wire

This cable can be used for the solenoid

valve prepared by the customer.

For RH-3FRHR series

Hand curl tube 1E-ST0408C-300 For solenoid valve 4sets: 4x8

Curl type air tube For RH-3FRH/6FRH series

1N-ST0608C-01 For solenoid valve 4sets: 6x8

Curl type air tube For RH-12FRH/20FRH series

Hand tube 1S-ST0304S For solenoid valve 4sets: 3x4

The tube for piping the hand through the

ball screw shaft by the customer. For RH-3FRHR series

1-21 Contents of the Option equipment and special specification

1 General configuration

External wiring/piping box 1F-UT-BOX For solenoid valve 4sets: 4x8

Box for external wiring of user wiring (hand

I/O, hand curl tube)

For RH-3FRH/6FRH series

1F-UT-BOX-01 For solenoid valve 4sets: 6x8

Box for external wiring of user wiring (hand

I/O, hand curl tube)

For RH-12FRH/20FRH series

Internal wiring/piping set for hand

1F-HS304S-01 Hand input cable (four signal lines and two power lines), 3 four hoses

Wiring/piping to pass in the shaft For RH-3FRH series Reducers (4 to 3: 8pcs) are attached.

1F-HS408S-01 Hand input cable (eight signal lines and two power lines), 4 eight hoses

Wiring/piping to pass in the shaft For RH-6FRH series (200mm stroke)

1F-HS408S-02 Hand input cable (eight signal lines and two power lines), 4 eight hoses

Wiring/piping to pass in the shaft For RH-6FRH series (340mm stroke)

1F-HS604S-01 Hand input cable (eight signal lines and two power lines), 6 four hoses

Wiring/piping to pass in the shaft For RH-12FRH/20FRH series (350mm stroke)

1F-HS604S-02 Hand input cable (eight signal lines and two power lines), 6 four hoses

Wiring/piping to pass in the shaft For RH-12FRH/20FRH series (450mm stroke)

Note1) : option, : special specifications.

Item Type Specifications Classification

Note1) Description

1 General configuration

Contents of the Option equipment and special specification 1-22

1.6.2 List of the controller option equipment and special specification Table 1-14 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 (AB6707)

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. -

1-23 Contents of the Option equipment and special specification

1 General configuration

1.6.3 Function extension device

Table 1-15 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-GG01-PE01 RH-FRH 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 General configuration

Contents of the Option equipment and special specification 1-24

[Reference]:The recommendation products of the USB cable are shown below

Table 1-16 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 auto- mation equipment) cannot be performed.

Fig.1-9 USB cable (GT09-C30USB-5P)

Fig.1-10 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. 1-9

MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. Fig. 1-10

Caution

Caution

2-25 Standard specifications

2Robot arm

2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications (1) RH-3FRH series Table 2-1 Standard specifications of robot arm

Item Unit Specifications

Type RH-3FHR3515 RH-3FHR4515 RH-3FHR5515

Environment Standard specification

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 200

J2 100

J3 (Z) 100

J4 (axis) 50

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 125 225 325

2 arm mm 225

Max.reach radius( 1+ 2) mm 350 450 550

Operating range J1 deg 170

J2 deg 145

J3 (Z) mm 150

J4 (axis) deg 360

Speed of motion Note1)

Note1) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

J1 deg/s 400

J2 deg/s 720

J3 (Z) mm/s 1,100

J4 (axis) deg/s 3,000

Maximum horizontal composite

speed Note2)

Note2) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

mm/s 6,800 7,500 8,300

Cycle time Note3) sec 0.41 0.46 0.51

Load Rating kg

(N)

1

Maximum 3

Z axis pressing force Note4)

Maximum N 82

Allowable inertia Rating kg m2 0.005

Maximum 0.06

Pose repeatability Note5)

X-Y

direction mm 0.010 0.010 0.012

J3 (Z) mm 0.010

J4 (axis) deg 0.004

Ambient temperatureNote6) 0 to 40

Mass k 29 32

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note7)

Tool pneumatic pipes Primary: 6 x 2, Secondary: 4 x 8 Note8)

Supply pressure MPa 0.510%

Protection specification Note9) IP20

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)

2Robot arm

Standard specifications 2-26

Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg. The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving

position.

Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note5) The pose repeatability details are given in Page 40, "2.2.1 Pose repeatability". 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 8-wire cable designated for LAN wiring can also be used for backup wiring. Note8) The 4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve

(optional) are shown on Page 136, "(3) Solenoid valve set". Note9) The protection specification details are given in Page 54, "2.2.8 Protection specifications".

300

25

2-27 Standard specifications

2Robot arm

Table 2-2 Standard specifications of robot arm (Clean specification)

Item Unit Specifications

Type RH-3FRH3512C RH-3FRH4512C RH-3FRH5512C

Environment Clean specification

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 200

J2 100

J3 (Z) 100

J4 (axis) 50

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 125 225 325

2 arm mm 225

Max.reach radius( 1+ 2) mm 350 450 550

Operating range J1 deg 170

J2 deg 145

J3 (Z) mm 120

J4 (axis) deg 360

Speed of motion Note1)

Note1) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

J1 deg/s 420

J2 deg/s 720

J3 (Z) mm/s 1,100

J4 (axis) deg/s 3,000

Maximum horizontal composite

speed Note2)

Note2) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The control point is the position offset by the rated inertia from the flange.

mm/s 6,800 7,500 8,300

Cycle time Note3)

Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg. The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving

position.

sec 0.41 0.46 0.51

Load Rating kg (N)

1

Maximum 3

Z axis pressing force Note4)

Maximum N 82

Allowable inertia Rating kg m2 0.005

Maximum 0.06

Pose repeatability Note5)

X-Y

direction mm

0.010 0.010 0.012

J3 (Z) mm 0.010

J4 (axis) deg 0.004

Ambient temperature Note6) 0 to 40

Mass k 29 32

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note7)

Tool pneumatic pipes Primary: 6 x 2, Secondary: 4 x 8 Note8)

Supply pressure MPa 0.510%

Protection specification Note9) Clean specification: ISO class 3

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)

300

2 5

2Robot arm

Standard specifications 2-28

Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note5) The pose repeatability details are given in Page 40, "2.2.1 Pose repeatability". 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 8-wire cable designated for LAN wiring can also be used for backup wiring. Note8) The 4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve

(optional) are shown on Page 136, "(3) Solenoid valve set". Note9) The details of the clean specifications are described in Page 57, "2.2.9 Clean specifications". The conditions necessary to guaran-

tee cleanliness are as follows: clean room down flow greater then 0.3 m/s, robot internal suction of 30 to 50 L/min, and installation of an exhaust duct at the rear of the robots main base. A 8 joint has been prepared at the rear of the base for suction. The protection specification details are given in Page 54, "2.2.8 Protection specifications".

2-29 Standard specifications

2Robot arm

(2) RH-6FRH series

Table 2-3 Standard specifications of robot arm

Item Unit Specifications

TypeNote1)

Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a letter C, this corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist specification. The type in which operating range of J3 axis (Z) is 200mm and 340mm are shown together.

RH-6FRH3520/3534

RH-6FRH3520C/3534C

RH-6FRH3520M/3534M

RH-6FRH4520/4534

RH-6FRH4520C/4534C

RH-6FRH4520M/4534M

RH-6FRH5520/5534

RH-6FRH5520C/5534C

RH-6FRH5520M/5534M

Environment Blank: Standard specification

C: Clean specification

M: Oil mist specification Note2)

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 750

J2 400

J3 (Z) 200

J4 (axis) 100

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 125 225 325

2 arm mm 225

Max.reach radius( 1+ 2) mm 350 450 550

Operating range J1 deg 170

J2 deg 145

J3 (Z)

mm

RH-6FRH**20/**20C/**20M: 200 (+133 to +333)

RH-6FRH**34: 340 (-7 to +333)

RH-6FRH**34C/**34M: 340 (-43 to +297)

J4 (axis) deg 360

Speed of motion Note3) J1 deg/s 400

J2 deg/s 670

J3 (Z) mm/s 2,400

J4 (axis) deg/s 2,500

Maximum horizontal composite

speed Note4) mm/s 6,900 7,600 8,300

Cycle time Note5) sec 0.29

Load Rating kg

(N)

3

Maximum 6

Z axis pressing force Note6)

Maximum N 165

Allowable inertia Rating kg m2 0.01

Maximum 0.12

Pose repeatability Note7)

X-Y

direction mm

0.010 0.010 0.012

J3 (Z) mm 0.010

J4 (axis) deg 0.004

Ambient temperature Note8) 0 to 40

Mass k 36 37

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note9)

Tool pneumatic pipes Primary: 6 x 2, Secondary: 4 x 8 Note10)

Supply pressure MPa 0.510%

Protection specification Note11) Standard specification: IP20

Clean specification: ISO class 3 Note12)

Oil mist specification: IP65 Note13) Note14)

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)

2Robot arm

Standard specifications 2-30

Note2) The oil-mist specification of CE specification is the standards. Note3) The maximum speed is the value which applied MvTune2 (high-speed movement mode). Note4) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The

control point is the position offset by the rated inertia from the flange. Note5) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg.

The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.

Note6) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please operate in a manner that does not cause errors.

Note7) The pose repeatability details are given in Page 40, "2.2.1 Pose repeatability". Note8) 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.)

Note9) The 8-wire cable designated for LAN wiring can also be used for backup wiring. Note10) The 4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve

(optional) are shown on Page 136, "(3) Solenoid valve set". Note11) The protection specification details are given in Page 54, "2.2.8 Protection specifications". Note12) The details of the clean specifications are described in Page 57, "2.2.9 Clean specifications". The conditions necessary to guaran-

tee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot internal suction of 30-50L/min and installation of an exhaust duct at the rear of the robots main base. A 8 joint is prepared at the rear of the base for suction.

Note13) Direct jet flow to the bellows section is not included. Note14) 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

2-31 Standard specifications

2Robot arm

(3) RH-12FRH series

Table 2-4 Standard specifications of robot arm

Item Unit Specifications

TypeNote1)

Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a letter C, this

corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist specification. The type in which

operating range of J3 axis (Z) is 350mm and 450mm are shown together.

RH-12FRH5535/5545

RH-12FRH5535C/5545C

RH-12FRH5535M/5545M

RH-12FRH7035/7045

RH-12FRH7035C/7045C

RH-12FRH7035M/7045M

RH-12FRH8535/8545

RH-12FRH8535C/8545C

RH-12FRH8535M/8545M

Environment Blank: Standard specification

C: Clean specification

M: Oil mist specification

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 750

J2 750

J3 (Z) 400

J4 (axis) 200

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 225 375 525

2 arm mm 325

Max.reach radius( 1+ 2) mm 550 700 850

Operating range J1 deg 170

J2 deg 145 153

J3 (Z) mm

RH-12FRH**35/**35C/**35M: 350 (-10 +340)

RH-12FRH**45/**45C/**45M: 450 (-110 +340)

J4 (axis) deg 360

Speed of motion Note2) J1 deg/s 420 280

J2 deg/s 450

J3 (Z) mm/s 2,800

J4 (axis) deg/s 2,400

Maximum horizontal composite

speed Note3) mm/s 11,435 12,535 11,350

Cycle time Note4) sec 0.30

Load Rating kg

(N)

3

Maximum 12

Z axis pressing force Note5)

Maximum N 200

Allowable

inertia

Rating kg m2 0.025

Maximum 0.3

Pose repeatability Note6)

X-Y direc- tion

mm 0.012 0.015

J3 (Z) mm 0.010

J4 (axis) deg 0.005

Ambient temperature Note7) 0 to 40

Mass kg 65 67 69

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note8)

Tool pneumatic pipes Primary: 6 x 2, Secondary: 6 x 8 Note9)

Supply pressure MPa 0.510%

Protection specification Note10) Standard specification: IP20

Clean specification: ISO class 3 Note11)

Oil mist specification: IP65 Note12) Note13)

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)

2Robot arm

Standard specifications 2-32

Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The

control point is the position offset by the rated inertia from the flange.

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg.

The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving

position.

Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4

axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error

may occur. Please operate in a manner that does not cause errors.

Note6) The pose repeatability details are given in Page 40, "2.2.1 Pose repeatability".

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 "Chap- ter 5 Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)

Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.

Note9) The 6 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve

(optional) are shown on Page 136, "(3) Solenoid valve set".

Note10) The protection specification details are given in Page 54, "2.2.8 Protection specifications".

Note11) The details of the clean specifications are described in Page 57, "2.2.9 Clean specifications". The conditions necessary to

guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot internal suction of 60-140L/min and

installation of an exhaust duct at the rear of the robots main base. A 8 joint is prepared at the rear of the base for suction.

Note12) Direct jet flow to the bellows section is not included.

Note13) 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

2-33 Standard specifications

2Robot arm

(4) RH-20FRH series

Table 2-5 Standard specifications of robot arm

Item Unit Specifications

TypeNote1)

Note1) The table is joint writing on the general environment and clean and oil mist (IP65) specification. If the type ends in a letter C, this

corresponds to the clean specification, and where it ends in a letter M, it corresponds to the mist specification. The type in

which operating range of J3 axis (Z) is 350mm and 450mm are shown together.

RH-20FRH8535/8545

RH-20FRH8535C/8545C

RH-20FRH8535M/8545M

RH-20FRH10035/10045

RH-20FRH10035C/10045C

RH-20FRH10035M/10045M

Environment Blank: Standard specification

C: Clean specification

M: Oil mist specification

Installation posture On floor

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 750

J2 750

J3 (Z) 400

J4 (axis) 200

Brake J1, J2, J4: no brake, J3: with brake

Arm length 1 arm mm 525

2 arm mm 325 475

Max.reach radius( 1+ 2) mm 850 1,000

Operating range J1 deg 170

J2 deg 153

J3 (Z) mm

RH-20FRH**35/**35C/**35M: 350 (-10 +340)

RH-20FRH**45/**45C/**45M: 450 (-110 +340)

J4 (axis) deg 360

Speed of motion Note2) J1 deg/s 280

J2 deg/s 450

J3 (Z) mm/s 2,400

J4 (axis) deg/s 1,700

Maximum horizontal composite

speed Note3) mm/s 11,372 13,283

Cycle time Note4) sec 0.30 0.36

Load Rating kg

(N)

5

Maximum 20

Z axis pressing force Note5)

Maximum N 230

Allowable

inertia

Rating kg m2 0.065

Maximum 1.05 Note6)

Pose repeatability Note7)

X-Y direc- tion

mm 0.015 0.020

J3 (Z) mm 0.010

J4 (axis) deg 0.005

Ambient temperature Note8) 0 to 40

Mass kg 75 77

Tool wiring Input 8 points/Output 8 points, (total 20 cores)

Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)

Ethernet cable one cable (100BASE-TX, eight cores) Note9)

Tool pneumatic pipes Primary: 6 x 2, Secondary: 6 x 8 Note10)

Supply pressure MPa 0.510%

Protection specification Note11) Standard specification: IP20

Clean specification: ISO class 3 Note12)

Oil mist specification: IP65 Note13) Note14)

Painting color Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)

2Robot arm

Standard specifications 2-34

Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The

control point is the position offset by the rated inertia from the flange.

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 2kg.

The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving

position.

Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and

J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load

error may occur. Please operate in a manner that does not cause errors.

Note6) When offset hand is used, the adjustment of moving speed and acceleration/deceleration speeds may be the Required. Refers to it,

because the details is shown in Page 41, "2.2.2 Mass capacity".

Note7) The pose repeatability details are given in Page 40, "2.2.1 Pose repeatability".

Note8) 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.)

Note9) The 8-wire cable designated for LAN wiring can also be used for backup wiring.

Note10) The 6 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve

(optional) are shown on Page 136, "(3) Solenoid valve set".

Note11) The protection specification details are given in Page 54, "2.2.8 Protection specifications".

Note12) The details of the clean specifications are described in Page 57, "2.2.9 Clean specifications". The conditions necessary to

guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot internal suction of 60-140L/min and

installation of an exhaust duct at the rear of the robots main base. A 8 joint is prepared at the rear of the base for suction.

Note13) Direct jet flow to the bellows section is not included.

Note14) 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

2-35 Standard specifications

2Robot arm

(5) RH-3FRHR series

Table 2-6 Standard specifications of robot arm

Item Unit Specifications

Type Note1)

Note1) The table is joint writing on the general environment and clean and waterproof (IP65) specification. If the type ends in a letter C,

this corresponds to the clean specification, and where it ends in a letter W, it corresponds to the waterproof specification.

RH-3FRHR3515 RH-3FRHR3512C RH-3FRHR3512W

Environment Standard specification Clean specification Waterproof specification

Installation posture Hanging

Degree of freedom 4

Structure Horizontal, multiple-joint type

Drive system AC servo motor

Position detection method Absolute encoder

Motor capacity J1 750

J2 200

J3 (Z) 200

J4 (axis) 100

Brake J1, J2, J4: no brake J3: with brake

Arm length 1 arm mm 175

2 arm mm 175

Max.reach radius( 1+ 2) mm 350

Operating range J1 deg 225

J2 deg 225

J3 (Z) mm 150 120

J4 (axis) deg 720

Speed of motion Note2)

Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).

J1 deg/s 672

J2 deg/s 708

J3 (Z) mm/s 1,500

J4 (axis) deg/s 3,146

Maximum horizontal composite

speed Note3)

Note3) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2, and J4. The

control point is the position offset by the rated inertia from the flange.

Although based on specified speed, speed drops generally. Refer to Page 52, "2.2.6 About moving speed at singular point and

near singular point. (RH-3FRHR series)" for details.

mm/s 6,267

Cycle time Note4) sec 0.32

Load Rating kg

(N)

1

Maximum 3

Allowable

inertia

Rating kg m2 0.005

Maximum 0.05 Note5)

Pose repeatability Note6)

X-Y direc- tion

mm 0.01

J3 (Z) mm 0.01

J4 (axis) deg 0.01

Ambient temperatureNote7) 0 40

Mass kg 24 28

Tool wiring Input 8 points/Output 8 points, eight spare wires

Tool pneumatic pipes Primary: 6 x 2, Secondary: 4 x 8 Note8)

Supply pressure MPa 0.510%

Protection specification Note9) General-purpose environment:

IP20

Clean: ISO class 5 Note10) Waterproof: IP65 Note11)

Painting color Not painting. Plating (silver)

2Robot arm

Standard specifications 2-36

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 1kg.

The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving

position.

The robot's moving time is influenced by the posture etc. As reference, the reduction method of cycle time is shown in Page

50, " [Supplementary explanation 1]: The setting which shortens execution time".

Note5) When offset hand is used, the adjustment of moving speed and acceleration/deceleration speeds may be the Required. Refers to it,

because the details is shown in Page 41, "2.2.2 Mass capacity".

Note6) The pose repeatability details are given in Page 40, "2.2.1 Pose repeatability".

Note7) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous con- trol 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 4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve

(optional) are shown on Page 136, "(3) Solenoid valve set".

Note9) The protection specification details are given in Page 54, "2.2.8 Protection specifications".

Note10) The details of the clean specifications are described in Page 57, "2.2.9 Clean specifications". Protection of the cleanness of

the robot is required if the down flow in a clean room is 0.3 m/s or more and robot internal suction is 30-50 L/min. A 8 joint

is prepared at the base rear part for suction.

Note11) Direct jet flow to the bellows section is not included.

300

2 5

2-37 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 2-7 Value of each counter-force

Item Unit Value

RH-3FRH series

Falls moment: ML N m 240

Torsion moment: MT N m 255

Horizontal translation force: FH N 810

Vertical translation force: FV N 380

RH-6FH series

Falls moment: ML N m 1,640

Torsion moment: MT N m 710

Horizontal translation force: FH N 1,653

Vertical translation force: FV N 2,318

RH-12FRH/20FRH series

Falls moment: ML N m 3,190

Torsion moment: MT N m 1,840

Horizontal translation force: FH N 2,240

Vertical translation force: FV N 2,500

RH-3FRHR series

Falls moment: ML N m 380

Torsion moment: MT N m 410

Horizontal translation force: FH N 920

Vertical translation force: FV N 570

FH FH

FH

FV FV

FV

MT

ML

ML

FH FH

FH

FV

MT ML

ML

FH

FH

2Robot arm

Standard specifications 2-38

2.1.3 RH-3FRHR installation stage RH-3FRHR is the robot which hangs. Please manufacture the stage by the customer as shown below, and install

the robot.

As an example of the installation stage, the stage using the iron (cheap) and the stage using the aluminum (easy to process) are shown. Since the product made from the aluminum has strengthened reinforcement, both have the almost same weight.

(1) Example which uses the iron material

Fig.2-1 Installation stage (Example of iron-material use)

NO1 J1255

NO2 J1NO1410

4-10

60604.5t

60603.2t

4-3.2t

44-3.2t

501003.2t

4-

24-

22

900 450

170170(60)

90 0

4 5 0

80 80

25 0

220

240

2 40

7 6 0

16 0 0

78 0

Note1) The gross weight of this stage is about 200kg.

Note2) This stage is an example. Please design based on the conditions of the system.

Note3) Fixing the stage to the floor by anchor etc. If the center of gravity of the stage is in the high position, the stage may fall by movement of the robot.

* 1 )

* 1 )

The No1 arm end maximum operating range The radius 255 from J1 axis center

The No2 arm end maximum operating range The radius 410 from J1 axis center. (The No1 arm is included)

4-10 hole

(Robot installation bolt)

60x60 iron rectangular lumber 4.5t

The frame without specification is 60x60 iron rectangular lumber. 3.2t

4-reinforcing plate 3.2t of iron

4x4-reinforcing plate 3.2t of iron

50x10 steel pipe 3.2t

4-caster (Don't use united with adjuster)

2x4-adjuster

2x anchors

The center is reinforced as shown in the above.

*1) Please arrange operations height based on peripheral equipment, such as the work-piece and the hand.

2-39 Standard specifications

2Robot arm

(2) Example which uses the aluminum

Fig.2-2 Installation stage (Example of aluminum frame use)

NO1 J1255

NO2 J1NO1410

4-10

6060

8080

4-3.2t

64-3.2t

4-

24-

22

900

450 170170(80)

9 0 0

4 5 0

80 8 0

25 0

220

240

24 0

7 6 0

16 0 0

7 80

Note1) The gross weight of this stage is about 200kg.

Note2) This stage is an example. Please design based on the conditions of the system.

Note3) Fixing the stage to the floor by anchor etc. If the center of gravity of the stage is in the high position, the stage may fall by movement of the robot.

* 1 )

* 1 )

*1) Please arrange operations height based on peripheral equipment, such as the work-piece and the hand.

The No1 arm end maximum operating range The radius 255 from J1 axis center

The No2 arm end maximum operating range The radius 410 from J1 axis center. (The No1 arm is included)

4-10 hole (Robot installation bolt)

4-reinforcing plate 3.2t of iron

6x4-reinforcing plate 3.2t of iron

60x60 aluminum frame

The frame without specification is 80x80 aluminum frame.

The center is reinforced as shown in the above.

4-caster (Don't use united with adjuster)

2x4-adjuster

x2 anchors

2 Robot arm

Definition of specifications 2-40

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

[6] Positioning movement near the singular point (RH-3FRHR)

2-41

Robot arm

2.2.2 Mass capacity The robot's mass capacity is expressed solely in terms of mass, but even for tools and works of similar mass, eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the fol- lowing issues.

(1) The tooling should have the value less or equal than the smaller of the allowable inertia found in Page 25, "2.1.1 Basic specifications". The examples of inertia calculation methods are described in Page 250, "Appendix 1 Inertia calculation method".

(2) Fig. 2-3 to Fig. 2-7 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. Please use the robot in the allowable moment of inertia of maximum moment of inertia shown in Fig. 2-3 to Fig. 2-7.

[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, a vibration, an overload or generate an overcurrnt alarm could occur. In such cases, please reduce acceleration and deceleration (Accel com- mand) speeds and movement speed (Ovrd command). Although the standard value to reduce is 50% for each command, please adjust corresponding to the movement posture. Refer to separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details of each command. Moreover, if hand/workpiece parameters are not set exactly, the similar phenomenon will be easier to occur.

[Caution] Refer to Page 44, "2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed", and set the values of the mass, magnitude, and distance to the centroid of a tool and a workpiece to parameters. If parameters are not set exactly, the lifetime of reduction gears, a belt, etc. is affected.

[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. Note that the allowable offset value (Z direction) from the lower edge of the shaft to the position of center of gravity is 100 mm.

[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.

[Caution] This robot will restrict speed automatically by internal controls when the load center-of-gravity position separates from the shaft center. Refer to Page 44, "2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed" in detail. The allowance distance (allowance offset amount) from the center of the shaft to the gravity center of loading weight is shown below

Model allowance offset amount

RH-3FRH series less than 100mm

RH-6FRH series less than 200mm

RH-12FRH series less than 240mm

RH-20FRH series less than 320mm

RH-3FRHR series less than 50mm

Robot arm

2-42

Fig.2-3 Position of center of gravity for loads (for loads with comparatively small volume): RH-3FRH series

Fig.2-4 Position of center of gravity for loads (for loads with comparatively small volume): RH-6FRH series

Fig.2-5 Position of center of gravity for loads (for loads with comparatively small volume): RH-12FRH series

2-43

Robot arm

Fig.2-6 Position of center of gravity for loads (for loads with comparatively small volume): RH-20FRH series

Fig.2-7 Position of center of gravity for loads (for loads with comparatively small volume): RH-3FRHR series

Note) If the eccentricity of a load is high,

the robot arm may swing along with

the J4 axis rotation.

Use the robot arm at lower speed in

this situation.

Robot arm

2-44

2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed This robot automatically sets the optimum acceleration and deceleration speeds and maximum speed, according to the load capacity and size that have been set, and operates using these automatically set speeds.

Therefore, it is necessary to set the data of the actually mounted load in advance.

The settings are used in calculation for internal control. Depending on the mounted load or the operation pattern, vibration, excessive error, overload error, etc. may occur. In such cases, use the speed setting (Ovrd) command or the acceleration/deceleration setting (Accel) command in the robot program to decrease the speed or accelera- tion/deceleration.

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. In the case of a work requiring a high degree of accuracy, set up the load correctly and use the robot by lowering the ratios of the acceleration and deceleration speeds.

(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".

Note) The position of the center of gravity is located at the center of the surface at the bottom of the shaft. Set the X, Y and Z center of gravity positions for the tool coordinate directions (the Z center of gravity position will be a plus for downward directions).

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 99.0 99.0 76.0 0.0 0.0 38.0 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* = 6.0 99.0 99.0 76.0 0.0 0.0 38.0 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* = 12.0 165.0 165.0 64.0 0.0 0.0 16.0 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* = 20.0 165.0 165.0 109.0 0.0 0.0 37.0 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* = 3.0 76.0 76.0 58.0 0.0 0.0 24.0 WRKDAT* = 0.0 0.0 0.0 0.0 0.0 0.0 0.0

2-45

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) Change the robot's operating speed by using the Ovrd command. 2) Change and move the teaching points of the robot. 3) Change the hand mass and hand inertia.

Robot arm

2-46

2.2.5 Vibration of shaft (J3 axis) position and arm end Vibrations at the tip of the arm may increase substantially during operation under the shaft position near the

low end or the high end of the robot, depending on the combination of hand mass and hand inertia. This problem occurs according to that inertia, because the distance from the shaft support section to the shaft end becomes long. When this vibration affects the robot's operations, please change operating speed etc. like the above Page 45, "2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot".

(1) Relationship Between Mass Capacity and Speed A function to optimize the maximum speed of each axis according to the setting value of the load capacity will be activated (Refer to Fig. 2-8).

However, this function does not work with the following load mass setting value or smaller.

When the load mass is set to a value greater than the above setting, the maximum speed is compensated accord- ing to the load mass.

[CAUTION] Depending on the operation pattern, the speed and/or acceleration/deceleration at the front edge may not be parallel with the speed and the rate of change of acceleration/deceleration specified in a program.

Fig.2-8 Automatic compensation of speed

Model Load mass setting

RH-3FRH series, RH-3FRHR series 1kg

RH-6FRH/12FRH series 3kg

RH-20FRH series 5kg

100

60

0 0

1

3

(%)

RH-3FRH series

M ax

im um

s p ee

d ra

ti o ( % )

Load capacity (kg)

100

68

0 0

3

6

(%)

RH-6FRH series

M ax

im um

s pe

e d

ra ti o ( % )

Load capacity (kg)

RH-12FRH series RH-20FRH series

100

50

0 0

20

(%)

5 10 15

100

52

0 0

6

12

(%)

3 9M ax

im um

s pe

e d

ra ti o ( % )

Load capacity (kg)

M ax

im um

s pe

e d

ra ti o ( % )

Load capacity (kg)

100

80

0 0

1 3

RH-3FRHR series

M ax

im u m

s pe

ed r

at io

( %)

Load capacity (kg)

2-47

Robot arm

(2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed A function to optimize the acceleration/deceleration speed according to the height of the shaft (Refer to Fig. 2-9, Fig. 2-10) will be activated. This function is invalid if the shaft (axis J3) operates at a position above P3 in Fig. 2- 9. Acceleration/deceleration is compensated for at a position below P3 in Fig. 2-9 if the position of the center of gravity of the load is located at the front edge of the shaft.

This function contains both a standard acceleration and deceleration pattern and a high acceleration and deceler- ation pattern, both of which can be selected in the parameters. The original settings are set to the standard acceleration and deceleration pattern, which enables operation while keeping vibration at the shaft tip (including residual vibration) to a minimum. Users are also able to select the high acceleration and deceleration pattern and operate the robot at high speed. When doing so, users should make sure that additional vibration will not have a negative impact on work carried out by the robot. Where necessary the pattern should be changed, allowing the robot to be used in the most effective way.

The relevant parameter names and their set values are shown below. For more details about parameters and how to change them, please refer to the separate Instruction Manual/Detailed Explanation of Functions and Opera- tions.

Parameter name.....................MAPMODE (acceleration and deceleration optimization pattern selected)

Set value and function.........0: Standard acceleration and deceleration pattern (original setting)

1: High acceleration and deceleration pattern The RH-3FRH series and RH-3FRHR series have standard acceleration-and-deceleration mode only.

Fig.2-9 Area in which acceleration/deceleration speed is compensated

Table 2-8 Area in which acceleration/deceleration speed is compensated

Model J3 axis stroke (mm) Compensation area

P2 to P3Stroke length P1(Upper end) P2(Lower end)

RH-3FRH series 120 340 220 220 310

150 370 220 220 310

RH-6FRH series Note1)

Note1) When stroke of J3 axis is 200mm this function is not operate.

340 333 -7 -7 to 133

RH-12FRH/20FRH series 350 340 -10 -10 to 240

450 340 -110 -110 to 155

RH-3FRHR series 150 -583 -733 -733 to -643

P3

(J3)

P1

P2 Shaft (J axis)

Area in which speed and acceleration/deceleration speed are not compensated

Area in which speed and acceleration/deceleration speed are compensated

Robot arm

2-48

Fig.2-10 Automatic compensation of acceleration/deceleration speed

100

36

0 370 310 220

mm

(%)

250

24

J3 axis (Z) stroke 120mm/150mm

A c ce

le ra

ti o n/

de c el

e ra -

ti o n s

pe e d

ra ti o (%

)

Shaft position (mm)

(Standard Acceleration/deceleration speed)

RH-3FRH series

100

50

0 333 133 -7

mm

(%)

73

2

100

50

0 333 133 -7

mm

(%)

73

34

J3 axis (Z) stroke 340mm

A cc

el er

at io

n /d

e ce

le ra -

ti o n

sp ee

d r

at io

(% )

Shaft position (mm)

(Standard Acceleration/deceleration speed)

A cc

el er

at io

n /d

e ce

le ra -

ti o n

sp ee

d r

at io

(% )

Shaft position (mm)

(High acceleration and deceleration rate) J3 axis (Z) stroke 340mm

100

65

0 340 240 -110

mm

(%)

0

20

140

38

-10

100

65

0 340 240

mm

(%)

0

61

140 -10

-110

58

100

0 340

mm

(%)

0

50

155 70

30 41

-10 -110

100

0 340

mm

(%)

0

50

155 70

20 37

-10 -110

J3 (Z) 340mm( ) J3 (Z) 340mm( )

RH-12FRH series

J3 (Z) 340mm( ) J3 (Z) 340mm( )

RH-20FRH series

RH-6FRH series

A cc

e le

ra ti o n /d

e ce

le ra -

ti o n s

pe ed

r at

io (%

)

Shaft position (mm)

(Standard Acceleration/deceleration speed) axis (Z) stroke 350/450mm

A cc

el er

at io

n /d

ec e le

ra -

ti o n

sp ee

d ra

ti o (%

)

Shaft position (mm)

(Standard Acceleration/deceleration speed) axis (Z) stroke 350/450mm

A cc

el er

at io

n /d

e ce

le ra -

ti o n s

p e ed

r at

io (%

)

Shaft position (mm)

axis (Z) stroke 350/450mm

A cc

el e ra

ti o n/

de c el

er a-

ti o n

sp ee

d ra

ti o (%

)

Shaft position (mm)

axis (Z) stroke 350/450mm

(Standard Acceleration/deceleration speed)

(Standard Acceleration/deceleration speed)

Note) The high acceleration-and-deceleration pattern of the type without illustration of the high acceleration-and-deceleration pattern is the same as the standard acceleration-and- deceleration pattern.

100

24 36

0 -583 -643 -675 -713

mm

-733

J3 axis (Z) stroke: 150mm (Standard Acceleration/deceleration speed)

RH-3FRHR series

A cc

e le

ra ti o n /d

e ce

le ra -

ti o n s

p e ed

r at

io (%

)

Shaft position (mm)

2-49

Robot arm

(3) Relation between offset length and the maximum speed A function to optimize the maximum speed of each axis according to the offset length will be activated. (Refer to Fig. 2-11)

Fig.2-11 Relationship of the offset length and maximum velocity

100

42

0 0 100

mm

(%)

40

60

60 Offset length (mm)

M ax

im um

s p ee

d ra

ti o ( % )

100

50

0 0 30 140

mm

(%)

60

76

100

70

0 0 20 140

mm

(%)

40

40

Offset length (mm) Offset length (mm)

100

0 0

mm

(%)

92

91

150

100

0 0

mm

(%)

60

26016060

20

Offset length (mm) Offset length (mm)

M ax

im um

s pe

e d

ra ti o ( % )

M ax

im um

s pe

e d

ra ti o ( % )

M ax

im um

s pe

e d

ra ti o ( % )

M ax

im um

s pe

e d

ra ti o ( % )

Robot arm

2-50

[Supplementary explanation 1]: The setting which shortens execution time The execution time can be improved by using the following methods.

1) Perform continuous path operation using the Cnt command. 2) Control the optimum acceleration/deceleration using the Oadl command. 3) Control the optimum speed using the Spd command. 4) Setting a larger value in the optimum acceleration/deceleration adjustment rate parameter: JADL. (Maxi-

mum 100) The moving time can be shortened by setting a larger value in the optimum acceleration/deceleration adjustment rate parameter (JADL). In this robot, the acceleration/deceleration speed is initialized to allow continuous moving with a short wait time (setting of B in the Fig. 2-12). This setting is suited for continuous operations that have a short tact time, such as palletizing work. Conversely, if quick moves (short moving time) are required, such as L/UL work on machined parts, the acceleration/ deceleration speed can be increased by initial setting (setting of A in the Fig. 2-12). However, please note that some setting values of acceleration/deceleration speed tend to cause overload and overheat errors. In such a case, extend the wait time, reduce the acceleration/deceleration speed, or decrease the moving speed.

Fig.2-12 Relationship between Acceleration/deceleration Speed and Tact Time (Conceptual Drawing)

5) Move without changing the posture. (RH-3FRHR series) The robot's moving time is influenced not only by the size of moving distance but by posture change. The example is shown in Fig. 2-13. When moving changing the posture (left side of the figure), the movement distance is shorter, but moving time may become long conversely. Conversely, When moving without changing the posture, moving time may become shorter (right side of the figure).

Fig.2-13 Moving time by posture change (Conceptual Drawing)

Tact time/ 1 cycle Operation time

Wait time B

A

Increased acceleration/deceleration speed

x Accel instruction [%] x parameter JADL [%]

Acceleration/deceleration speed [m/sec2] = optimum acceleration/deceleration speed [m/sec2]

+Y

+X

+Y

+X

Current position Left hand posture

Locus

Moving with posture change

Moving without posture change

The robot's posture (arm)

The robot's posture (arm)

Current position

Left hand posture

Target position Right hand posture

Target position

Left hand posture

Locus

2-51

Robot arm

(4) Time to reach the position repeatability When using this robot, the time to reach the position repeatability may be prolonged due to the effect of residual vibration at the time of stopping. If this happens, take the following measures:

1) Change the operation position of the Z axis to the location near the top as much as possible. 2) Increase the operation speed prior to stopping. 3) When positioning the work near the bottom edge of the Z axis, if no effectiveness is achieved in step "2)"

above, perform operation <1> (robot path: O A C). In the case of operation <2> (robot path: O B

C), residual vibration may occur. (Refer to Fig. 2-14.)

Fig.2-14 Recommended path when positioning at the bottom edge of the Z axis

Model X[mm]

RH-3FRH series 100

RH-6FRH/12FRH/20FRH series,

RH-3FRHR series

150

Robot arm

2-52

2.2.6 About moving speed at singular point and near singular point. (RH-3FRHR series) The robot of our company has memorized the teaching position and calculates of linear interpolation movement

using the position data in the XYZ coordinate system. Even if it is the same position data, the robot can take two or more postures. For example, if X coordinate value is "0" and Y coordinate value is also "0", the rotation angle of J1 axis is not decided uniquely. This position is called singular point, and positioning or passing with XYZ JOG and linear interpolation will not be performed. And, even though based on the specified speed, when moving near singular point with linear interpolation , the error occurs , because the J1 axis must rotate at the big speed. ("a)" of Fig. 2- 15) However, in RH-3FRHR series, speed was lowered automatically and it has the function which can be passed without the error. In addition, this function can be changed valid/invalid by setting of parameter:SPDOPT, and SpdOpt command. Refer to the separate manual "Detailed explanations of functions and operations" for details. And, the area in R2 shown in "b)" of Fig. 2-15 is the singular point, and positioning and passage with linear interpolation movement cannot be performed. In joint interpolation movement, positioning and passage are possible. It is in valid condition at shipping.

Fig.2-15 The singular point and the speed regulation near the singular point

J2

+Y

+X

J2

J4

J4

J1

Singular point

The J1 axis rotates at high speed.

(X=0,Y=0)

J2

+Y

+X

J2

J4

J4

J1

R1

R2

b) Speed regulation area

a) The singular point and the movement near the singular point

Speed regulation area (R1-R2)

V

The range of the speed regulation area RH-3FRHR series

R1=240.0mm R2=1.0mm

Moving near of the singular point by linear interpolation.

c) Speed change in the speed regulation area

A

B

C

A

B

C

A: Starts the slowdown if robot goes into the speed regulation area.

B: Accelerates slowly towards going out. C: If robot goes out completely from speed regulation

area, it returns to specification speed.

Speed

Time

Speed regulation area

2-53

Robot arm

2.2.7 Collision detection This series have the "collision detection function" which detects the abnormalities by the collision of the robot arm, and the initial setting has set this function as the enable to suppress damage to the minimum. Although the enable/disable of this function can be changed by parameter: COL and command: ColChk, you should use in valid condition of this function for protection 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 2-9 Factory-shipments condition

JOG operation Automatic

RH-3FRH/6FRH/12FRH/20FRH series Valid Invalid

RH-3FHR series Valid Valid

Robot arm

2-54

2.2.8 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 2-10.

Table 2-10 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 2-10.

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 IP20

It indicates the protective structure that prevents an iron ball 12 0 +0.05mm diameter, which is being pressed

with the power of 3.1 kg10%, from going through the opening in the outer sheath of the supplied equipment.

The IEC IP65

Protection against water infiltration as specified in IP65 indicates a protective structure that is not harmfully affected when 12.55% liters of water is supplied from a test device at a position approx. 3m away in various directions and a water pressure of 30kPa at the nozzle section. The water is filled one minute per 1m2 of test device surface area for a total of three minutes.

Type Protection

specifications (IEC Standards value)

Classification Applicable field Remarks

RH-3FRHxx15

RH-6FRHxx20/xx34

RH-12FRHxx35/xx45

RH-20FRHxx35/xx45

RH-3FRHR3515

IP20

General-pur- pose environ- ment specifications

General assembly Slightly dusty environment

RH-6FRHxx20M/xx34M

RH-12FRHxx35M/xx45M

RH-20FRHxx35M/xx45M

IP65 (Direct jet flow to the bellows section is not

included.)

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.

RH-3FRHR3512W IP65 (Direct jet flow to the bellows section is not

included.)

Waterproof specifications

Food processing (handling) The work shops which requires washing of a robot arm.

CAUTION

2-55

Robot arm

(2) About the use with the bad environment The protection specifications robot has protection methods that conform to IEC's IP65 standards. (Direct jet flow to the bellows section is not included.) It has protection structure designed to prevent harmful effects caused by splashing water coming from various directions, as the robot is operating. (Direct jet flow to the bellows section is not included.)

Recommended usage conditions Usage conditions are shown below.

1) The robot is designed for use in combination with machining device. 2) Robot's protection performance can be improved by pressurizing its interior. If you use a robot in an envi-

ronment where oil mist is present, it is recommended that the interior of the robot be pressurized to ensure its reliability over a long period of time. Use the provided 8 joint (AIR PURGE) to supply dry air for pressurizing (Fig. 2-71, Fig. 2-72). 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 2-12.

Table 2-11 Specification of the dry air for pressurization

Table 2-12 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. 5) The packing gets deteriorated with the passage of time and must be replaced as required. Table 2-13 pro-

vides guidelines for replacing the packing. Failure to replace the packing may cause water or oil to get into the robot, resulting in malfunction of the robot. For the information on the packing to be replaced and the liquid gasket to be used, contact the dealer.

Table 2-13 Packing replacement guideline

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 246, "6.2 Working environment".

Item Dew point Pressure

Specification The atmospheric pressure dew point is -

20 degree or less.

0 to 3kPa

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

Environment Whether or not robot is

pressurized When packing must be replaced

General environment Not pressurized Note1)

Note1) The pressurization inside the robot arm is unnecessary in general environment and clean room environ- ment.

When signs of cracking or peeling are noted in the packing.Clean room Not pressurized Note1)

Oil mist Pressurized

Not pressurized When removing and installing the cover.

Robot arm

2-56

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 2-11.

2-57

Robot arm

2.2.9 Clean specifications (1) Types of clean specifications

The robot arm with clean specification is made by order. Please check the delivery schedule.

Table 2-14 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. 2-71 or Fig. 2-72) When using the robot, connect this coupling with the vacuum generating valve (Refer to Table 2-15) 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 2-15 Specifications of vacuum generation valve (Confirmed in our company

b) When using the vacuum pump

Assure the vacuum flow rate of RH-3FRH/6FRH series: 30-50L/min, RH-12FRH/20FRH series: 60- 140L/min, and RH-3FRHR series: 3-5L/min. RH-12FRH/20FRH has two VACUUM couplings. Please be sure to suck in using both of couplings.

And, secure the exhaust course from the pump not to affect the power supply and the cleanness for the vacuum pumps.

3) The ventilation duct is attached to the robot arm rear (refer to Fig. 2-16). As the Z axis moves up and down the volume of the bellows varies, and air is sucked in and released out of the robots ventilation duct opening. Be sure to locate the ventilation ducts opening in a position that will not affect the robots clean- liness. Furthermore, whilst it is only a small amount, internal suction results in external air flows into the robot through the ventilation ducts opening, and therefore the following two points should be considered when deciding where to locate the ventilation ducts opening.

The opening should be facing downwards The opening should not be located in the vicinity of dust/dirt or liquids, etc.

(Recommended cleanliness of surrounding area: less than ISO class 5)

Type Degree of cleanliness Internal suction Remarks

RH-3FRHxx12C

RH-6FRHxx20C/xx34C

RH-12FRHxx35C/xx45C

RH-20FRHxx35C/xx45C

ISO class 3 Note1)

Note1) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot internal suction of RH-3FRH/6FRH series: 30-50L/minRH-12FRH/20FRH series: 60-140L/min, and installation of an exhaust duct at the rear of the robots main base. A 8 joint is prepared at the rear of the base for suction.

Suck the inside of robot arm with

vacuum pump. (prepared by cus- tomer)

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.

RH-3FRHR3512C ISO class 5 Note2)

Note2) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater, robot internal suction of 3-5L/min. A 8 joint is prepared at the rear of the base for suction.

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) RH-3FRH/6FRH series : 1 RH-12FRH/20FRH series : 2

ME05 KOGANEI CORPORATION Vacuum rate: 6.3 L/min(ANR) RH-3FRHR series : 1

Robot arm

2-58

Fig.2-16 Installation of Ventilation Duct

4) When using the optional electromagnetic valve set, we recommend using the primary pipings spare piping (6 air hose) to release the exhaust fumes. Please take care as leaking exhaust fumes inside the robot may have an impact on the robots cleanliness.

2-59 Names of each part of the robot

Robot arm

2.3 Names of each part of the robot

Fig.2-17 Names of each part of the robot (Floor installation type)

A

View A

Note1)

Brake release switch

Note 1) The operation method of the brake release switch. The brake of the J3 axis can be released by operating this switch. When releasing the brake, please provide support or take other recaution to prevent the falling of J3 axis.

When releasing the brake the J3 axis will drop. To ensure safety, take appropriate measures such as supporting the axis to avoid the free fall.

(1) Provide support or take other recaution to prevent the falling of J3 axis. (2) Push the brake release switch. The brake is released while the switch is pressed in.

CAUTION

Robot arm

Names of each part of the robot 2-60

Fig.2-18 Names of each part of the robot (Hanging installation type)

Note 1)

Note 1) The operation method of the brake release switch. The brake of the J3 axis can be released by operating this switch. When releasing the brake, please provide support or take other recaution to prevent the falling of J3 axis.

When releasing the brake the J3 axis will drop. To ensure safety, take appropriate measures such as supporting the axis to avoid the free fall.

(1) Provide support or take other recaution to prevent the falling of J3 axis. (2) Push the brake release switch. The brake is released while the switch is pressed in.

CAUTION

2-61 Outside dimensions Operating range diagram

Robot arm

2.4 Outside dimensions Operating range diagram

2.4.1 Outside dimensions Operating range diagram (RH-3FRH series) (1) Standard Specification

Fig.2-19 Outside dimensions of RH-3FRH3515

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, two

places on front surface. *3) The distance to a minimum bendable radius of the machine cable. *4) Indicates the space necessary to connect the machine cable. *5) Required space to installing/removing the cover.

Note) Refer to Fig. 2-65 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-62

Fig.2-20 Operating range diagram of RH-3FRH3515

Rev. *

2-63 Outside dimensions Operating range diagram

Robot arm

Fig.2-21 Outside dimensions of RH-3FRH4515

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm,

two places on front surface. *3) The distance to a minimum bendable radius of the machine cable. *4) Indicates the space necessary to connect the machine cable. *5) Required space to installing/removing the cover.

Note) Refer to Fig. 2-65 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-64

Fig.2-22 Operating range diagram of RH-3FRH4515

Rev. *

2-65 Outside dimensions Operating range diagram

Robot arm

Fig.2-23 Outside dimensions of RH-3FRH5515

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, two places on

front surface. *3) The distance to a minimum bendable radius of the machine cable. *4) Indicates the space necessary to connect the machine cable. *5) Required space to installing/removing the cover.

Note) Refer to Fig. 2-65 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-66

Fig.2-24 Operating range diagram of RH-3FRH5515

Rev. *

2-67 Outside dimensions Operating range diagram

Robot arm

(2) Clean Specification

Fig.2-25 Outside dimensions of RH-3FRH3512C

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, two places on

front surface. *3) The duct is attached to the clean specification. *4) The distance to a minimum bendable radius of the machine cable. *5) Indicates the space necessary to connect the machine cable. *6) Required space to installing/removing the cover.

Note) Refer to Fig. 2-65 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-68

Fig.2-26 Operating range diagram of RH-3FRH3512C

Rev. *

2-69 Outside dimensions Operating range diagram

Robot arm

Fig.2-27 Outside dimensions of RH-3FRH4512C

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, two places on

front surface. *3) The duct is attached to the clean specification. *4) The distance to a minimum bendable radius of the machine cable. *5) Indicates the space necessary to connect the machine cable. *6) Required space to installing/removing the cover.

Note) Refer to Fig. 2-65 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-70

Fig.2-28 Operating range diagram of RH-3FRH4512C

Rev. *

2-71 Outside dimensions Operating range diagram

Robot arm

Fig.2-29 Outside dimensions of RH-3FRH5512C

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. Six places on both-sides of No.2 arm, two places on

front surface. *3) The duct is attached to the clean specification. *4) The distance to a minimum bendable radius of the machine cable. *5) Indicates the space necessary to connect the machine cable. *6) Required space to installing/removing the cover.

Note) Refer to Fig. 2-65 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-72

Fig.2-30 Operating range diagram of RH-3FRH5512C

Rev. *

2-73 Outside dimensions Operating range diagram

Robot arm

2.4.2 Outside dimensions Operating range diagram (RH-6FRH series) (1) Standard Specification

Fig.2-31 Outside dimensions of RH-6FRH35xx

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. (Six places on both-sides of No.2 arm, two places on

front surface. Refer to Fig. 2-74.) *3) The distance to a minimum bendable radius of the machine cable. *4) Indicates the space necessary to connect the machine cable. *5) Required space to installing/removing the cover.

Note) Refer to Fig. 2-66 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-74

Fig.2-32 Operating range diagram of RH-6FRH35xx

Rev. *

2-75 Outside dimensions Operating range diagram

Robot arm

Fig.2-33 Outside dimensions of RH-6FRH45xx

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. (Six places on both-sides of No.2 arm, two places on

front surface. Refer to Fig. 2-74.) *3) The distance to a minimum bendable radius of the machine cable. *4) Indicates the space necessary to connect the machine cable. *5) Required space to installing/removing the cover.

Note) Refer to Fig. 2-66 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-76

Fig.2-34 Operating range diagram of RH-6FRH45xx

Rev. *

2-77 Outside dimensions Operating range diagram

Robot arm

Fig.2-35 Outside dimensions of RH-6FRH55xx

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. (Six places on both-sides of No.2 arm, two places on

front surface. Refer to Fig. 2-74.) *3) The distance to a minimum bendable radius of the machine cable. *4) Indicates the space necessary to connect the machine cable. *5) Required space to installing/removing the cover.

Note) Refer to Fig. 2-66 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-78

Fig.2-36 Operating range diagram of RH-6FRH55xx

Rev. *

2-79 Outside dimensions Operating range diagram

Robot arm

(2) Clean Specification and oil mist specification

Fig.2-37 Outside dimensions of RH-6FRH35xxC/M

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. (Six places on both-sides of No.2 arm, two places on

front surface. Refer to Fig. 2-74.) *3) The duct (25, length: 3m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *4) The distance to a minimum bendable radius of the machine cable. *5) Indicates the space necessary to connect the machine cable. *6) Required space to installing/removing the cover.

Note1) Refer to Fig. 2-66 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-80

Fig.2-38 Operating range diagram of RH-6FRH35xxC/M

Rev. *

2-81 Outside dimensions Operating range diagram

Robot arm

Fig.2-39 Outside dimensions of RH-6FRH45xxC/M

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. (Six places on both-sides of No.2 arm, two places on

front surface. Refer to Fig. 2-74.) *3) The duct (25, length: 3m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange the

duct. *4) The distance to a minimum bendable radius of the machine cable. *5) Indicates the space necessary to connect the machine cable. *6) Required space to installing/removing the cover.

Note1) Refer to Fig. 2-66 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-82

Fig.2-40 Operating range diagram of RH-6FRH45xxC/M

Rev. *

2-83 Outside dimensions Operating range diagram

Robot arm

Fig.2-41 Outside dimensions of RH-6FRH55xxC/M

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes (M4 depth 6mm) for fixing user wiring/piping. (Six places on both-sides of No.2 arm, two places on

front surface. Refer to Fig. 2-74.) *3) The duct (25, length: 3m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *4) The distance to a minimum bendable radius of the machine cable. *5) Indicates the space necessary to connect the machine cable. *6) Required space to installing/removing the cover.

Note1) Refer to Fig. 2-66 for the mechanical interface section and installation base section dimensions.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-84

Fig.2-42 Operating range diagram of RH-6FRH55xxC/M

Rev. *

2-85 Outside dimensions Operating range diagram

Robot arm

2.4.3 Outside dimensions Operating range diagram (RH-12FRH series) (1) Standard Specification

Fig.2-43 Outside dimensions of RH-12FRH55xx

Note) Refer to Fig. 2-67 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-86

Fig.2-44 Operating range diagram of RH-12FRH55xx

Rev. *

2-87 Outside dimensions Operating range diagram

Robot arm

Fig.2-45 Outside dimensions of RH-12FRH70xx

Note) Refer to Fig. 2-67 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-88

Fig.2-46 Operating range diagram of RH-12FRH70xx

Rev. *

2-89 Outside dimensions Operating range diagram

Robot arm

Fig.2-47 Outside dimensions of RH-12FRH85xx

Note) Refer to Fig. 2-67 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-90

Fig.2-48 Operating range diagram of RH-12FRH85xx

Rev. *

2-91 Outside dimensions Operating range diagram

Robot arm

(2) Clean Specification and oil mist specification

Fig.2-49 Outside dimensions of RH-12FRH55xxC/M

Note) Refer to Fig. 2-67 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) The duct (50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *6) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-92

Fig.2-50 Operating range diagram of RH-12FRH55xxC/M

Rev. *

2-93 Outside dimensions Operating range diagram

Robot arm

Fig.2-51 Outside dimensions of RH-12FRH70xxC/M

Note) Refer to Fig. 2-67 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) The duct (50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *6) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-94

Fig.2-52 Operating range diagram of RH-12FRH70xxC/M

Rev. *

2-95 Outside dimensions Operating range diagram

Robot arm

Fig.2-53 Outside dimensions of RH-12FRH85xxC/M

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) The duct (50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *6) Indicates the space necessary to connect the machine cable.

Note) Refer to Fig. 2-67 for the mechanical interface section and installation base section dimensions.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-96

Fig.2-54 Operating range diagram of RH-12FRH85xxC/M

Rev. *

2-97 Outside dimensions Operating range diagram

Robot arm

2.4.4 Outside dimensions Operating range diagram (RH-20FRH series) (1) Standard Specification

Fig.2-55 Outside dimensions of RH-20FRH85xx

Note) Refer to Fig. 2-68 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-98

Fig.2-56 Operating range diagram of RH-20FRH85xx

Rev. *

2-99 Outside dimensions Operating range diagram

Robot arm

Fig.2-57 Outside dimensions of RH-20FRH100xx

Note) Refer to Fig. 2-68 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-100

Fig.2-58 Operating range diagram of RH-20FRH100xx

Rev. *

2-101 Outside dimensions Operating range diagram

Robot arm

(2) Clean Specification and oil mist specification

Fig.2-59 Outside dimensions of RH-20FRH85xxC/M

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) The duct (50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *6) Indicates the space necessary to connect the machine cable.

Note) Refer to Fig. 2-68 for the mechanical interface section and installation base section dimensions.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-102

Fig.2-60 Operating range diagram of RH-20FRH85xxC/M

Rev. *

2-103 Outside dimensions Operating range diagram

Robot arm

Fig.2-61 Outside dimensions of RH-20FRH100xxC/M

Note) Refer to Fig. 2-68 for the mechanical interface section and installation base section dimensions.

Note *1) Indicates the space necessary to replace the battery. *2) Indicates screw holes for fixing user wiring/piping. (Refer to Fig. 2-75) *3) The distance to a minimum bendable radius of the machine cable. *4) Required space to installing/removing the cover. *5) The duct (50, length: 2m) attached to the clean specification. Be careful for the hand etc. not to interfere and arrange

the duct. *6) Indicates the space necessary to connect the machine cable.

Rev. A

Robot arm

Outside dimensions Operating range diagram 2-104

Fig.2-62 Operating range diagram of RH-20FRH100xxC/M

Rev. *

2-105 Outside dimensions Operating range diagram

Robot arm

2.4.5 Outside dimensions Operating range diagram of RH-3FHR series (1) Standard Specification

Fig.2-63 Outside dimensions, Operating range diagram of RH-3FRHR series (Standard specification)

Note1) Refer to Fig. 2-69 for the mechanical interface section and installation base section dimensions. Note2) Use of the optional solenoid valve set. The solenoid valve set installed at the side on the No.2 arm. (*1) mark) Take

care at layout design. Note3) The position on the vertical extension of the "robot origin" becomes the singular point. Positioning and passage to this

position with linear interpolation movement cannot be performed. Take care at layout design.

Notice 1. The outside dimensions exclude projecting parts. 2. The posture of the figure are J1=0 degree, J2=+180

degree, J3=-583mm, and J4=0 degree. 3. *1) is the T slot for piping, wiring, and solenoid valve

installation. (Attach the M5 nut) 4. *2) is the installation stage (customer arrangements). 5. *3) is allowance stage dimensions. 6. *4) is the space necessary for connection of the

machine cable. 7. *5) is the maintenance space necessary for battery

replacement etc. 8. *6) is the distance to a minimum bendable radius of

the machine cable.

Rev. *

Robot arm

Outside dimensions Operating range diagram 2-106

(2) Clean/waterproof Specification

Fig.2-64 Outside dimensions, Operating range diagram of RH-3FRHR series (Clean/waterproof specification)

Note1) Refer to Fig. 2-70 for the mechanical interface section and installation base section dimensions. Note2) Use of the optional solenoid valve set. The solenoid valve set installed at the side on the No.2 arm. (*1 mark) Take care

at layout design. Note3) The position on the vertical extension of the "robot origin" becomes the singular point. Positioning and passage to this

position with linear interpolation movement cannot be performed. Take care at layout design.

Notice 1. The outside dimensions exclude projecting parts. 2. The posture of the figure are J1=0 degree, J2=+180

degree, J3=-583mm, and J4=0 degree. 3. *1) is the T slot for piping, wiring, and solenoid valve

installation. (Attach the M5 nut) 4. *2) is the installation stage (customer arrangements). 5. *3) is allowance stage dimensions. 6. *4) is the space necessary for connection of the

machine cable. 7. *5) is the maintenance space necessary for battery

replacement etc. 8. *6) is the distance to a minimum bendable radius of the

machine cable.

Rev. *

2-107 Outside dimensions Operating range diagram

Robot arm

2.4.6 Mechanical interface and Installation surface (1) RH-3FRH series

Fig.2-65 Mechanical interface and Installation surface (RH-3FRH series)

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. A

(Base section of a robot arm)

Robot arm

Outside dimensions Operating range diagram 2-108

(2) RH-6FRH series

Fig.2-66 Mechanical interface and Installation surface (RH-6FRH series)

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. A

(Base section of a robot arm)

2-109 Outside dimensions Operating range diagram

Robot arm

(3) RH-12FRH series

Fig.2-67 Mechanical interface and Installation surface of RH-12FRH series

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. A

(Base section of a robot arm)

Robot arm

Outside dimensions Operating range diagram 2-110

(4) RH-20FRH series

Fig.2-68 Mechanical interface and Installation surface of RH-20FRH series

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. A

(Base section of a robot arm)

2-111 Outside dimensions Operating range diagram

Robot arm

(5) RH-3FRHR series (Standard specification)

Fig.2-69 Mechanical interface and Installation surface of RH-3FRHR series (Standard specification)

Don't give a shock to the ball screw shaft at the time of hand installation. Especially don't strike the shaft end by hammer etc. The ball screw shaft may be damaged.

Rev. *

CAUTION

Robot arm

Outside dimensions Operating range diagram 2-112

(6) RH-3FRHR series (Clean/waterproof specification)

Fig.2-70 Mechanical interface and Installation surface of RH-3FRHR series (Clean/waterproof specification)

Don't give a shock to the ball screw shaft at the time of hand installation. Especially don't strike the shaft end by hammer etc. The ball screw shaft may be damaged.

Rev. *

CAUTION

2-113 Outside dimensions Operating range diagram

Robot arm

2.4.7 Outside dimensions of machine cables

Note) If using an optional machine cable (replacement), refer to Page 132, "(1) Machine cable (replacement)" in a diameter of the cable.

Robot arm

Tooling 2-114

2.5 Tooling

2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a hand.

Fig.2-71 Wiring and piping for hand (Floor installation type)

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 UKBL6 - - - Koganei Corporation

(2) Coupling 1 or 2 Note1)

Note1) The clean specification RH-3FRH/6FRH series: one coupling, RH-12FRH/20FRH series: two couplings. The oil-mist specification is common to between the types, and is one coupling. The general-purpose environment specification is nothing.

UKBL8 - - - Koganei Corporation

(3) Connector 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1 Tyco Electronics

(4) Connector 2 1-1717834-3 1318108-1 1-1318115-3 1318112-1 Tyco Electronics

(5) Connector 1 1-1318117-3 1318112-1 1-1318120-3 1318108-1 Tyco Electronics

(6) Connector 1 2-1717834-4 1318108-1 2-1318115-4 1318112-1 Tyco Electronics

(7) Connector 1 TM21P-88P - - -

View A

A

(4)Hand input signal connector (HC1, 2)

(3)Hand output signal connector (GR1, 2)

Secondary piping pneumatic hose (Option, or customer prepared) RH-3FRH/6FRH series: 4 hose (Max. 8 hoses) RH-12FRH/20FRH series: 6 hose (Max. 8 hoses)

Primary piping pneumatic hose (AIR OUT, RETURN)

Solenoid valve set (Option)

(3)Hand output signal connector (GR1, 2)

Primary piping pneumatic hose

(AIR OUT, RETURN)

(6)The signal wire only for the multifunctional hand.

(7)Ethernet cable (8 cores)

* If the LAN connector is cut and connector of customer preparation is connected, it can be use as other usages.

Pulling out wiring and piping

Wiring and piping can be passed through the inside of the shaft. It can also be pulled out externally from the rear of the No. 2 arm by using the Page 151, "(9) External Wiring/Piping box". Ethernet cables and the power supply chord for remote input/output can be pulled out from the grommet at the rear of the base section. Note) On the clean and oil mist

specifications it is necessary to seal the cable aperture closed.

(Robot arm side)

(Robot arm side)

No.2 arm

No.1 arm

Robot base

(two cores + two wires)

(5)Spare wire

(two wires)

B

Robot arm rear side: View B

2-115 Tooling

Robot arm

Fig.2-72 Wiring and piping for hand (Hanging installation type)

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 4 UKBL6 - - - Koganei Corporation

(2) CouplingNote1)

Note1) Only for clean specification.

1 UKBL8 - - - Koganei Corporation

(3) Connector 2 1-1717834-3 1318108-1 1-1318115-3 1318112-1 Tyco Electronics

(4) Connector 2 1-1717834-4 1318108-1 1-1318115-4 1318112-1 Tyco Electronics

Robot arm

Tooling 2-116

2.5.2 Internal air piping (1) Floor installation type Standard/oilmist specifications

1) The robot has two 6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air exhaust.

2) The pneumatic inlet in the base section has a 6 pneumatic coupling bridge. 3) The solenoid valve set (optional) can be installed to the side on No.2 arm. 4) Refer to Page 136, "(3) Solenoid valve set" for details on the electronic valve set (optional). 5) Protection performance can be improved by pressurizing the inside of the robot arm. Since the joint (AIR

PURGE) of 8 is prepared at the rear of the base section, please supply the dry air for pressurization from this joint. Refer to Page 54, "2.2.8 Protection specifications" for the details of dry air.

Clean Specifications 1) The primary piping is the same piping as the standard type. 2) With the clean specification, a 8 coupling is provided in the base section for suction inside the machine.

For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use the exhaust filter (prepared by the customer).

3) Refer to Page 57, "2.2.9 Clean specifications" for details of the vacuum for suction. 4) Supply clean air to the vacuum generator.

(2) Hanging installation type Standard/waterproof specifications

1) The robot has two 6 urethane hoses from the pneumatic entrance on the base section to the No.2 arm. One hose is the primary piping for the pneumatic equipment, and the other pipe is used for air exhaust.

2) The pneumatic inlet in the base section has a 6 pneumatic coupling bridge. 3) The solenoid valve set (optional) can be installed to the side on No.2 arm. 4) Refer to Page 136, "(3) Solenoid valve set" for details on the electronic valve set (optional). 5) The four air hoses (4) are piped as the secondary from the No.2 arm back end to near the shaft.

Clean specifications 1) The primary piping is the same piping as the standard type. 2) With the clean specification, a 8 coupling is provided in the base section for suction inside the machine.

For use, connect it to the suction port of the vacuum pump or the coupling on the "VACUUM" side of the vacuum generating valve. Moreover, to clean the exhaust from the vacuum pump or vacuum generator, use the exhaust filter (prepared by the customer).

3) Refer to Page 57, "2.2.9 Clean specifications" for details of the vacuum for suction. 4) Supply clean air to the vacuum generator.

2.5.3 Internal wiring for the hand output cable (1) Floor installation type

1) The hand output primary cable extends from the connector of the base section to the back side of the No.2

arm. (AWG#24(0.2mm2): 10 cables) The cable terminals have connector bridges for eight hand outputs.The connector names are GR1 and GR2. To pull the wiring out of the arm, following separate options are required.

(2) Hanging installation type 1) The hand output primary cable extends from the connector of the base section to the back side of the No.2

arm. (AWG#24(0.2mm2)) The cable terminals have connector bridges for eight hand outputs.The connector names are GR1 and GR2. The separate cable (optional "hand output cable 1S-GR35S-02") is necessary, to extend the cable to outside of the arm.

Option Model Remarks

Hand output cable 1F-GR60S-01

External wiring and piping box 1F-UT-BOX RH-3FRH/6FRH series

1F-UT-BOX-01 RH-12FRH/20FRH series

2-117 Tooling

Robot arm

2.5.4 Internal wiring for the hand input cable (1) Floor installation type

1) The hand input cable extends from the connector of the base section to the No.2 arm. (AWG#24(0.2mm2): 10 cables) The cable terminals have connector bridges for eight hand inputs. The connector names are HC1 and HC2.

2) The hand check signal of the pneumatic hand is input by connecting this connector. To extend the wiring to the outside of the arm, following separate options are required.

(2) Hanging installation type 1) The hand input cable extends from the connector PCB of the base section to the No.2 arm.

(AWG#24(0.2mm2)) The cable terminals have connector bridges for four hand inputs. The connector names are HC1 and HC2.

2) The hand check signal of the pneumatic hand is input by connecting this connector.

2.5.5 Ethernet cable (For RH-3FRH/6FRH/12FRH/20FRH series) Ethernet cables are installed from the RH-3FRH/6FRH/12FRH/20FRH series robots base section up to the

No. 2 arm section, and can be used. Similar to on our previous models, these cables can also be used for backup wiring. For further details please refer to the separate Instruction Manual/Robot Arm Setup.

Example of use for backup wiring.

When connecting previously used tools to the robot

Folding back the hand output cable when attaching the electromagnetic valve to the robots exterior.

When attaching 8 devices or more to the hand section such as sensors, (8 input and 8 output dedicated points are available for hand signals.). In this case connect the signals (of the sensors, etc.) to parallel input/output signals.

When shipped from the factory, both ends are LAN connectors.

When using it as backup wiring, cut the LAN connectors off and use with user supplied connectors.

When using it as backup wiring for data communication, the shield wire must be grounded. If the shield wire is not grounded, it may cause a communication abnormality by noise superposed on the cable.

Table 2-16 Ethernet cable specification

Option Model Remarks

Hand input cable 1F-HC35C-01 RH-3FRH/6FRH series

1F-HC35C-02 RH-12FRH/20FRH series

External wiring and piping box 1F-UT-BOX RH-3FRH/6FRH series

1F-UT-BOX-01 RH-12FRH/20FRH series

Item Specification

Communication speed 100BASE-TX

Size AWG #26 (0.13mm2) x four pair (total eight cores)

Externality of insulator Approx. 0.98 mm

Robot arm

Tooling 2-118

2.5.6 Spare Wiring (For FH-3FRHR series)

As spare wiring, four pairs of cab tire cables (AWG#27(0.1mm2), total is eight cores both) are preinstalled between the base section and the No.2 arm rear section in the RH-3FRHR series robot. Customer can utilize it. Refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" for details.

Both ends of the wire terminals are unprocessed. Use them under the following circumstances:

For folding as the hand output cable when installing the solenoid valve in outside the robot. For when installing six or more hand I/O points for the sensor in the hand section

(Connects to the parallel I/O general purpose input.)

Reference) Pin assignment of the connector, and the matching connector Pin assignment

Pin Color

A1 Red

A2 Brown

A3 Green

A4 Black

B1 Orange

B2 White

B3 Yellow

B4 Blue

Robot side connector

Connection place Connector Contactor Maker

Base portion 2-1318115-4 - Tyco Electronics

Fore arm portion 2-1717834-4 -

Other party connector (recommendation)

Connection place Connector Contactor Maker

Base portion 2-1717834-4 1318108-1 Tyco Electronics

Fore arm portion 2-1318115-4 1318112-1

2-119 Tooling

Robot arm

2.5.7 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping) The customer is required to provide tooling wiring, piping and metal fixtures. Screw holes are provided on the robot arm for the installation of tooling wiring, piping and metal fixtures. (Refer to the Fig. 2-74 to Fig. 2-76.) The length of wiring and piping and the installation position on the robot must be adjusted according to the work to be done by the robot. Please use the following example as reference.

A hand input cable and a hand curl cable are available as optional accessories for your convenience. After performing wiring and piping to the robot, operate the robot at low speed to make sure that each part does not interfere with the robot arm and the peripheral devices. Confirm that there is no interference also with bellows of the shaft section by clean specification and oil mist specification.

Please be aware that dust may be generated from friction if wires and pipes come into contact with the robot arm when using it according to the clean specifications.

If you install metal fixtures and a solenoid valve using the screw holes on the No.2 arm portion, add the mass of the metal fixtures and the solenoid valve to mass of a hand then set the HNDDAT parameter. Moreover, Fix the parts, such as a solenoid valve, firmly to prevent the parts getting shaky during operation of a robot.

(1) RH-3FRH series

Fig.2-73 Location of screw holes for fixing wiring/piping (RH-3FRH series)

164 102

2-M46 () 10

2-M48 ()

2-M48 ()

2 5

5 5

2-M48

20

11

1 1 0

4- M5

11

B

B A

A

(Usable on opposite side too.)

2-M4, depth 8

View

View

4- M5 s

cre w, d

ep th

11

2-M4, depth 8

(Usable on opposite side too.)

2-M4, depth 6

2-M4, depth 8 (Usable on opposite side too.)

Robot arm

Tooling 2-120

(2) RH-6FRH series

Fig.2-74 Location of screw holes for fixing wiring/piping (RH-6FRH series)

164 102

2-M46 () 10

2-M48 ()

2-M48 ()

25

5 5

B

2-M48

20

B A

11 1 1 0

4- M5

11

A

2- 4, depth 8

2-M4, depth 8

View

(Usable on opposite side too.)

2-M4, depth 6

2-M4, depth 8 (Usable on opposite side too.)

View

4- M5 s

cre w, d

ep th

11

(Usable on opposite side too.)

2-121 Tooling

Robot arm

(3) RH-12FH/20FH series

Fig.2-75 Location of screw holes for fixing wiring/piping (RH-12FRH/20FRH series)

B

A

2-M4, depth 8 2-M4, depth 8 (Usable on opposite side too.)

2-M4, depth 8 (Usable on opposite side too)

View B

View A

2-M4, depth 8 (Usable on opposite side too)

4-M5 screw, depth 15

RH-12FRH55xx RH-12FRH70xx

RH-12FRH/20FRH85xx

RH-20FRH100xx

4-M5 screw, depth 15

Robot arm

Tooling 2-122

(4) RH-3FRHR series

Fig.2-76 Location of screw holes for fixing wiring/piping (RH-3FRHR series)

Example which installed the solenoid valve

M5 nut for T slot (Four attachments)

2-M5 x 8 screw

Note)

Note) T slot The T slot is on the side of the No.2 arm. (Two of right and left) Utilize the M5 screw and T slot for fixing the hose or wire. Refer to "Page 105, "Fig.2-63 Outside dimensions, Operating range diagram of RH-3FRHR series (Standard specifica- tion)"or Page 106, "Fig.2-64 Outside dimensions, Operating range diagram of RH-3FRHR series (Clean/waterproof specifi- cation)" for detail of T slot. The clean/waterproof robot are supplied with the packing. After fixation of wirings and pipings, stuff the packing into the T slot.

2-123 Tooling

Robot arm

(5) Example of wiring and piping <1> By feeding wiring and piping through the inside of the shaft, the wiring and piping to the hand becomes compact.

Fig.2-77 Example of wiring and piping <1> (RH-3FRH series)

Fig.2-78 Example of wiring and piping <1> (RH-6FRH series)

2 () (34(42)) ()

()

1(AIR OUTRETURN)(2)

(GR1GR2)()

(GR1GR2)(2)

()

Solenoid valve set (Option)

Cable fixed plate for internal wiring/piping set for hand (Option)

Primary piping air hose (AIR OUT, RETURN)

Inside the No.2 arm

Hand output signal connector ( 1, GR2)

(Solenoid valve (option) side)

Hand output signal connector (GR1, GR2)

(Inside the No.2 arm)

Example of the customer preparation tool

Secondary piping air hose, etc Internal wiring/piping set for hand (Option)

(Hand tube: 3 x 4 hoses, Hand input cable (For signal: 4 cable, For power: 2 cable) or

Hand tube (Customer prepared)

()

1(AIR OUTRETURN)(2)

(GR1GR2)()

(GR1GR2)(2)

()

2 () (48(82)) ()

Solenoid valve set (Option)

Cable fixed plate for internal wiring/piping set for hand (Option)

Secondary piping air hose, etc Internal wiring/piping set for hand (Option)

(Hand tube: 4 x 8 hoses, Hand input cable (For signal: 8 cable, For power: 2 cable)) or Hand tube (Customer prepared)

Primary piping air hose (AIR OUT, RETURN)

Inside the No.2 arm

Hand output signal connector ( 1, GR2)

(Solenoid valve (option) side)

Hand output signal connector (GR1, GR2)

(Inside the No.2 arm)

Example of the customer preparation tool

Robot arm

Tooling 2-124

Fig.2-79 Example of wiring and piping <1> (RH-12FRH/20FRH series)

()

1(AIR OUTRETURN)(2)

(GR1GR2)()

(GR1GR2)(2)

()

2 () (64(82)) ()

Solenoid valve set (Option)

Cable fixed plate for internal wiring/piping set for hand (Option)

Secondary piping air hose, etc Internal wiring/piping set for hand (Option)

(Hand tube: 6 x 4 hoses, Hand input cable (For signal: 8 cable, For power: 2 cable)) or

Hand tube (Customer prepared)

Primary piping air hose (AIR OUT, RETURN)

Inside the No.2 arm

Hand output signal connector ( 1, GR2)

(Solenoid valve (option) side)

Hand output signal connector (GR1, GR2)

(Inside the No.2 arm)

Example of the customer preparation tool

2-125 Tooling

Robot arm

Fig.2-80 Example of wiring and piping <1> (RH-3FRHR series)

Notes in wiring 1. The air hose which can be passed in the shaft is four 4 hoses maximum. (Customer preparations) 2. Wire the cable and piping the tube without interference with ball screw and cover. 3. Because to prevent the bend of the air tube, secure the minimum radius with which tube can be bent. 4. When using an optional solenoid valve, add the mass of solenoid valve to mass of hand and set to parameter: HNDDAT.

(RH-3FRHR series only) 5. The hand tube (four 3 tubes) and the hand input cable (4 point) are prepared optional.

Please confirm that there is no rubbing or crack etc per six months.

Hand tube (4 x 4: customer preparation) or Hand tube (3 x 4: optional) and the hand input cable (optional)

Example) How to pass the 4 air hose into the shaft

*1) Adjustment of the fixing position In the condition that the J3 axis is upper limit and the J4 axis is 0 degree, align the top of air tube with the upper end of the Piping fixing bracket.

*1)

Clamp position (cutting two places) Fixing by cable tie

Hand input cable

Air tube Union (4 to 3) Attachment

Clamp position Fixing by cable tie etc.

Hand input cable

Example of the customer preparation tool

Hand tube (6 x 2: customer preparation)

Hand tube (4 x 4: customer preparation) *Use, when letting the tube pass in the shaft.

Robot arm

Tooling 2-126

(6) Wiring and piping example <2> This is an effective method in cases where the wiring and piping is often changed, or when the hand rotation is minimal (within 90), etc.

Fig.2-81 Example of wiring and piping <2>

(7) Precautions for the oilmist/clean specification The through hole of the top part of the tip shaft are taped at shipment.

Perform the following actions as necessary in order to ensure that the robot keeps sufficiently protective performance during the operation:

1) When the through hole of the shaft is not used Keep the top part of the tip shaft taped while the robot is in use.

2) When the through hole of the shaft is used for wiring. Remove the rubber cap on top of the tip shaft and perform the necessary wiring. Once the wiring is com- pleted, seal the bottom part of the tip shaft using liquid seal in order to avoid accumulation of dust and to protect from oil mist

Perform the wiring in such a way that the wires around the area below the tip shaft will not get into contact with other parts while the robot is operating.

()

()

() ()

()

() ()

Example of the customer preparation tool

Fixing plate (Customer preparation) Wiring/piping (Customer preparation) or Hand input cable (Option)

External wiring/piping box (Option)

Wiring/piping (Customer preparation) or Hand curl tube (Option)

Metal fittings (customer preparation)

Note) Although the illustration is the RH-3FRH series robot, RH-6FRH/ 12FRH/20FRH series robot also have the screw holes for fixation of the wiring/piping. (Refer to Fig. 2-74, Fig. 2-75.)

2-127 Tooling

Robot arm

2.5.8 Wiring and piping system diagram for hand Shows the system configuration of wiring and piping.

Fig.2-82 Wiring and piping system diagram for hand and example the solenoid valve installation (RH-3FRH/6FRH/12FRH/20FRH series)

* Refer to Fig. 2-84 for air

supply circuit example.

*1)

*1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally.

(This option comes equipped with two 6 joints for primary piping, eight 4 joints for secondary piping (RH-3FRH/6FRH series) or two 6

joints for primary piping, eight 6 joints for secondary piping (RH-12FRH/20FRH series), and holes for pulling out the cables.)

*2) Using the Internal Wiring/Piping set for hand, the hand input signal cable and air hose can be fed through the inside of the shaft.

(This option comes as a set that includes 4 x 8 (RH-3FRH/6FRH series) or 6 x 4 (RH-12FRH/20FRH series) air hoses, hand input

cables (8 x signal lines, 2 x power chords), and fixing tools.

*1), *2)

*1), *2)

Robot arm

Tooling 2-128

Fig.2-83 Wiring and piping system diagram for hand and example the solenoid valve installation (RH-3FRHR series)

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

White

Black

Hand output cable

(option)

Secondary pneumatic hose piping (customer-prepared)

Hand output cable attached to the solenoid set

Hand input cable

(option)

4 quick coupling (1 to 8)

AIR IN

RETURN

A1 A2 A3 B1 B2 B3

<+24V>

<24G>

A1 A2 A3 A4 B1 B2 B3 B4

<+24V(COM)>

<+24V(COM)>

1 2 3 4 5 6 7 8

A1 A2 A3 B1 B2 B3

A1 A2 A3 A4 B1 B2 B3 B4

Solenoid set (option) valve mounting section 6 quick coupling 6 quick coupling

6 hose

6 hose

Primary piping pneumatic hoses

Driving devices, such as solenoid and hand, provided by the customer

Hand prepared by customer

BaseNo.2 arm

Hand signal input connector (HC1 connector) 1-1717834-3 (Tyco Electronics)

1-1318115-3 (Tyco Electronics)

Hand signal output connection connector

1-1318115-4 (Tyco Electronics)

Hand signal input connection connector

Hand signal input connector (HC2 connector)

1-1717834-4 (Tyco Electronics)

Hand signal output connector (GR1 connector)

Hand signal output connector (GR2 connector)

Spare wiring AWG#27(0.1mm2)8 (cab tire cables with the shield)

VACCUM or AIR PARGE 8

Yellow

White

Red

Blue

Orange Green Black

Brown

R o bo

t c o n tr

o lle

r

4 hose *Refer to Fig. 2-84 for Air supply circuit example.

2-129 Tooling

Robot arm

2.5.9 Electrical specifications of hand input/output

Table 2-17 Electrical specifications of input circuit

Table 2-18 Electrical specifications of output circuit

Item Specifications Internal circuit

Type DC input

* Hand input: HCn=HC1 to HC8

No. of input points 8

Insulation method Photo-coupler insulation

Rated input voltage 24VDC

Rated input current approx. 7mA

Working voltage range DC10.2 to 26.4V (ripple rate within 5%)

ON voltage/ON current 8VDC or more/2mA or more

OFF voltage/OFF current 4VDC or less/1mA or less

Input resistance Approx. 3.3k

Response time

OFF-ON 10ms or less (DC24V)

ON-OFF 10ms or less (DC24V)

Item Specification Internal circuit

Type Transistor output

* Hand output: GRn=GR1 to GR8

No. of output points 8

Insulation method Digital isolator

Rated load voltage DC24V

Rated load voltage range DC21.6 to 26.4VDC

Max. current load 0.1A/ 1 point (100%)

Current leak with power OFF 0.1mA or less

Maximum voltage drop with

power ON

DC0.9V(TYP.)

Response time OFF-ON 2ms or less (hardware response time)

ON-OFF 2ms or less (resistance load) (hardware response

time)

Protects Protects the over-current (0.9A)

2 Robot arm

2-130

2.5.10 Air supply circuit example for the hand An example of pneumatic supply circuitry for the hand is shown below.

1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in paral- lel.

2) When the factory pneumatic pressure drops, as a result of the hand clamp strength weakening, there can be damage to the work. To prevent it, install a pressure switch to the source of the air as shown in Fig. 2-84 and use the circuit described so that the robot stops when pressure drops. Use a hand with a spring-pres- sure clamp, or a mechanical lock-type hand, that can be used in cases where the pressure switch becomes damaged.

3) The optional hand and solenoid valve are of an oilless type. If they are used, don't use any lubricator. 4) Supply clean air to the vacuum generation valve when you use clean specifications robot. 5) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature,

the dew condensation may occur on the coupling or the hose surface.

Fig.2-84 Air supply circuit example for the hand

() 0.7MPa

AIR IN (0.5MPa%)

Pneumatic source (Clean) 0.7MPa less Filter Regulator

Pressure switch

To the AIR IN (Robot arm) (0.5 10 )

2-131 Options

Robot arm

2.6 Options

What are options? There are a variety of options for the robot designed to make the setting up process easier for customer needs.

customer installation is required for the options.

Robot arm

Options 2-132

(1) Machine cable (replacement)

Order type: Fixed type............1F- UCBL-41 Flexed type .........1F- LUCBL-41

Note) The numbers in the boxes refer the length.

Outline

This cable is used for extending or shortening the distance between the controller and the robot. A fixed type and flexible type are available. Exchanges with the machine cable attached in the standards.

Configuration Table 2-19 Configuration equipment and types

Specifications The specifications for the fixed type cables are the same as those for standard cables. Shows usage conditions for flexed type cables in Table 2-20.

Table 2-20 Conditions for the flexed type cables

[Caution] The guidance of life count may greatly differ according to the usage state items related to Table 2-20 and to the amount of silicon grease applied in the cableveyor. Recommendation grease: G-501 (Supplier: Shin-Etsu Chemical Co., Ltd.)

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty. [Caution] When a cableveyor is used, partitions are required to avoid overlapping or riding up of the cables. Also,

adjust the cable length to eliminate tension or excessive looseness, and fix it securely.

Part name Type Note1)

Note1) The numbers in the boxes refer the length.

Qty. Mass (kg)

Note2)

Note2) Mass indicates one set.

Remarks

Machine cable (replacement) fixed type 1F- UCBL-41 1 cable 2.6 (2m)

9 (10m)

13 (15m)

17 (20m)

2m, 10m, 15m or 20m each

Machine cable (replacement) flexed type 1F- LUCBL-41 1 cable 11 (10m)

16 (15m)

21 (20m)

10m, 15m or 20m each

Nylon clamp NK-24N 2 pcs. -

Silicon rubber 2 pcs. -

Item Specifications

Minimum flexed radius 100mm or more

Cableveyor, etc., occupation rate 50% or less

Maximum movement speed 2,000mm/s or less

Guidance of life count 7.5 million times (With silicone grease coating)

Environmental proof IP54

Cable configuration 8.9x3, 6.5x6, 6.2x1, 6x6

2-133 Options

Robot arm

Cable configuration The configuration of the flexible cable is shown in Table 2-21. Refer to this table when selecting the cableveyor.

Table 2-21 Cable configuration (Flexed type)

Item Motor signal cable Motor power cable

No. of cores AWG #24 (0.2mm2)-4P AWG #28 (0.08mm2)-4P AWG #16 (1.25mm2)-4C AWG #18 (0.75mm2)-3C

Finish dimensions Approx. 6mm Approx. 6.2mm Approx. 8.9mm Approx. 6.5mm

No.of cables used 6 1 3 6

No. in total 7 9

Robot arm

Options 2-134

Fixing the flexible cable (1) Connect the connector to the robot arm.

The connection method to a robot arm is the same as a standard machine cable. Please refer to the sep- arate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and connect.

(2) Wind the silicon rubber around the cable at a position 300 to 400 mm from the side of robot arm and exten- sion section as shown below, and fix with the nylon clamp to protect the cable from external stress.

Fig.2-85 Fixing the flexible cable

The bend size of cables are as follows.

2-135 Options

Robot arm

(2) Stopper for changing the operating range

Order type: RH-3FRH/6FRH series ...........J1 axis: 1F-DH-01 RH-12FRH/20FRH series ......J1 axis: 1F-DH-02

RH-3FRHR series......................J1 axis: 1S-DH-05J1

J2 axis: 1S-DH-05J2

Outline

The operating range axis is limited by the robot arm's mechanical stopper and the controller parameters.

You can change the operating range of the following axis.

If the axis could interfere with the peripheral devices, etc., and the operating range need to be limited, use this.

Configuration Table 2-22 Configuration devices

Specifications Table 2-23 Specifications

(1) The changeable angle shown in Table 2-23 indicates the operation range by the software. The limit by the mechanical stopper is positioned 3 degrees outward from that angle, so take care when designing the layout.

(2) The operating range is changed with robot arm settings (insertion of the pin) and parameter settings. Refer to the separate "Instruction Manual/ROBOT ARM SETUP & MAINTENANCE" and "Instruction Manual/ Detailed Explanation of Functions and Operations" for details.

(3) If the arm collides with mechanical stopper for operating range change at the automatic operation, replace- ment of the mechanical stopper is necessary.

Model Axis

RH-3FRH/6FRH/12FRH/20FRH series J1 axis

RH-3FRHR series J1, J2 axis

Part name Type Qty. Mass(kg) Remarks

RH-3FRH/6FRH series

Stopper for changing the operat- ing range

1F-DH-01 1 set 0.05 hexagon socket head bolt (M10 x 20): 2 bolts

RH-12FRH/20FRH series

Stopper for changing the operat- ing range

1F-DH-02 1 set 0.05 hexagon socket head bolt (M12 x 20): 2 bolts

RH-3FRHR series

Stopper for changing the operat- ing range

1S-DH-05J1 1 set 0.1 Pin (10 x 2)

Installation bolt (M4 x 12): two attachments

1S-DH-05J2 1 set 0.1 Pin (8 x 2)

Installation bolt (M4 x 12): two attachments

Axis Standard Changeable angle

RH-3FRH/6FRH/12FRH/20FRH series

J1 +/- side +/- 170 deg +/- 130 deg, +/- 150 deg

RH-3FRHR series Note1)

Note1) Although the J1 axis and the J2 axis can be changed independently (independent per axis), each axis changes plus side /minus side both simultaneously per axis.

J1 +/- side +/- 225 deg +/- 90 deg

J2 +/- side +/- 225 deg +/- 60 deg

RH-6FRH/12FRH/20FRH series

RH-3FRHR series

Robot arm

Options 2-136

(3) Solenoid valve set

Order type: RH-3FRH/6FRH series ...........One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type) Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type)

Three sets: 1F-VD03-01(Sink type)/1F-VD03E-01(Source type)

Four sets: 1F-VD04-01(Sink type)/1F-VD04E-01(Source type)

RH-12FRH/20FRH series ......One set: 1S-VD01-01(Sink type)/1S-VD01E-01(Source type)

Two sets: 1S-VD02-01(Sink type)/1S-VD02E-01(Source type)

Three sets: 1S-VD03-01(Sink type)/1S-VD03E-01(Source type)

Four sets: 1S-VD04-01(Sink type)/1S-VD04E-01(Source type)

RH-3FRHR series (Four sets) Standard specification: ........................1S-VD04-05(Sink type)

1S-VD04E-05(Source type)

Clean/waterproof specification: ......1S-VD04W-05(Sink type)

1S-VD04WE-05(Source type)

Outline

The solenoid valve set is an option that is used for controlling toolings when various toolings, such as the hand, are installed at the end of the arm. Also, for easy installation of this electromaagnetic set onto the robot, it comes equipped with a manifold, couplings, connectors, among other things.

Configuration Table 2-24 Configuration equipment

Part name Type Q'ty Mass(kg)

Note1) Remark

RH-3FRH/6FRH series

Solenoid valve set (1 sets) 1F-VD01-01/

1F-VD01E-01

Either

one pc.

1.0

Hand output cable is already connected.

Refer to Page 144, "(5) Hand output cable".

M4 x 30 Two screws (Installation screws)

1F-VD0*-01: Sink type 1F-VD0*E-01: Source type.

Solenoid valve set (2 sets) 1F-VD02-01/

1F-VD02E-01

Either

one pc.

1.0

Solenoid valve set (3 sets) 1F-VD03-01/

1F-VD03E-01

Either

one pc.

1.0

Solenoid valve set (4 sets) 1F-VD04-01/

1F-VD04E-01

Either

one pc.

1.0

RH-12FRH/20FRH series

Solenoid valve set (1 sets) 1S-VD01-01/

1S-VD01E-01

Either

one pc.

1.0

Hand output cable is already connected.

Refer to Page 144, "(5) Hand output cable".

M4 x 8 Two screws (Installation screws)

1S-VD0*-01: Sink type 1S-VD0*E-01: Source type.

Solenoid valve set (2 sets) 1S-VD02-01/

1S-VD02E-01

Either

one pc.

1.0

Solenoid valve set (3 sets) 1S-VD03-01/

1S-VD03E-01

Either

one pc.

1.0

Solenoid valve set (4 sets) 1S-VD04-01/

1S-VD04E-01

Either

one pc.

1.0

1F-VD0*-01 1F-VD0*E-01

1S-VD0*-01 1S-VD0*E-01

1S-VD04-05 1S-VD04E-05

1S-VD04W-05 1S-VD04WE-05

2-137 Options

Robot arm

Specifications Table 2-25 Valve specifications

Table 2-26 Solenoid specifications

RH-3FRHR series

Solenoid valve set (4 sets) 1S-VD04-05/

1S-VD04E-05

Either

one pc.

0.6 For Standard specification

Hand output cable is already connected.

Refer to Page 144, "(5) Hand output cable".

M5 x 8 Two screws (Installation screws)

Fixing nut for T slot : Two nuts

1S-VD04-05: Sink type

1S-VD04E-05: Source type

Solenoid valve set (4 sets) 1S-VD04W-05/

1S-VD04WE-05

Either

one pc.

0.6 For Clean/Waterproof specification

Hand output cable is already connected.

Refer to Page 144, "(5) Hand output cable".

M5 x 8 Two screws (Installation screws)

Fixing nut for T slot : Two nuts

1S-VD04W-05: Sink type

1S-VD04WE-05: Source type

Note1) Mass indicates one set.

Item Specifications

Solenoid valve set type 1F-VD0*-01, 1F-VD0*E-01

1S-VD04-05, 1S-VD04E-05

1S-VD04W-05, 1S-VD04WE-05

1S-VD0*-01, 1S-VD0*E-01

Number of positions 2

Port 5 Note1)

Note1) Couplings of unused solenoid valves must be blocked with plugs. If they are not blocked, supplied air will blow out from the couplings, lowering the air pressure of the solenoid valves being used and making them nonfunctional.

Recommended plugs: KQ2P-04 plug (RH-3FRH/6FRH series, RH-3FRHR series) made by SMC KQ2P-06 plug (RH-12FRH/20FRH series) made by SMC.

Valve function Double solenoid

Operating fluid Clean air Note2)

Note2)

Operating method Internal pilot method

Effective sectional area (CV value) 1.1mm2 (0.06) 7.92mm2 (0.44)

Oiling Unnecessary

Operating pressure range 0.1 to 0.7MPa

Response time 15msec or less (at 0.5 MPa) 22msec or less (at 0.5 MPa)

Max. operating frequency 10Hz 5Hz

Ambient temperature -10 to 50 (However, there must be no condensation.)

Item Specifications

Method Built-in fly-wheel diodes with surge protection

Coil rated voltage DC24V 10%

Power consumption 0.55W

Voltage protection circuit with power surge protection Diode

Part name Type Q'ty Mass(kg)

Note1) Remark

CAUTION The air to be provided must be clean, i.e., filtered with a mist separator or air filter. Failing to do so may lead to malfunctions.

Robot arm

Options 2-138

Fig.2-86 Outline dimensional drawing (RH-3FRH/6FRH series)

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

<><>

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

GR1

GR2

+24V (COM)

GR3

GR4

GR5

GR6

+24V (COM)

GR7

GR8

GR1

GR2

24G

GR3

GR4

GR5

GR6

24G

GR7

GR8

50mm80mm

Part name 1 set 2 sets 3 sets 4 sets Specification

Solenoid valve 1 2 3 4

Manifold block 1 1 1 1

Quick coupling (A/B port) 8 8 8 8 4

Quick coupling (P/R port) 2 2 2 2 6

Connector 1 1 2 2 1-1318115-4

Contact 3 5 8 10 1318112-1

Installation screw (Combination slotted-cross recessed pan head machine screw)

2 2 2 2 M4x30

Note) The hand output cable (1F-GR60S-01: Option) is unnecessary.

Sink type> Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Black

Red Black

Red Black

Red Black

Red

Black

Red Black

Red Black

Red Black

Red

Source type Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Red

Black

Red

Black Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

2-139 Options

Robot arm

Fig.2-87 Outline dimensional drawing (RH-12FRH/20FRH series)

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

<><>

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

GR1

GR2

+24V (COM)

GR3

GR4

GR5

GR6

+24V (COM)

GR7

GR8

GR1

GR2

24G

GR3

GR4

GR5

GR6

24G

GR7

GR8

102

93 4.5

13 1

1 3 8.

5

3. 5

80 11

50.137.8

87.9

4.5

21

GR1

GR2

4.5

Note) The hand output cable (1F-GR60S-01: Option) is unnecessary.

Part no. Part name 1 sets 2 sets 3 sets 4 sets Specifications

<1> Solenoid valve 1 2 3 4

<2> Manifold block 1 1 1 1

<3> Quick coupling 2 4 6 8 6

<4> Block plate 1 1 1 1

<5> Quick coupling 1 1 1 1 6

<6> Quick coupling 1 1 1 1 6

<7> Connector 1 1 2 2 1-1318115-4

<8> Contact 6 6 12 12 1318112-1

<9> Installation screw 4 4 4 4 M48

Sink type> Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Black

Red Black

Red Black

Red Black

Red

Black

Red Black

Red Black

Red Black

Red

Source type Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Red

Black

Red

Black Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Robot arm

Options 2-140

Fig.2-88 Outline dimensional drawing (RH-3FRHR series: Standard specification)

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

<><>

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

GR1

GR2

+24V (COM)

GR3

GR4

GR5

GR6

+24V (COM)

GR7

GR8

GR1

GR2

24G

GR3

GR4

GR5

GR6

24G

GR7

GR8

Sink type> Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Black

Red Black

Red Black

Red Black

Red

Black

Red Black

Red Black

Red Black

Red

Source type Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Red

Black

Red

Black Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

(S O

L *

A )

(S O

L *

B )

Part no. Part name Qty. Specifications

Solenoid valve 4

Quick coupling 8 4 (Elbow)

Quick coupling 1 6 (Elbow)

Quick coupling 1 6 (Elbow)

Connector 2 1-1318115-4

Contact 12 1318112-1

Solenoid valve cover 1

Manifold block 1

Installation screw 2 Fixing screw M5x8, spring washer, plain washer (attachments)

RH-3FRHR series (Standard specification)

2-5.5 through hole

*The length to connector from solenoid valve is 430mm each.

Note) The optional hand output cable (1S-GR35S-02) is unnecessary.

2-141 Options

Robot arm

Fig.2-89 Outline dimensional drawing (RH-3FRHR series: Clean/waterproof specification)

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

<><>

SOL1A

SOL1B

SOL2A

SOL2B

A3

A4

A1 A2

B3 B4

B1 B2

SOL3A

SOL3B

SOL4A

SOL4B

A3

A4

A1 A2

B3 B4

B1 B2

GR1

GR2

+24V (COM)

GR3

GR4

GR5

GR6

+24V (COM)

GR7

GR8

GR1

GR2

24G

GR3

GR4

GR5

GR6

24G

GR7

GR8

Sink type> Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Black

Red Black

Red Black

Red Black

Red

Black

Red Black

Red Black

Red Black

Red

Source type Connector name

Reserved

Reserved Reserved

Reserved

Reserved Reserved

White

White

Red

Black

Red

Black Red

Black

Red

Black

Red

Black

Red

Black Red

Black

Red

Black

AIR IN RETURN

Part no. Part name Qty. Specifications

Solenoid valve 4

Quick coupling 8 4 (Elbow)

Quick coupling 1 6 (Elbow)

Quick coupling 1 6 (Elbow)

Connector 2 1-1318115-4

Contact 12 1318112-1

Solenoid valve cover 1

Manifold block 1

Installation screw 2 Fixing screw M5x8, spring washer, plain washer (attachments)

RH-3FRHR series (Clean/waterproof specification)

*The length to connector from solenoid valve is 430mm each.

Note) The optional hand output cable (1S-GR35S-02) is unnecessary.

Robot arm

Options 2-142

(4) Hand input cable

Order type: RH-3FRH/6FRH series ...........1F-HC35C-01 RH-12FRH/20FRH series......1F-HC35C-02

RH-3FRHR series......................1S-HC00S-01

Outline

The hand input cable is used for customer-designed pneumatic hands.

It is necessary to use this to receive the hand's open/close confirmation signals and grasping confirmation signals, at the controller.

One end of the cable connects to the connector for hand input signals, which is in the wrist section of the hand. The other end of the cable connected to the sensor inside the hand customer designed.

For the following models, the The optional external wiring/piping box is required to extend the wiring to the outside of the robot arm. Refer to Page 151, "(9) External Wiring/Piping box" in detail.

Configuration Table 2-27 Configuration equipment

Specifications Table 2-28 Specifications

Model External wiring/piping box

RH-3FRH/6FRH series 1F-UT-BOX

RH-12FRH/20FRH series 1F-UT-BOX-01

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

RH-3FRH/6FRH series

Hand input cable 1F-HC35C-01 1 cable 0.2

RH-12FRH/20FRH series

Hand input cable 1F-HC35C-02 1 cable 0.2

RH-3FRHR series

Hand input cable 1S-HC00S-01 1 cable 0.1 Three rubber sheets, seven cable clamp attachment

Item Specifications Remarks

RH-3FRH/6FRH series

Size x cable core AWG#24 (0.2mm2)12 One-sided connector, one-sided cable bridging

Total length 1,650mm (Including the curl section, which is 350mm long

RH-12FRH/20FRH series

Size x cable core AWG#24 (0.2mm2)12 One-sided connector, one-sided cable bridging

Total length 1,800mm (Including the curl section, which is 350mm long

RH-3FRHR series

Size x cable core AWG#24 (0.2mm2)6 One-sided connector, one-sided cable bridging

Total length 1,210mm

2-143 Options

Robot arm

Fig.2-90 Outside dimensional drawing and pin assignment (RH-3FRH/6FRH/12FRH/20FRH series)

Fig.2-91 Outside dimensional drawing and pin assignment (RH-3FRHR series)

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

15

400 350 45010

450

2 5

1-1318115-3 ()

HC H C

1 H

C 2

HC1 HC2 HC3 HC4

+24V

24G HC5 HC6

( 1)

( 2)

( 3)

( 4)

( 5)

( 6)

A1

A2 A3 B1 B2 B3

A1 A2 A3 B1 B2 B3

HC7 HC8

( 7)

( 8)

100

Note) Pin assignment of sink and source is the same.

(Tyco Electronics)

(Purple) (Brown) (Blue) (Black)

(Yellow)

(Green) (Red) (White) (Gray) (Pink)

+24V Reserve

1 2 3 4

Reserve 24G HC5 HC6 HC7 HC8

Alteration dimensions A

Type Dimensions of A

(mm)

1F-HC35C-01 45010

1F-HC35C-02 60010

A

HC1 HC2 HC3 HC4

+24V

24G

()

()

()

()

A1

A2 A3 B1 B2 B3

A1 A2 A3 B1 B2 B3

1-1318115-3 ()

() 400

(500)

()

6

(525)

1210()

(50)

(Z)

80

1S-HC00S-01HC

(30)

(55)

(30) (Fixing place of tool side)

(Usable length for customer)

(Z-axis end)

1210 (Total length)

(Tyco Electronics)

(White)

(White) (Black) (White) (Black)

(Black)

+24V Reserve HC1 HC2 HC3 HC4

Reserve 24 Reserve Reserve Reserve Reserve

Note) Pin assignment of sink and source is the same.

*1) The signal name is described in the marking sticker.

*2) Cable clamping portion.

*1) *2) *2)

6 a

ir h

o se

Robot arm

Options 2-144

(5) Hand output cable

Order type: RH-3FRH/6FRH/12FRH/20FRH series.... 1F-GR60S-01 RH-3FRHR series............................................... 1S-GR35S-02

Outline

The hand output cable (solenoid valve connection cable) is an option that is used when a solenoid valve other than one of the solenoid valve set options, is used.

One end of the cable has a connector that connects to the input terminal inside the robot. The other end of the cable is connected.

For the following models, the The optional external wiring/piping box is required to extend the wiring to the outside of the robot arm. Refer to Page 151, "(9) External Wiring/Piping box" in detail.

Configuration Table 2-29 Configuration equipment

Specifications Table 2-30 Specifications

Model External wiring/piping box

RH-3FRH/6FRH series 1F-UT-BOX

RH-12FRH/20FRH series 1F-UT-BOX-01

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Hand output cable 1F-GR60S-01 1 cable 0.3 For RH-3FRH/6FRH/12FRH/20FRH series

1S-GR35S-02 1 cable 0.2 For RH-3FRHR series

Item Specifications Remarks

Size x Cable core AWG#24(0.2mm2) x 12 cores One side connector and one side cable connection

Total length 1,050mm For RH-3FRH/6FRH/12FRH/20FRH series (1F-GR60S-01)

450mm For RH-3FRHR series (1S-GR35S-02)

2-145 Options

Robot arm

Fig.2-92 Outline dimensional drawing and pin assignment

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

15

600

(100)

1-1318115-4 ()

G R

1 G

R 2

GR

GR1

GR3 GR4

+24V (COM)

+24VCOM

GR5

GR7

( 1)

( 3)

( 4)

( 5)

( 7)

A1

A2 A3

B1 B2 B3

A1 A2 A3

B1 B2 B3

GR8

( 8)

B4

GR2 2) A4

GR6 ( 6) A4

B4

GR1

GR3 GR4

24G

24G

GR5

GR7

( 1)

( 3)

( 4)

( 5)

( 7)

GR8

( 8)

GR2 2)

GR6 ( 6)

450 (Tyco Electronics)

(Yellow) ) Reserve

Reserve Reserve

(Purple) (Brown) (Blue) (Black)

(Green)

(Red) (White) (Gray) (Pink)

( ) Reserve

Reserve Reserve

Reserve

Reserve Reserve

Reserve

Reserve Reserve

Sink type Source type

A B

(C)

Alteration dimensions of A to C

(Unit: mm)

Type name A B C

1F-GR60S-01 600 450 100

1S-GR35S-02 350 100 80

Robot arm

Options 2-146

(6) Hand curl tube

Order type: RH-3FRH/6FRH series ...........Four sets: 1E-ST0408C-300 RH-12FRH/20FRH series ......Four sets: 1N-ST0608C-01

Outline

The hand curl tube is a curl tube for the pneumatic hand.

Configuration Table 2-31 Configuration equipment

Specifications Table 2-32 Specifications

Fig.2-93 Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Mass(kg)Note1)

Note1) Mass indicates one set.

Remarks

RH-3FRH/6FRH series

Hand curl tube (Four set: 8 pcs.) 1E-ST0408C-300 1 pc. 0.1 4 tube, 8pcs

RH-12FRH/20FRH series

Hand curl tube (Four set: 8 pcs.) 1N-ST0608C-01 1 pc. 0.4 6 tube, 8pcs

Item Specifications

RH-3FRH/6FRH series RH-12FRH/20FRH series

Material Urethane Urethane

Size Outside diameter: 4 x Inside diameter2.5 Outside diameter: 6 x Inside diameter4

RH-3FRH/6FRH series: 1E-ST0408C-300 (4 x 8pcs)

RH-12FRH/20FRH series: 1N-ST0608C-01 (6 x 8pcs)

100

()

300

600

()

(Tooling side)

(Robot side)

300

()

250

750

()

(Tooling side)

(Robot side)

2-147 Options

Robot arm

(7) Hand tube

Order type: RH-3FRHR series ....................................1E-ST0304S

Outline

The hand tube is a tube for the pneumatic hand.

Configuration Table 2-33 Configuration equipment

Specifications

Table 2-34 Specifications

* We recommend confirming of the wear and tear and the rub in the cycle of the six months and please prepare as service parts.

Fig.2-94 Outline dimensional drawing

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Part name Type Qty. Mass(kg)Note1)

Note1) Mass indicates one set.

Remarks

RH-3FRHR series

Hand tube (4 pcs.) 1E-ST0304S 1 pc. 0.1 Union (4 to 3): Eight piece attachment

(Four of them is installing at shipping)

Three rubber sheets, six cable clamp

attachment

Item Specifications

Material Urethane One side is with the tape.

Size Outside diameter: 3 x Inside diameter1.5: 4 pcs.

()

RH-3FRHR series: 1E-ST0304S (4 pcs.)

Note) Each tube have union and tape (for inhibition of grease adhesion) at each end. Remove the tape and connect with tool.

Tape (for inhibition of grease adhesion)

(Usable length for customer)

(Fixing place of tool side) Z-axis end Clamp place

U3-B 3 air tube Inside diameter: 1.5 x 4

UR4-3M Change 4 to 3 union x 4

Robot arm

Options 2-148

(8) Internal Wiring/Piping set for hand

Order type: RH-3FRH series ............................................................1F-HS304S-01 RH-6FH series, 200mm stroke ...............................1F-HS408S-02

RH-6FRH series, 340mm stroke ............................1F-HS408S-02

RH-12FRH/20FRH series, 350mm stroke .........1F-HS604S-01

RH-12FRH/20FRH series, 450mm stroke .........1F-HS604S-02

Outline

This set, consisting of air hoses and cables, is for feeding air hoses and hand input signal cables from the No. 2 arm through to the shaft tip. A plate is already attached to be fixed onto the No. 2 arm, and therefore it is easy to ensure the necessary space for wiring and piping.

This can be used together with the separately sold electromagnetic valve set option.

Configuration Table 2-35 Configuration equipment

Specification Table 2-36 Specification

Item Type Qty. Mass (Kg) Note1)

Note1) Mass indicates one set.

Remarks

RH-3FRH series

Internal Wiring/Piping set

for hand

1F-HS304S-01 1 0.4 The air hose and the cable for hand input signals are

contained.

The grease (for application to shaft top) and silicon

rubber, and cable tie are attached.

RH-6FRH series

Internal Wiring/Piping set

for hand

(For 200mm stroke)

1F-HS408S-01 1 0.4 The air hose and the cable for hand input signals are

contained.

The grease (for application to shaft top) and silicon

rubber, and cable tie are attached.Internal Wiring/Piping set

for hand

(For 340mm stroke)

1F-HS408S-02 1 0.4

RH-12FRH/20FRH series

Internal Wiring/Piping set

for hand

(For 350mm stroke)

1F-HS604S-01 1 0.4 The air hose and the cable for hand input signals are

contained.

The grease (for application to shaft top) and silicon

rubber, and cable tie are attached.Internal Wiring/Piping set

for hand

(For 450mm stroke)

1F-HS604S-02 1 0.4

Item Specification Remarks

RH-3FRH series

Air hose 3 x 4pcs Both ends are free.

Eight reducers (3 to 4) are attached.

Hand input signal cable AWG #24(0.2mm2)6pcs The robot arm side is connector (HC1, HC2), and one side

is free.

Useable length from the shaft end 400mm The length from the shaft end which can be used of

customer.

RH-6FRH series

Air hose 4 x 8pcs Both ends are free.

Hand input signal cable Signal AWG #26(0.13mm2)8pcs The robot arm side is connector (HC1, HC2), and one side

is free.Power AWG #22(0.35mm2)2pcs

Useable length from the shaft end 380mm The length from the shaft end which can be used of

customer.

This option

2-149 Options

Robot arm

[Caution] This option can be installed on clean-type, but its cleanliness is not under warranty.

Fig.2-95 Outline dimension drawing and pin assignment (RH-3FRH series)

RH-12FRH/20FRH series

Air hose 6 x 4pcs Both ends are free.

Hand input signal cable Signal AWG #26(0.13mm2)8pcs The robot arm side is connector (HC1, HC2), and one side

is free.Power AWG #22(0.35mm2)2pcs

Useable length from the shaft end 420mm The length from the shaft end which can be used of

customer.

Item Specification Remarks

HC1 HC2 HC3 HC4

+24V

24G

()

()

()

()

A1

A2 A3 B1 B2 B3

A1 A2 A3 B1 B2 B3

1-1318115-3 ()

() 70

HC *1)

*1) The signal name is printed at the mark tube.

(Customer usable length)

(Tyco Electronics)

+24V Reserve

1 2 3 4

(White)

(White) (Black) (White)

(Black)

(Black)

Pin assignment

Reserve 24 Reserve Reserve Reserve Reserve

Robot arm

Options 2-150

Fig.2-96 Outline dimension drawing and pin assignment (RH-6FRH/12FRH/20FRH series)

15

1-1318115-3(2)

()

(Red) (White) (Black) (Green)

(Red)

Pin assignment

(White & Orange) (Orange)

(White & Green) (Green)

(White) (White & Blue)

(Blue) (White & Brown)

(Brown)

1-1318115-3 (2pcs)

(Tyco Electronics)

2-151 Options

Robot arm

(9) External Wiring/Piping box

Order type: RH-3FRH/6FRH series ...........1F-UT-BOX RH-12FRH/20FRH series......1F-UT-BOX-01

Outline

This is a very useful option when removing the air hoses and signal lines from the rear of the No. 2 arm, and pulling hand wiring and piping out to the robots exterior.

The joint for connects to the external hose is prepared, and the holes which fixes the signal cable to pull out with cable clamp are prepared. Optional hand output cables and hand input cables can be fixed here.

This option can also be used on the oil mist and clean specifications.

Configuration Table 2-37 Configuration equipment

Specification Table 2-38 Specification

An outside dimension and a component are shown in Fig. 2-97 or Fig. 2-98.

Part name Type Qty. Mass (Kg) Note1)

Note1) Mass indicates one set.

Remarks

RH-3FRH/6FRH series

External Wiring/Piping box 1F-UT-BOX 1 0.6 Attachments:

Air hose (black) 4-8

Air hose (black) 6-1

Air hose (white) 6-1

Installation screw M4x8: 4 (Plain washer)

Cable tie: 4

Coupling: 2

Simple spanner for resin nuts

RH-12FRH/20FRH series

External Wiring/Piping box 1F-UT-BOX-01 1 0.6 Attachments:

Air hose (black) 6-8

Installation screw M4x12: 4 (Plain washer)

Cable tie: 4

Simple spanner for resin nuts

Item Specification Remarks

RH-3FRH/6FRH series

Outline 106(W) x 73.6(D) x 72(H) The coupling is included.

The hole for wiring drawers 21 x 4 places Fix the cable by cable clamp etc.

Coupling For 4 air hose x 8pcs Installed previously

For 6 air hose x 2pcs

RH-12FRH/20FRH series

Outline 100(W) x 91.9(D) x 70(H) The coupling is included.

The hole for wiring drawers 21 x 4 places Fix the cable by cable clamp etc.

Coupling For 6 air hose x 8pcs Installed previously

Pull out Wiring/Piping

Robot arm

Options 2-152

Fig.2-97 Outline dimension and configurations (RH-3FRH/6FRH series)

Configuration

Part name Qty. Specification

<1> External Wiring/Piping box housing 1

<2> Quick coupling 8 4 (Elbow)

<3> Quick coupling 2 6 (Elbow)

<4> 21 hole 4 The grommet is attached to each hole. (Two holes are in the right and the left.)

<5> Manifold block 1

<6> Plug 8 Stopper for 4 quick coupling

<7> Plug 2 Stopper for 6 quick coupling

- Simple spanner for resin nuts 1 Attachment

- Installation screw 4 Attachment, M4x8 (Plain washer)

- Air hose 8 Attachment, 4 (Black)

- Air hose 1 Attachment, 6 (Black)

- Air hose 1 Attachment, 6 (White)

- Cable tie 4 Attachment

- Coupling 2 Attachment, 6 (Elbow)

2-153 Options

Robot arm

Fig.2-98 Outline dimension and configurations (RH-12FRH/20FRH series)

Configuration

Part name Qty. Specification

<1> External Wiring/Piping box housing 1

<2> Quick coupling 8 6 (Elbow)

<3> 21 hole 4 The grommet is attached to each hole. (Two holes are in the right and the left.)

<4> Manifold block 1

<5> Plug 8 Stopper for 6 quick coupling

- Simple spanner for resin nuts 1 Attachment

- Installation screw 4 Attachment, M4x12 (Plain washer)

- Air hose 8 Attachment, 6 (Black)

- Cable tie 4 Attachment

Robot arm

About Overhaul 2-154

2.7 About Overhaul

Robots which have been in operation for an extended period of time can suffer from wear and other forms of deterioration. In regard to such robots, we define overhaul as an operation to replace parts running out of speci- fied service life or other parts which have been damaged, so that the robots may be put back in shape for contin- ued use. As a rule of thumb, it is recommended that overhaul be carried out before the total amount of servo-on time reaches the specified time (24,000 hours for the robot arm and 36,000 hours for the controller). However, the degree of the equipment's wear and deterioration presumably varies depending on their operating conditions. Especially for operation with high load and frequency, the maintenance cycle may be shorter. For details on the part selection for replacement and the timing of overhaul, contact your dealer.

Fig.2-99 Periodic inspection/overhaul periods

Shipment

F ai

lu re

r at

e

Predetermined time period

If overhaul is performed

Servo-on time

If overhaul is not performed

Periodic inspection Over- haul

2-155 Maintenance parts

Robot arm

2.8 Maintenance parts

A long-term use of industrial robots causes a malfunction due to wear or deterioration of their components, as well as general machines. To prevent such a malfunction and perform smooth operation of the robot for a long term, the regular maintenance, inspection, and replacement of consumable parts are required. Refer to "Mainte- nance and Inspection" in the separate manual "INSTRUCTION MANUAL/ROBOT ARM SETUP & MAINTE- NANCE" for details of the maintenance and inspection. The consumable parts used in the robot arm are shown in Table 2-39. Purchase these parts from the designated maker or dealer when required. Some Mitsubishi-desig- nated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from the dealer.

Table 2-39 Consumable part list

No. Part name Type Note1)

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

Usage place Qty. Supplier

Common parts between robot type

1 Grease Reduction gears of each axis As needed

Mitsubishi Electric

2 Ball screw spline

Ball screw

Ball spline

As needed

3 Lithium battery MR-BAT6V1 Base section 4

RH-3FRH

4 Timing belt J3 axis 1

Mitsubishi Electric 5 J4 axis motor side 1

6 J4 axis shaft side 1

RH-6FRH series

7 Timing belt J3 axis 1

Mitsubishi Electric 8 J4 axis motor side 1

9 J4 axis shaft side 1

RH-12FRH series

10 Timing belt J3 axis 1

Mitsubishi Electric 11 J4 axis motor side 1

12 J4 axis shaft side 1

RH-20FRH series

13 Timing belt J3 axis 1

Mitsubishi Electric 14 J4 axis motor side 1

15 J4 axis shaft side 1

RH-3FRHR series

16 Timing belt J1 axis 1

Mitsubishi Electric

17 J2 axis 1

18 J3 axis 1

19 J4 axis motor side 1

20 J4 axis shaft side 1

3Controller

Standard specifications 3-156

3 Controller

3.1 Standard specifications

3.1.1 Basic specifications (1) CR800-D controller

Table 3-1 Specifications of CR800-D controller

Item Unit Specification Remarks

Type CR800- HD

CR800-03HRD

in type name shows the load

(3kg: 03, 6kg: 06, 12kg: 12,

20kg: 20) of the robot arm.

CR800-03HRD controller is for RH-

3FRHR only.

Number of control axis Simultaneously 4 Additional 8 axes available.

Memory

capacity

Programmed positions point 39,000

No. of steps step 78,000

Number of program 512

Robot language MELFA-BASIC V, VI

Teaching method Pose teaching method, MDI method Note1)

External input and output

Input and output point 0/0 Max. 256/256 by option

Dedicated input/output Assigned with general-purpose

input/output

The signal number of "STOP" input

signals is fixing.

Hand open/close input/output point

8/8 The sink/source type can be switched

with parameters.

Emergency stop input Note2) point 1 (duplicated) Note3)

Emergency stop output point 1 (duplicated)

Mode selector switch

inputNote4)

point 1 (duplicated)

Mode output point 1 (duplicated)

Robot error output point 1 (duplicated)

Additional axis synchronization

output

point 1 (duplicated)

Door switch input point 1 (duplicated)

Ecoder input Channel 2

Interface Additional axis, force sensor

interface Channel 1

SSCNET III/H (Connect with MR-J4-

B series)

Remote input/output Channel 1 Compatible with Ver. 1.0/2.0

USB port 1

Ver. 2.0 HighSpeed device functions

only. USB mini-B

Ethernet

port

1 For customer: 1000BASE-T/

100BASE-TX/10BASE-T

1 Dedicated T/B port: 100BASE-TX/

10BASE-T

Option slot slot 2 For option interface

SD memory card slot slot 1 For extended memory

RS-422 port 1 Dedicated T/B port

Power

source

Input voltage range V Single phase AC 200 to 230 The rate of power-supply voltage

fluctuation is within 10%.

Power capacity kVA RH-3FRH series: 0.5

RH-6FRH series: 1.0

RH-12FRH/20FRH series: 1.5

RH-3FRHR series: 1.0

Does not include rush current. Note5)

Power supply frequency Hz 50/60

Outline dimensions Note6) mm 430(W) x 425(D) x 99.5(H) Excluding protrusions

Mass kg Approx. 12.5

Construction Self-contained floor type, Opened type. Installation vertically or horizontally

IP20 Note7)

Ambient

temperature

In use 0 to 40 Without freeze

At transport/storage -15 to +70

3-157 Standard specifications

3Controller

Ambient

humidity

In use %RH 45 to 85 Without dew drops

At transport/storage 90 or less

Overvoltage category Note8) II or less

Pollution level Note9) 2 or less

Altitude m 1000 or less

Grounding 100 or less 100or less (class D ground- ing)Note10)

Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8,

PANTONE: 432C

Note1) Pose teaching method: The method to register the current position of the robot arm. MDI method: The method to register by inputting the numerical value Immediate.

Note2) At factory settings, the STO function activated by an external emergency stop input meets the requirements of SIL 2, Category 3, and PL d. The STO function activated by an external emergency stop input meets the requirements of SIL 3, Category 4, and PL e when the parameter setting is changed by referring to Page 252, "Appendix 3 Safety diagnosis function (Test pulse diagnosis)".

Note3) For details on the functions using external input/output signals, always refer to Page 251, "Appendix 2 Classification of functions using external input/output signals".

Note4) Provide a mode selector switch to change the mode (MANUAL/AUTOMATIC) of the controller. Select the switch that meets the following specifications. The switch can be locked in each position of the selected mode. The selected switch position can be clearly distinguished from each other. Only one mode can be selected at a time. (Recommended switch model: HA1K-2C2A-2 manufactured by IDEC. The key switch can be locked in each position by removing its key.) The mode can be changed by other means than the selector switch. For example, the user can use a mode change program. In the program, provide a means to lock the selected mode with a password.

Note5) The power capacity is the recommended value. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. Use the short circuit breaker which operates by the current leakage under the commercial frequency domain (50-60Hz). If sen- sitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip. The following lists the current values of the representative models as a reference.

Note6) Refer to Page 168, "3.3.1 Outside dimensions" for details. Note7) This controller is standard specification. (Refer to Page 163, "3.1.2 Protection specifications and operating supply".) Note8) This indicates the section of the power supply to which the equipment is assumed to be connected between the public

electrical power distribution network and the machinery within premises. Category II applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the rated voltage of 300V is 2500V.

Note9) This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used. Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.

Note10) The robot must be grounded by the customer.

Item Unit Specification Remarks

Robot model Item Current [A] Apparent power

[kVA] Voltage at

measurement [V]

RH-3FRH At control power ON 0.41 0.09 216.8

At servo ON 0.53 0.12 217.0

In automatic

operation

Effective value 1.98 0.43 217.2

Peak 4.60 0.99 218.7

RH-6FRH At control power ON 0.40 0.09 218.1

At servo ON 0.59 0.13 217.5

In automatic

operation

Effective value 2.54 0.53 217.8

Peak 6.00 1.26 218.3

RH-20FRH At control power ON 0.44 0.10 215.8

At servo ON 0.64 0.14 215.8

In automatic

operation

Effective value 3.91 0.83 216.0

Peak 34.00 7.20 216.6

RH-3FRHR At control power ON 0.39 0.08 216.6

At servo ON 0.56 0.12 216.5

In automatic

operation

Effective value 4.55 0.83 215.8

Peak 14.50 3.00 216.6

3Controller

Standard specifications 3-158

(2) CR800-R controller Use the robot CPU unit which connects to CR800-R controller, equipping the base unit of the sequencer of the MELSEC iQ-R series of our company. Specifications such as the power supply and outside dimension of the robot CPU unit are the same as the sequencer's specification. Refer to Page 166 "Fig. 3-2" (Names of each part), and Page 169 "Fig. 3-5" (Outside dimensions).

Although the specification with which the robot CPU unit and the controller (box which mounts the servo amplifier for the robots, the safety circuit, etc.) were put together is shown in Table 3-2, the specification of the controller is mainly described.

Table 3-2 Specifications of CR800-R controller

Item Unit Specification Remarks

Type CR800- HR

CR800-03HRR

in type name shows the load

(3kg: 03, 6kg: 06, 12kg: 12,

20kg: 20) of the robot arm.

CR800-03HRR controller is for RH-

3FRHR only.

Number of control axis Simultaneously 4 Additional 8 axes available.

Memory

capacity

Programmed positions point 39,000

No. of steps step 78,000

Number of program 512

Robot language MELFA-BASIC V, VI

Teaching method Pose teaching method, MDI method Note1)

External input and output

Input and output point 0/0 Multi-CPU shared device

Input 8192/Output 8192 (Max.)Dedicated input/output Assign to the multi-CPU shared device.

Hand open/close input/output point

8/8 The sink/source type can be switched

with parameters.

Emergency stop input Note2) point 1 (duplicated) Note3)

Emergency stop output point 1 (duplicated)

Mode selector switch

inputNote4)

point 1 (duplicated)

Mode output point 1 (duplicated)

Robot error output point 1 (duplicated)

Additional axis synchronization

output

point 1 (duplicated)

Door switch input point 1 (duplicated)

Interface Additional axis, force sensor

interface Channel 1

SSCNET III/H (Connect with MR-J4-

B series)

Remote input/output Channel 1

Compatible with Ver. 2.0 (safety con- trol)

Ethernet

port

1 For customer: 1000BASE-T/

100BASE-TX/10BASE-T

1 Dedicated T/B port: 100BASE-TX/

10BASE-T

Option slot slot 2

Only the function extension card is

available.

SD memory card slot slot 1 Unusable

RS-422 port 1 Dedicated T/B port

Power

source

Input voltage range V Single phase AC 200 to 230 The rate of power-supply voltage

fluctuation is within 10%.

Power capacity kVA RH-3FRH series: 0.5

RH-6FRH series: 1.0

RH-12FRH/20FRH series: 1.5

RH-3FRHR series: 1.0

Does not include rush current. Note5)

Power supply frequency Hz 50/60

Outline dimensions Note6) mm 430(W) x 425(D) x 99.5(H) Excluding protrusions

Mass kg Approx. 12.5

Construction Self-contained floor type, Opened type. Installation vertically or horizontally

IP20 Note7)

3-159 Standard specifications

3Controller

Ambient

temperature

In use 0 to 40 Without freeze

At transport/storage -15 to +70

Ambient

humidity

In use %RH 45 to 85 Without dew drops

At transport/storage 90 or less

Overvoltage category Note8) II or less

Pollution level Note9) 2 or less

Altitude m 1000 or less

Grounding 100 or less 100or less (class D ground- ing)Note10)

Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8,

PANTONE: 432C

Note1) Pose teaching method: The method to register the current position of the robot arm. MDI method: The method to register by inputting the numerical value Immediate.

Note2) At factory settings, the STO function activated by an external emergency stop input meets the requirements of SIL 2, Category 3, and PL d. The STO function activated by an external emergency stop input meets the requirements of SIL 3, Category 4, and PL e when the parameter setting is changed by referring to Page 252, "Appendix 3 Safety diagnosis function (Test pulse diagnosis)".

Note3) For details on the functions using external input/output signals, always refer to Page 251, "Appendix 2 Classification of functions using external input/output signals".

Note4) Provide a mode selector switch to change the mode (MANUAL/AUTOMATIC) of the controller. Select the switch that meets the following specifications. The switch can be locked in each position of the selected mode. The selected switch position can be clearly distinguished from each other. Only one mode can be selected at a time. (Recommended switch model: HA1K-2C2A-2 manufactured by IDEC. The key switch can be locked in each position by removing its key.) The mode can be changed by other means than the selector switch. For example, the user can use a mode change program. In the program, provide a means to lock the selected mode with a password.

Note5) The power capacity is the recommended value. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. Use the short circuit breaker which operates by the current leakage under the commercial frequency domain (50-60Hz). If sen- sitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip. The following lists the current values of the representative models as a reference.

Note6) Refer to Page 168, "3.3.1 Outside dimensions" for details. Note7) This controller is standard specification. (Refer to Page 163, "3.1.2 Protection specifications and operating supply".) Note8) This indicates the section of the power supply to which the equipment is assumed to be connected between the public

electrical power distribution network and the machinery within premises. Category II applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the rated voltage of 300V is 2500V.

Note9) This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used. Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.

Item Unit Specification Remarks

Robot model Item Current [A] Apparent power

[kVA] Voltage at

measurement [V]

RH-3FRH At control power ON 0.41 0.09 216.8

At servo ON 0.53 0.12 217.0

In automatic

operation

Effective value 1.98 0.43 217.2

Peak 4.60 0.99 218.7

RH-6FRH At control power ON 0.40 0.09 218.1

At servo ON 0.59 0.13 217.5

In automatic

operation

Effective value 2.54 0.53 217.8

Peak 6.00 1.26 218.3

RH-20FRH At control power ON 0.44 0.10 215.8

At servo ON 0.64 0.14 215.8

In automatic

operation

Effective value 3.91 0.83 216.0

Peak 34.00 7.20 216.6

RH-3FRHR At control power ON 0.39 0.08 216.6

At servo ON 0.56 0.12 216.5

In automatic

operation

Effective value 4.55 0.83 215.8

Peak 14.50 3.00 216.6

3Controller

Standard specifications 3-160

Table 3-3 Robot CPU unit (CR800-R controller) standard specification

Note10) The robot must be grounded by the customer.

Item Unit Specification Remarks

Type R16RTCPU

Interface Additional axis interface port 1

Power source Power capacity (DC5V) A 1.7

Outline dimension mm 27.8(W)110(D)106(H)

Mass kg 0.3

Ambient

temperature

In use 0 to 55 Without freeze

At transport/storage -15 to +70

Ambient

humidity

In use %RH 5 to 95 Without dew drops

At transport/storage 90 or less

3-161 Standard specifications

3Controller

(3) CR800-Q controller Use the robot CPU unit which connects to CR800-Q controller, equipping the base unit of the sequencer of the MELSEC-Q series of our company. Specifications such as the power supply and outside dimension of the robot CPU unit are the same as the sequencer's specification. Refer to Page 167 "Fig. 3-3" (Names of each part), and Page 170 "Fig. 3-6" (Outside dimensions).

Although the specification with which the robot CPU unit and the controller (box which mounts the servo amplifier for the robots, the safety circuit, etc.) were put together is shown in Table 3-4, the specification of the controller is mainly described.

Table 3-4 Specifications of CR800-Q controller

Item Unit Specification Remarks

Type CR800- HQ

CR800-03HRQ

in type name shows the load

(3kg: 03, 6kg: 06, 12kg: 12,

20kg: 20) of the robot arm.

CR800-03HRQ controller is for RH-

3FRHR only.

Number of control axis Simultaneously 4 Additional 8 axes available.

Memory

capacity

Programmed positions point 26,000

No. of steps step 52,000

Number of program 512

Robot language MELFA-BASIC V, VI

Teaching method Pose teaching method, MDI method Note1)

External input and output

Input and output point 0/0 Multi-CPU shared device

Input 8192/Output 8192 (Max.)Dedicated input/output Assign to the multi-CPU shared device.

Hand open/close input/output point

8/8 The sink/source type can be switched

with parameters.

Emergency stop input Note2) point 1 (duplicated) Note3)

Emergency stop output point 1 (duplicated)

Mode selector switch

inputNote4)

point 1 (duplicated)

Mode output point 1 (duplicated)

Robot error output point 1 (duplicated)

Additional axis synchronization

output

point 1 (duplicated)

Door switch input point 1 (duplicated)

Interface Additional axis, force sensor

interface Channel 1

SSCNET III/H (Connect with MR-J4-

B series)

Remote input/output Channel 1

Compatible with Ver. 2.0 (safety con- trol)

Ethernet

port

1 For customer: 1000BASE-T/

100BASE-TX/10BASE-T

1 Dedicated T/B port: 100BASE-TX/

10BASE-T

Option slot slot 2

Only the function extension card is

available.

SD memory card slot slot 1 Unusable

RS-422 port 1 Dedicated T/B port

Power

source

Input voltage range V Single phase AC 200 to 230 The rate of power-supply voltage

fluctuation is within 10%.

Power capacity kVA RH-3FRH series: 0.5

RH-6FRH series: 1.0

RH-12FRH/20FRH series: 1.5

RH-3FRHR series: 1.0

Does not include rush current. Note5)

Power supply frequency Hz 50/60

Outline dimensions Note6) mm 430(W) x 425(D) x 99.5(H) Excluding protrusions

Mass kg Approx. 12.5

Construction Self-contained floor type, Opened type. Installation vertically or horizontally

IP20 Note7)

3Controller

Standard specifications 3-162

Ambient

temperature

In use 0 to 40 Without freeze

At transport/storage -15 to +70

Ambient

humidity

In use %RH 45 to 85 Without dew drops

At transport/storage 90 or less

Overvoltage category Note8) II or less

Pollution level Note9) 2 or less

Altitude m 1000 or less

Grounding 100 or less 100or less (class D ground- ing)Note10)

Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8,

PANTONE: 432C

Note1) Pose teaching method: The method to register the current position of the robot arm. MDI method: The method to register by inputting the numerical value Immediate.

Note2) At factory settings, the STO function activated by an external emergency stop input meets the requirements of SIL 2, Category 3, and PL d. The STO function activated by an external emergency stop input meets the requirements of SIL 3, Category 4, and PL e when the parameter setting is changed by referring to Page 252, "Appendix 3 Safety diagnosis function (Test pulse diagnosis)".

Note3) For details on the functions using external input/output signals, always refer to Page 251, "Appendix 2 Classification of functions using external input/output signals".

Note4) Provide a mode selector switch to change the mode (MANUAL/AUTOMATIC) of the controller. Select the switch that meets the following specifications. The switch can be locked in each position of the selected mode. The selected switch position can be clearly distinguished from each other. Only one mode can be selected at a time. (Recommended switch model: HA1K-2C2A-2 manufactured by IDEC. The key switch can be locked in each position by removing its key.) The mode can be changed by other means than the selector switch. For example, the user can use a mode change program. In the program, provide a means to lock the selected mode with a password.

Note5) The power capacity is the recommended value. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. Use the short circuit breaker which operates by the current leakage under the commercial frequency domain (50-60Hz). If sen- sitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip. The following lists the current values of the representative models as a reference.

Note6) Refer to Page 168, "3.3.1 Outside dimensions" for details. Note7) This controller is standard specification. (Refer to Page 163, "3.1.2 Protection specifications and operating supply".) Note8) This indicates the section of the power supply to which the equipment is assumed to be connected between the public

electrical power distribution network and the machinery within premises. Category II applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the rated voltage of 300V is 2500V.

Note9) This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used. Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.

Item Unit Specification Remarks

Robot model Item Current [A] Apparent power

[kVA] Voltage at

measurement [V]

RH-3FRH At control power ON 0.41 0.09 216.8

At servo ON 0.53 0.12 217.0

In automatic

operation

Effective value 1.98 0.43 217.2

Peak 4.60 0.99 218.7

RH-6FRH At control power ON 0.40 0.09 218.1

At servo ON 0.59 0.13 217.5

In automatic

operation

Effective value 2.54 0.53 217.8

Peak 6.00 1.26 218.3

RH-20FRH At control power ON 0.44 0.10 215.8

At servo ON 0.64 0.14 215.8

In automatic

operation

Effective value 3.91 0.83 216.0

Peak 34.00 7.20 216.6

RH-3FRHR At control power ON 0.39 0.08 216.6

At servo ON 0.56 0.12 216.5

In automatic

operation

Effective value 4.55 0.83 215.8

Peak 14.50 3.00 216.6

3-163 Standard specifications

3Controller

Table 3-5 Robot CPU unit (CR800-Q controller) standard specification

3.1.2 Protection specifications and operating supply (1) Protection specifications

A protection method complying with the IEC Standard IP20 (Opened type) is adopted for CR800 controller.

The IEC IP symbols refer only to the degree of protection between the solid and the fluids, and don't indicated that any special protection has been constructed for the prevention against oil and water.

Information

The IEC IP20

It indicates the protective structure that prevents an iron ball 12 0 +0.05mm diameter, which is being pressed with

the power of 3.1 kg10%, from going through the opening in the outer sheath of the supplied equipment.

(2) Operating supply The controller is supposed to be installed and used in the customer's system. Supply the primary power of the controller from the system. In addition, provide a safety device (ex. earth leakage breaker) that can shut off the power of the controller in the customer's system. When using an earth leakage breaker as a safety device, select a product with the highest sensitivity possible referring to the specifications in the table below.

Refer to the section Page 246, "6.2 Working environment" for details on the working environment.

Note10) The robot must be grounded by the customer.

Item Unit Specification Remarks

Type Q172DSRCPU

Interface Additional axis interface port 1

Power source Power capacity (DC5V) A 1.44

Outline dimension mm 27.4(W)120.3(D)120.5(H)

Mass kg 0.38

Ambient

temperature

In use 0 to 55 Without freeze

At transport/storage -25 to +75

Ambient

humidity

In use %RH 5 to 95 Without dew drops

At transport/storage 5 to 95

Item Unit Specification

Rated voltage V AC200 to 230

Rated sensitivity current mA 30 or more, but as low as possible

Rated current A 10 or more, but as low as possible

3 Controller

Names of each part 3-164

3.2 Names of each part

3.2.1 Controller

Fig.3-1 Names of controller parts

<1> ACIN connector.......................................Supplied ACIN cable connector (input voltage: AC200V).

<2> PE terminal ................................................Terminals for grounding (M4 screw x 2). <3> CN1 cable...................................................Machine cable connector. <4> <5> CNUSR connector .........................Robot I/O cable connectors.

<4>: CNUSR11, <5>: CNUSR12 Refer to a separate manual INSTRUCTION MANUAL/Controller setup, basic operation, and maintenance for the connection method and thefur- ther description of pin assignment.

<6> TB connector............................................Dedicated connector for connecting T/B. <7> LED ...............................................................Four LEDs indicating the controller status.

Number of phase

ACIN cable

Single phase

Terminal: M5, cable length: 3m

LED Details

POWER Indicates the control power status.

On: Control power ON

Off: Control power OFF

3-165 Names of each part

3 Controller

<8> HAND FUSE ..............................................Fuse for the hand. <9> EXT1.............................................................Connector for releasing the brake in an emergency.

For details on the method of releasing the brake in an emergency, refer to the separate manual, "INSTRUCTION MANUAL/ROBOT ARM SETUP & MAINTENANCE".

<10> RIO..............................................................Parallel I/O extension connector. <11> OPT1..........................................................Connector for communication with the robot CPU. This connector cannot

be used in CR800-D controller. <12> OPT2..........................................................Unused. <13> AXIS ...........................................................Connector for additional axis connection. <14> PC ...............................................................Connector for communication with a personal computer. This connector

cannot be used in CR800-R/CR800-Q controller. <15> EXT2...........................................................Connector for function extension. This connector cannot be used in

CR800-R/CR800-Q controller. <16> LAN.............................................................Connector for Ethernet communication. This connector cannot be used in

CR800-R/CR800-Q controller. <17> SD CARD .................................................SD memory card slot. This connector cannot be used in CR800-R/CR800-

Q controller. <18> Filter cover ..............................................Dustproof dust filter cover. An air filter is provided inside the filter cover. <19> <20>Option slot .....................................Option card slots (must be covered when not used).

<19> SLOT1, <20> SLOT2 <21> FG terminal..............................................Option card cable terminals for grounding (M4 screw x 2).

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.

AUTO Indicates the controller mode.

On: AUTOMATIC mode

Off: MANUAL mode

ERROR Indicates the error status.

On: Error occurred.

Rapid flashing: High-level error occurred.

Off: Normal operation

READY Indicates the operation status.

On: ON (ready)

Slow flashing: During operation

Rapid flashing: Operation suspended.

LED Details

Caution

3 Controller

Names of each part 3-166

3.2.2 Robot CPU unit (1) CR800-R controller

Fig.3-2 Names of each part of the robot CPU unit (CR800-R controller)

<1> <2> LED ...................................................... Indicators for the operation status and the error status of the robot CPU.

<3> Rotary switch ........................................... Provided for maintenance. Always set it as "0." <4>Dot matrix LED.......................................... 3-digit display indicating the operation status and error information <5> CN1 connector......................................... Connect the SSCNET III cable between the OPT1 connector on the

controller and this connector. <6>Network connector .................................. Connector for Ethernet communication. <7> EMG connector........................................ Unused. <8> MPG connector........................................ Unused. <9> RIO connector.......................................... Unused. <10>EXT I/F ...................................................... Unused.

READY LED ERROR LED CPU status

OFF OFF Power is off or a hardware error occurred.

Flashing OFF During initialization.

ON OFF Normal operation.

ON Flashing Moderate error occurred.

OFF ON/flashing Critical error occurred.

3-167 Names of each part

3 Controller

(2) CR800-Q controller

Fig.3-3 Names of each part of the robot CPU unit (CR800-Q controller)

<1> Seven segments LED ............................ Indicates operational status and error information. <2> Rotary switch (SW1) .............................. Set up operation mode. Always set it as "0." <3> Rotary switch (SW2) .............................. Set up operation mode. Always set it as "0." <4> RUN/STOP switch .................................Unused. <5> Emergency stop input (EMI) ...............Unused.

<6> CN1 connector*1) ...................................Connect the SSCNET III cable to this connector and the OPT1 connector on the controller. (Connection for robot servo amplifiers)

<7> Lever for unit installation.....................Use this lever, when installing the unit in the base unit.

<8> Hook for unit fixing*2) ........................... The hook which fixes the unit to the base unit For the support at installation

<9> Unit fixing screw ...................................... The screw for fixing to the base unit (M313) <10> The projection for unit fixing .......... The projection for fixing to the base unit <11> PERIPHERAL I/F connector............ Connector for Ethernet communication. <12> EXT I/F connector...............................Unused. <13> Battery connector................................ The connector for connection with battery.

<14> Battery*3) ................................................Battery (Q6BAT) for storing data. <15> Battery holder ........................................Compartment for the battery. <16> Battery cover .........................................Battery holder cover. <17> RIO connector........................................Unused.

*1) Please store in the duct or fix the cable section near robot CPU with the bunch wire rod so that prudence of the cable is not applied to the connector section.

*2) It is equipment for the support when installing the unit in the basic base unit. Please be sure to fix the unit to the basic base unit with the attached fixing screw.

*3) Please be sure to use the external battery. Unless the battery cable is connected surely, the program in SRAM with a built-in robot CPU, the parameter, origin position data, etc. are not held.

3 Controller

Outside dimensions/Installation dimensions 3-168

3.3 Outside dimensions/Installation dimensions

3.3.1 Outside dimensions (1) Controller

Fig.3-4 Outside dimensions of controller

3-169 Outside dimensions/Installation dimensions

3 Controller

(2) Robot CPU unit CR800-R controller

Fig.3-5 Outside dimensions of robot CPU unit (CR800-R controller)

3 Controller

Outside dimensions/Installation dimensions 3-170

CR800-Q controller

Fig.3-6 Outside dimensions of robot CPU unit (CR800-Q controller)

3-171 Outside dimensions/Installation dimensions

3 Controller

3.3.2 Installation dimensions (1) Controller

The following figures show the dimensions required installing the controller.

For the placement of the controller on its side (the horizontal installation), two stacks is permitted.

Fig.3-7 Installation dimensions

When installing the controller vertically, ensure that the air intake is at the bottom as illustrated in Fig. 3-7.

Fixing installation section sure for prevention from the fall, when using the controller placing vertically. The reference figure of the metal plate for fixing is shown in Fig. 3-8.

You should install the metal plate for fixation to the controller with M4 x 8 or the shorter screw. The screw projection length inside the controller (side board thickness is 1.2 mm) surely makes 6.8 mm or less.

CAUTION

CAUTION

3 Controller

Outside dimensions/Installation dimensions 3-172

When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits. The skin temperature of the controller may rise, and the error may occur.

Fig.3-8 Reference figure of the fixing metal plate for vertical installation

CAUTION

3-173 Outside dimensions/Installation dimensions

3 Controller

(2) Robot CPU unit Because to improve ventilation and to make unit replacement easy, please secure the following distance

between the upper and lower sides of the unit and the structure, etc.

Fig.3-9 Installation of robot CPU Unit

3 Controller

External input/output 3-174

3.4 External input/output

3.4.1 Types (1) Dedicated input/output...............................These inputs and outputs carry out the robot remote operation and

status display. (2) General-purpose input/output.................These are inputs and outputs that the customer can program for

peripheral device control. (3) Hand input/output .........................................These are inputs and outputs related to the hand that the customer can

program. (4)Emergency stop/Door switch input.........Information on wiring the emergency stop and wiring used to ensure

safety can be found on Page 178, "3.6 Emergency stop input and output etc." and Page 241, "6.1.7 Examples of safety measures".

Linking our GOT2000 Series display equipment to the robot controller over the Ethernet permits you to control robot controller's input/output from a GOT (graphic operation terminal).

3-175 Dedicated input/output

3 Controller

3.5 Dedicated input/output

Show the main function of dedicated input/output in the Table 3-6. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indi- cated with the parameter name is used by designated the signal No., assigned in the order of input signal No. and output signal No.

Table 3-6 Dedicated input/output list

Parameter name

Input Note1) Output

Name Function Level Name Function

TEACHMD None Teaching mode out- put signal

Outputs that the teaching mode is

entered.

ATTOPMD None Automatic mode out- put signal

Outputs that the automatic mode is

entered.

ATEXTMD None Remote mode output

signal

Outputs that the remote mode is

entered.

RCREADY None Controller power ON

complete signal

Outputs that external input signals can

be received.

AUTOENA Automatic opera- tion enabled input

signal

Allows automatic operation.

L

Automatic operation

enabled output signal

Outputs the automatic operation

enabled state.

START Start input signal Starts all slots. E

Operating output sig- nal

Outputs that the slot is operating.

STOP Stop input signal Stops all slots.

The input signal No. is fixed to 0.

Note) Use the emergency stop

input for stop inputs related

to safety.

L

Wait output signal Outputs that the slot is temporarily

stopped.

STOP2 Stop input signal The program during operation is

stopped.

Unlike the STOP parameter,

change of the signal number is

possible.

Notes) Specification is the same as

the STOP parameter.

L

Wait output signal Outputs that the slot is temporarily

stopped.

Notes) Specification is the same as the

STOP parameter.

SLOTINIT Program reset input

signal

Resets the wait state. E

Program selection

enabled output signal

Outputs that the slot is in the program

selection enabled state.

ERRRESET Error reset input

signal

Resets the error state. E

Error occurring out- put signal

Outputs that an error has occurred.

CYCLE Cycle stop input

signal

Carries out cycle stop. E

In cycle stop opera- tion output signal

Outputs that the cycle stop is operat- ing.

SRVOFF Servo ON enabled

input signal

Turns the servo OFF for all mech- anisms.

L Servo ON enabled

output signal

Outputs servo-on disable status.

(Echo back)

SRVON Servo ON input

signal

Powers on the robot servos.

For multiple mechanisms, it powers

on the servos of all the mecha- nisms.

E

In servo ON output

signal

Outputs the servo ON state.

For multiple mechanisms, the output is

performed when at least one of the

mechanisms is in the servo ON state.

IOENA Operation rights

input signal

Requests the operation rights for

the external signal control. L

Operation rights out- put signal

Outputs the operation rights valid state

for the external signal control.

MELOCK Machine lock input

signal

Sets/resets the machine lock

state for all mechanisms. E

In machine lock out- put signal

Outputs the machine lock state.

SAFEPOS Evasion point

return input signal

Requests the evasion point return

operation. E

In evasion point

return output signal

Outputs that the evasion point return

is taking place.

OUTRESET General-purpose

output signal reset

Resets the general-purpose output

signal. E None

EMGERR None

Emergency stop out- put signal

Outputs that an emergency stop has

occurred.

S1START

:

S32START

Start input Starts each slot. E In operation output Outputs the operating state for each

slot.

3 Controller

Dedicated input/output 3-176

S1STOP

:

S32STOP

Stop input Stops each slot. L In wait output Outputs that each slot is temporarily

stopped.

PRGSEL Program selection

input signal

Designates the setting value for

the program No. with numeric value

input signals.

E None

OVRDSEL Override selection

input signal

Designates the setting value for

the override with the numeric value

input signals.

E None

IODATA Note2)

Numeric value input

(start No., end No.)

Used to designate the program

name, override value., mechanism

value.

L Numeric value output

(start No., end No.)

Used to output the program name,

override value., mechanism No.

PRGOUT Program No. out- put request

Requests output of the program

name. E Program No. output

signal

Outputs that the program name is

being output to the numeric value out- put signal.

LINEOUT Line No. output

request

Requests output of the line No. E Line No. output signal

Outputs that the line No. is being out- put to the numeric value output signal.

OVRDOUT Override value out- put request

Requests the override output.

E

Override value out- put signal

Outputs that the override value is being

output to the numeric value output sig- nal.

ERROUT Error No. output

request

Requests the error No. output. E

Error No. output sig- nal

Outputs that the error No. is being out- put to the numeric value output signal.

JOGENA Jog valid input sig- nal

Validates jog operation with the

external signals E

Jog valid output sig- nal

Outputs that the jog operation with

external signals is valid.

JOGM Jog mode input 2-

bit

Designates the jog mode. L

Jog mode output 2-

bit

Outputs the current jog mode.

JOG+ Jog feed + side for

8-axes Requests the + side jog operation. L None

JOG- Jog feed - side for

8-axes Requests the - side jog operation. L None

HNDCNTL1

:

HNDCNTL3

None

Mechanism 1 hand

output signal status

:

Mechanism 3 hand

output signal status

Mechanism 1: Outputs the status of

general-purpose outputs

900 to 907.

Mechanism 2: Outputs the status of

general-purpose outputs

910 to 917.

Mechanism 3: Outputs the status of

general-purpose outputs

920 to 927.

HNDSTS1

:

HNDSTS3 None

Mechanism 1 hand

input signal status

:

Mechanism 3 hand

input signal status

Mechanism 1: Outputs the status of

hand inputs 900 to 907.

Mechanism 2: Outputs the status of

hand inputs 910 to 917.

Mechanism 3: Outputs the status of

hand inputs 920 to 927.

HNDERR1

:

HNDERR3

Mechanism 1 hand

error input signal

:

Mechanism 3 hand

error input signal

Requests the hand error occur- rence.

L

Mechanism 1 hand

error output signal

:

Mechanism 3 hand

error output signal

Outputs that a hand error is occurring.

AIRERR1

:

AIRERR3

Pneumatic pressure

error 1 input signal

:

Pneumatic pressure

error 3 input signal

Request the pneumatic pressure

error occurrence. L

Pneumatic pressure

error 1 output signal.

:

Pneumatic pressure

error 3 output signal.

Outputs that a pneumatic pressure

error is occurring.

Parameter name

Input Note1) Output

Name Function Level Name Function

3-177 Dedicated input/output

3 Controller

M1PTEXC

:

M3PTEXC

None L

Maintenance parts

replacement time

warning signal

Outputs that the maintenance parts

have reached the replacement time.

USER- AREANote3) None

User-designated area

8-points

Outputs that the robot is in the user-

designated area.

Note1) The level indicates the signal level. L: Level signal The designated function is validated when the signal is ON, and is invalidated when the

signal is OFF. E: Edge signal The designated function is validated when the signal changes from the OFF to ON state,

and the function maintains the original state even when the signal then turns OFF. Note2) Four elements are set in the order of input signal start No., end No., output signal start No. and end No. Note3) Up to eight points can be set successively in order of start output signal No. and end output signal No.

Parameter name

Input Note1) Output

Name Function Level Name Function

3 Controller

Emergency stop input and output etc. 3-178

3.6 Emergency stop input and output etc.

Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector switch from the "special input/output" terminal connector.

Table 3-7 Special input/output terminal

*At the time of the power supply OFF, the output point of contact is always open.

[Note] Wire for each input terminal as shown in Fig. 3-13. The contact capacity of each input/output terminal is DC24V/100mA. Do not connect the equipment except for this range. Noise or other effects that overload contact capacities will lead to failure. An example of noise prevention is shown in Fig. 3-10. In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Fig.3-10 Protection circuit example

Item Name Function

Input Emergency stop Applies the emergency stop. Dual line, normal close

Input Special stop input Applies the stop. (Refer to Page 183, "3.6.2 Special stop input (SKIP)"

Input Door switch Servo-off. Dual line, normal close (Page 184, "3.6.3 Door switch function")

Input Mode selector switch Changes the mode (MANUAL/AUTOMATIC) of the controller. Dual line (Page 184, "3.6.4 Mode

selector switch function")

Output Robot error output Contactor is opening during error occurrence.

Output Emergency stop output The point of contact opens under occurrence of emergency stop of external input signal, emergency

stop of T/B.

Output Mode output MANUAL mode: contactor is opening, AUTOMATIC mode: contactor is closing.

Output Additional axis synchroniza- tion output

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized

with the robot arm. (Page 190, "3.8 Additional axis synchronization output")

Recommended varistor

Model Manufacturer Varistor voltage Max. permissible circuit voltage

ERZV10D390 Panasonic 39V 31V

72210S0250K101 TDK 39V 31V

3-179 Emergency stop input and output etc.

3 Controller

[Note] If a stop signal or servo OFF signal is input simultaneously with a door switch open/emergency stop input, the error, H056n Servo sys. error (A/D) may occur. When a door switch open/emergency stop is input, the robot turns off the servo after it stops. It is unnecessary to input a stop signal or servo OFF signal. To input a stop signal or servo OFF signal with a door switch open/emergency stop input, wait for 100ms or more after a door switch open/emergency stop input.

Pin number assignment of each terminal and the circuit diagram are shown in Fig. 3-13.

3.6.1 Connection of the external emergency stop and mode selector switch The input terminals for the external emergency stop, door switch, and mode selector switch are arranged as shown in Fig. 3-13. Customers should be sure to prepare the external emergency stop, door switch, and mode selector switch, etc. and use the robot while these are connected. Connection procedures are shown below.

In addition, refer to Page 241, "6.1.7 Examples of safety measures" for the information on the emergency stop connection and cautions.

[Caution] The emergency stop circuit is duplicated inside the controller. The emergency stop switch uses a double contact-type switch, so please be sure to fix both of the contacts to the connector pins as shown below in order to ensure the wiring is duplicated. An error will continue to occur in the event that only one of the pins is connected.

1) Please prepare the emergency stop switch, door switch, and mode selector switch. 2) Connect the contacts of each switch to the contacts as shown below:

a) External emergency switch CNUSR11 connector "between 7 and 23" and "between 14 and 30".

b) Door switch CNUSR11 connector "between 6 and 22" and "between 13 and 29".

c) Mode selector switch CNUSR11 connector "between 5 and 21" and "between 12 and 28".

[Caution] Be sure to use a shield cable for the emergency stop wiring cable and dedicated stop input wiring cable. And when operating in an environment that is easily affected by noise, be sure to install the ferrite core (recommended model name: E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.). Be sure to place the ferrite core in 300mm or less from the connecting terminal section.

Fig.3-11: Installation position of ferrite cores For information on the installation method, follow the instructions of the ferrite core being used.

Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.

CAUTION

3 Controller

Emergency stop input and output etc. 3-180

You should always connect doubly connection of the emergency stop, the door switch, and the mode selector switch. In connection of only one side, if the relay of customer use should break down, it may not function correctly. The robot output contacts (error output, emergency stop output, mode output, addi- tional axis synchronization output) are duplicated output contacts that are wired in series. As with emergency stop switches and door switches, ensure that all connec- tions to customer devices are duplicated to achieve redundancy.

Please make sure to wire the multiple emergency stop switches so that they each function independently. Check and make sure that the emergency stop doesn't only function under an AND condition (when multiple emergency stop switches are ON at the same time).

Fig.3-12 Emergency stop cable and mode selector switch connection

CAUTION

CAUTION

3-181 Emergency stop input and output etc.

3 Controller

Fig.3-13 External emergency stop connection

Place the emergency stop switch in an easily operable position, and be sure to wire it to the emergency stop correctly by referencing Page 241, "6.1.7 Examples of safety measures". This is a necessary measure in order to ensure safe operation so that the robot can be stopped immediately by pressing the emergency stop switch in the event that the robot malfunctions.

CAUTION

3 Controller

Emergency stop input and output etc. 3-182

Fig.3-14 Wiring method to the user wiring connector

Fully check the number of the cable insertion hole (connector pin number) for incorrect connection. Incorrect wiring may damage the robot or cause a malfunction.

When wiring to the CNUSR11/CNUSR12 connector, pay attention to fraying wires of the core wires. The fraying wires can come into contact with the adjacent terminal, causing a short circuit.

Do not apply solder on core wires. Doing so may cause a contact failure.

Connection procedure Wire cables to the CNUSR11 and CNUSR12 user wiring connectors (attachment), and fit them into the corresponding connectors (ports) located on the rear side of the controller. The customer needs to prepare the following items.

Cable: AWG24 to 16 (0.2 to 1.5mm2) Flathead screwdriver: The width of the tip is 2.5mm.

1) Prepare the user wiring connector (attachment). 2) Strip off 7 mm of the cable sheath. 3) Insert the cable all the way in the insertion hole while pressing down the latch on the user wiring connector with a

flatblade screwdriver. 4) When all the required wirings have been completed, fit the user wiring connector (CNUSR11/CNUSR12) into the

corresponding connector (CNUSR11/CNUSR12 port) on the controller. 5) When the user wiring connector has properly fitted, the levers on both sides of the connector rise and the con-

nector is fixed. (To dismount the connector, lower the levers.)

The connection has been completed.

CAUTION

CAUTION

3-183 Emergency stop input and output etc.

3 Controller

3.6.2 Special stop input (SKIP) The SKIP is the input signal to stop the robot. Please connect the pin 4, 13 of the CNUSR12 connector shown

in Fig. 3-15.

Table 3-8 Special stop input electric specification

Fig.3-15 Connection of the special-stop-input

Item Specifications Internal circuit

Type DC input

No. of input point 1

Insulation method Photo-coupler insulation

Rated input voltage DC24V

Rated input current Approx. 11mA

Working voltage range DC 21.6 26.4V (Ripple rate within 5%

ON voltage/ON current DC 8V or more / 2mA or more

OFF voltage/OFF current DC 4V or less / 1mA or less

Input resistance Approx. 2.2

Response

time

OFF ON 1ms or less

ON OFF 1ms or less

Common method 1 point per common

External wire connection method Connector

330

2.2k

V(COM)

1A

1B

Input

4

3

Note) In the customer's system, do not ground the + side of 24V power supply prepared by customer for con- nect to the controller. (related with emergency stop and parallel input/output) If it connects with the con- troller under the condition that the + side is grounded, it will lead to failure of controller.

* Refer to Page 182 "Fig. 3-14: Wiring method to the user wiring connector" for more details about how to wire a connector.

3 Controller

Emergency stop input and output etc. 3-184

3.6.3 Door switch function This function acquires the status of the switches attached on the door of the safety fence, and it turns OFF the servo to stop the robot when the door is opened. Perform wiring so that the contact opens when the door is opened. Follow the wiring example shown in Page 181 "Fig. 3-13: External emergency stop connection" and Page 241, "6.1.7 Examples of safety measures". Details of this function according to the robot status are shown below (Fig. 3-16).

*During automatic operation ..............When the door is opened, the servo turns OFF and the robot stops. An error occurs. The process of the restoration: Close the door, reset the alarm, turn on the servo, and restart.

*During teaching........................................ Even when the door is opened, using a selector switch allows to turn the servo ON with the teaching pendant to operate the robot.

Fig.3-16 Door switch function

3.6.4 Mode selector switch function The mode selector switch switches the mode of the controller between MANUAL mode and AUTOMATIC mode.

Table 3-9 States of input terminal

Mode of controller Input terminal

MANUAL (Teaching) Open

AUTOMATIC (Automatic operation) Close

Auto executing

Teaching

3-185 Emergency stop input and output etc.

3 Controller

(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings The following is a description of various operations performed on the robot and switch settings that are required.

Table 3-10 Various operations and necessary switch settings

Fig.3-17 Brake release operation

No Operation

Related switch settings Note1)

Note1) "-" in the table indicates that the state of switch concerned does not matter. Refer to the following for operation of each switch.

T/B enable/disable:..................................................................................... Page 193, "(1) Teaching pendant (T/B)" T/B enable switch:....................................................................................... Page 193, "(1) Teaching pendant (T/B)" Mode selector switch input terminal: .....................................Page 241, "6.1.7 Examples of safety measures" Door switch input terminal: ........................................................Page 241, "6.1.7 Examples of safety measures"

DescriptionT/B

enable/disable

T/B

enable switch

Mode selector

switch input

terminal

Door switch

input terminal

1 Jog operation Enable ON Open

(MANUAL mode)

If the mode selector switch input is

set to Open (MANUAL mode), the

state of door switch input does not

matter.

3 Brake release Note2)

Note2) T/B is used for the brake release operation. Brake release can be effected only when the T/B enable switch is placed in intermediate position (lightly gripped position). At this point, the state of door switch input does not matter.

Enable ON Open

(MANUAL mode)

If the mode selector switch input is

set to Open (MANUAL mode), the

state of door switch input does not

matter.

4 Automatic

operation Disable

Close

(AUTOMATIC

mode)

Close

(Door Close)

Door switch input must always be in a

state of Close (Door Close).

Upon the release of brake, the robot arm may fall under its own weight depending on the axis which has been released. To ensure safety, take appropriate mea- sures such as supporting the axis to avoid the free fall.

CAUTION

3 Controller

Additional Axis Function 3-186

3.7 Additional Axis Function

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

3.7.1 Wiring of the Additional Axis Interface Table 3-11 shows the connectors for additional axes inside the controller. Fig. 3-18 shows a connection example (configuration example).

Table 3-11 Dedicated connectors inside the controller

Fig.3-18 Example of addition axis connection

Name Connector name Details

Connector for additional axes AXIS The connector for connecting the general-purpose servo amplifier.

3-187 Additional Axis Function

3 Controller

3.7.2 Example of the installation of the noise filter EMC filter (recommended)

Please install the recommendation filter shown below according to the example of connection.

Table 3-12 Combination of a servo amplifier and filter (Soshin Electric)

Table 3-13 Combination of a servo amplifier and filter (COSEL)

Servo amplifier

Recommended filter (Soshin Electric)

Mass [kg] Model Rated current [A]

Rated voltage [VAC]

Leakage current [mA]

MR-J4-10B(-RJ) to

MR-J4-100B(-RJ) HF3010A-UN Note1)

Note1) Following surge protector is separately required to use any of these EMC filters. RSPD-250-U4 (Manufacture: OKAYA Electric Industries CO., Ltd.)

10

250

5

3.5

MR-J4-200B(-RJ)

MR-J4-350B(-RJ) HF3030A-UN Note1) 30 5.5

MR-J4-500B(-RJ)

MR-J4-700B(-RJ) HF3040A-UN Note1) 40

6.5

6

MR-J4-11KB(-RJ)

MR-J4-15KB(-RJ)

MR-J4-22KB(-RJ) HF3100A-UN Note1) 100 12

MR-J4-60B4(-RJ)

MR-J4-100B4(-RJ) TF3005C-TX 5

500 5.5

6 MR-J4-200B4(-RJ)

MR-J4-700B4(-RJ) TF3020C-TX 20

MR-J4-11KB4(-RJ) TF3030C-TX 30 7.5

MR-J4-15KB4(-RJ) TF3040C-TX 40 12.5

MR-J4-22KB4(-RJ) TF3060C-TX 60

MR-J4-10B1(-RJ) to

MR-J4-40B1(-RJ) TF3010A-UN Note1) 10 250 5 3.5

Servo amplifier

Recommended filter (COSEL)

Mass [kg] Model Rated current [A]

Rated voltage [VAC]

Leakage current [mA]

MR-J4-11KB(-RJ) to

MR-J4-22KB(-RJ) FTB-100-355-LNote1)

Note1) Following surge protector is separately required to use any of these EMC filters. RSPD-500-U4 (Manufacture: OKAYA Electric Industries CO., Ltd.)

100 500 40 5.3

MR-J4-22KB4(-RJ) FTB-80-355-L Note1) 80 500 80 5.3

3 Controller

Additional Axis Function 3-188

Installing an EMC noise filter

Fig.3-19 Example of EMC noise filter installation

Note 1)

Note 2)

Note 1) For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120 VAC power supply.

Note 2) The example is when a surge protector is connected.

3-189 Additional Axis Function

3 Controller

(1) Line noise filter This filter is effective in suppressing noises radiated from the power supply side and output side of the servo

amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

Fig.3-20 Example of noise filter installation

3 Controller

Additional axis synchronization output 3-190

3.8 Additional axis synchronization output

When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is open. An example circuit is shown in Page 190, "(1) Example circuit". An image of how to connect the connector is shown in Page 191, "(2) Image of how to connect the controller connector". When you are using an additional axis, please perform appropriate circuit connections by referring to these draw- ings.

Refer to Page 186, "3.7 Additional Axis Function"and the separate "Additional axis function Instruction Manual" for details on the additional axis function.

Note1) you use the addition axis function as a user mechanism who became independent of the robot arm, please do not connect this output signal. Servo-on of the user mechanism may be unable.

(1) Example circuit

Fig.3-21 Example of circuit for additional axis synchronization output

[Note] For the input/output cable (CNUSR connector cable) that connects customer's system and the controller, prevent ground faults from occurring at the + side of the 24V power supply prepared by customer. A ground fault may lead to a failure of the protection device in the controller. Bending or frictional forces may be applied to the input/output cable repeatedly depending on the system configuration or layout. In this case, use a flexible cable for the input/output cable. Note that a fixed cable may be broken, resulting in a ground fault.

3-191 Additional axis synchronization output

3 Controller

(2) Image of how to connect the controller connector

Fig.3-22 AXMC terminal connector

* Refer to Page 182 "Fig. 3-14: Wiring method to the user wiring connector" for more details about how to wire a connector.

3 Controller

3-192

3.9 Options

What are options? There are a variety of options for the robot designed to make the setting up process easier for user needs.

User installation is required for the options.

3-193 Teaching pendant (T/B)

3 Controller

3.9.1 CR800-D/R/Q controller common (1) Teaching pendant (T/B) Order type: R32TB :Cable length 7m

R32TB-15 :Cable length 15m

Outline This is used to create, edit and control the program, teach the operation position and

for jog feed, etc. For safety proposes, a 3-position enable switch is mounted.*1)

For multiple robots, you can operate them with just one teaching pendant by repeat- ing the removal of it from another robot and the connection of it to the target robot.

Configuration Table 3-14 Configuration device

Specifications Table 3-15 Specifications

*1) <3-position enable switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.

With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".

The 3-position enable switch has three statuses. The following modes are entered according to the switch state.

a) "Not pressed".......................... The robot does not operate. *)

b) "Pressed lightly" .................... The robot can be operated and teaching is possible.

c) "Pressed with force"............ The robot does not operate. *)

*) Releasing or forcefully pressing the 3-position enable switch cuts power to the servos in the same way as when the emergency stop is input. This helps to ensure safety. Operations such as editing programs and displaying the robot's status are possible while the 3-position enable switch is released or forcefully pressed (excludes operating the robot).

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Teaching pendant R32TB Either one pc.

1.7 Cable length is 7m.

R32TB-15 2.8 Cable length is 15m.

Items Specifications Remarks

Outline dimensions 195(W) x 292(H) x 106(D) (refer to outline drawing)

Body color Dark gray

Mass Approx. 0.9kg (body only, excluding cables)

Connection method Connects with controller via connector.

Interface RS-422

Display method LCD method: 24 characters x 8 lines, LCD illumination: with backlight At 8x8 font

Operation section 36 keys

3 Controller

Teaching pendant (T/B) 3-194

Fig.3-23 Outside dimensions of teaching pendant

Installation method The teaching pendant is connected to the TB connector on the front of the controller.

Enable/Disable switch

Emergency stop

Enable switch

Operetion key

Body

Cable (with connector)

63 .5

LCD

29 1.

9

195.2

133

105.5

3-195 Teaching pendant (T/B)

3 Controller

Key layout and main functions

Fig.3-24 Teaching pendant key layout and main functions

[Emergency stop] switch ........................ The robot servo turns OFF and the operation stops immediately. [TB ENABLE] switch ................................ This switch changes the T/B key operation between enable and disable. Enable switch ............................................... When the [Enable/Disable] switch " " is enabled, and this key is released or

pressed with force, the servo will turn OFF, and the operating robot will stop immediately.

LCD display panel....................................... The robot status and various menus are displayed. Status display lamp.................................... Display the state of the robot or T/B. [F1], [F2], [F3], [F4].................................. Execute the function corresponding to each function currently displayed on

LCD. [FUNCTION] key ........................................ Switch the function display to check another functions assigned to the func-

tion keys ([F1], [F2], [F3], and [F4]) when five or more functions are available for next operation, where only four function keys are available.

[STOP] key ................................................... This stops the program and decelerates the robot to a stop. [OVRD ][OVRD ] key.................... Change moving speed. Speed goes up by [OVRD ] key. Speed goes down

by [OVRD ] key [JOG] operation key ................................. Move the robot according to jog mode. And, input the numerical value. [SERVO] key ................................................ Press this key with holding enable switch lightly, then servo power will turn on. [MONITOR] key........................................... It becomes monitor mode and display the monitor menu. [JOG] key ...................................................... It becomes jog mode and display the jog operation. [HAND] key................................................... It becomes hand mode and display the hand operation. [CHARCTER] key....................................... Switch the function of the number/character keys between number input and

character (letter or some special character) input when both inputs are avail- able on the T/B.

[RESET] key................................................. This resets the error. The program reset will execute, if this key and the [EXE] key are pressed.

[ ][ ][ ][ ] key........................ Moves the cursor each direction. [CLEAR] key................................................. Erase a text on the cursor position when number/character input is available. [EXE] key....................................................... Input operation is fixed. And, while pressing this key, the robot moves when

direct mode. Number/character key............................. Input the number or character when the number/character input is available.

3 Controller

High efficient teaching pendant (T/B) 3-196

(2) High efficient teaching pendant (T/B) Order type: R56TB :Cable length 7m

R56TB-15 :Cable length 15m

Outline This is used to create, edit and control the program, to teach the operation position, or to perform jog feed, etc. This highly efficient teaching pendant has a touchscreen graphical user interface (GUI) which allows easy operation. In addition, the 3-position

enable switch *1) is provided for the safety use.

For multiple robots, you can operate them with just one teaching pendant by repeat- ing the removal of it from another robot and the connection of it to the target robot.

Configuration Table 3-16 Configuration device

Specifications Table 3-17 Specifications

Installation method The teaching pendant is connected to the TB connector on the front of the controller.

*1) <3-position enable switch>

In ISO/10218 (1992) and JIS-B8433 (1993), this is defined as an "enable device". These standards specify that the robot operation using the teaching pendant is enabled only when the "enable device" is at a specified position.

With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch".

The 3-position enable switch has three statuses. The following modes are entered according to the switch state.

a) "Not pressed" ..........................The robot does not operate. *)

b) "Pressed lightly" .....................The robot can be operated and teaching is possible.

c) "Pressed with force" ............The robot does not operate. *)

*) Releasing or forcefully pressing the 3-position enable switch cuts power to the servos in the same way as when the emergency stop is input. This helps to ensure safety. Operations such as editing programs and displaying the robot's status are possible while the 3-position enable switch is released or forcefully pressed (excludes operating the robot).

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

High efficient teaching

pendant

R56TB Either one pc.

2.1 Cable length is 7m.

R56TB-15 3.2 Cable length is 15m.

Items Specifications Remarks

Outline dimensions 252(W) x 240(H) x 114(D) (refer to outline drawing)

Body color Dark gray

Mass Approx. 1.25kg (body only, excluding cables)

Connection method Connects with controller via connector.

Interface RS-422, Ethernet (10BASE-T) For connection with

robot controller

USB host Note1)

Note1) The operation of the following USB memory sticks has been confirmed. a) Kingston Data Traveler ............Manufacture: Kingston, Type: USB 2.0 memory stick,

Memory sizes: 128 MB - 1GB b) Transcend Jet Flash .................Manufacture: Transcend, Type: USB 2.0 memory stick,

Memory sizes: 128 MB - 1GB Notice) The operation of those other than the above is not guaranteed.

Display 6.5" TFT (640 x 480) color touchscreen, with backlight

3-197 High efficient teaching pendant (T/B)

3 Controller

Outside dimensions and main functions

Fig.3-25 Teaching pendant outside dimensions and main functions

252

24 0

37.2

55.3

21.5

24)

23)

3) 4)

5) 8)

) 9)

12) 13)

14) 15)

16)

17)

18) 19)

20)

21)

11)

22)

6)

10)

1) 2)

7)

1) TEACH button .......................................This changeover switch is used to enable or disable the T/B key operations. The lamp (white) lights up during enabling state.

2) Wheel .........................................................Move the cursor to select the menu and so on. 3) Emergency stop button .....................This stops the robot in an emergency state. The servo turns OFF. Turn to the right

to cancel. 4) Touch stylus (Integrated in housing)

The pen which operates the touch panel. 5) Power supply LED, T/B enable LED

POWER LED lights up during supplying the power supply. TB ENABLE LED lights up during enabling state.

6) Touch panel ............................................Tap to operate with the stylus pen and the screen is displayed. 7) USB connecter......................................Plug-in the USB memory stick. 8) STOP button..........................................This stops the robot immediately. The servo does not turn OFF. 9) SERVO button.......................................This turns ON the servo power simultaneously with the enable switch. The LED

(green) lights during servo ON. 10) RESET button .....................................This key resets an error state that has occurred. 11) CAUTION button................................If this button is pushed in jog operation, the limit switch can be canceled. Moreover,

push this button, when releasing the brake. 12) HOME button.......................................Not use. 13) OVRD button.......................................This scrolls override up or down. 14) HAND button .......................................Display the screen of hand operation. 15) JOG button ..........................................Display the screen of jog operation. 16) +/- button ............................................This button operates corresponding to the selected operation. 17) EXE button ...........................................Move the robot, such as hand alignment. 18) MENU button .......................................Display the menu screen. 19) RETURN button..................................Close each operation screen. 20) Arrow button........................................Move the cursor 21) OK button .............................................Fix each screen operation. 22) CANCEL button..................................Cancel each screen operation. 23) Multi grip handle .................................Holds the T/B. 24) Enable switch ......................................If this switch is released or pressed with force while the T/B is enabled, the servo

power supply turns OFF. To move the robot in jog operation or the like, press the switch lightly and hold it. The enable switch is mounted on each of the multi grip handle.

3 Controller

Function extension card 3-198

(3) Function extension card Order type: 2F-DQ510 ..............................MELFA Smart Plus card pack (A-type)

2F-DQ520 ..............................MELFA Smart Plus card pack (AB-type)

2F-DQ511 ..............................MELFA Smart Plus card (A-type)

2F-DQ521 ..............................MELFA Smart Plus card (B-type)

Outline

This card is used to enable the MELFA Smart Plus option.

Insert this card in the option slot on the front of the controller, and enable the MELFA Smart Plus software extension function.

Configuration Table 3-18 Configuration device

Part name Type Qty. Mass (Kg) Remarks

MELFA Smart Plus card pack A-type 2F-DQ510 1 0.5

AB-type 2F-DQ520 1 0.5 Software version of controller: Ver.

A3 or later

MELFA Smart Plus card A-type 2F-DQ511 1 0.5

B-type 2F-DQ521 1 0.5 Software version of controller: Ver.

A3 or later

3-199 Controller protection box

3 Controller

(4) Controller protection box

Order type: CR800-MB

Outline

Storing the controller in this box protects the controller from dust and water.

Use this option, when the controller is installed where environment is oil mist such as machine shop etc.

Configuration Table 3-19 Configuration equipment and types

Specifications Table 3-20 Specifications

(1) The robot must be grounded by the customer. (2) The customer needs to prepare the power cable for protection box fan and the grounding cable.

(Power supply voltage for fan: 200 VAC, Screw size for power supply connection terminal block: M4)

Part name Type Qty. Mass

(Kg)Note1)

Note1) Mass indicates one set.

Remarks

Controller protection box CR800-MB 1

21

Label for serial number 1

Transparent seal 1

Cable tie T50L 4

Screw for fixing of the controller

mounting plate

M4x8 4

Instruction Manual BFP-A3501 1 -

Item Unit Specifications Remarks

Outside dimension mm 500(W)725(D)250(H) Protrusions such as rubber legs are excluded.

Mass kg 21

Construction IP54 Note1)

Note1) In the environment where oil, such as machining oil, drops on the controller protection box, provide a shield plate to pro- tect the controller protection box from the oil droplets.

Self-contained floor type

Grounding 100 or less (class D grounding)

Paint color Dark gray Equivalent to Munsell: 3.5PB3.2/0.8, PANTONE:

432C

3 Controller

Controller protection box 3-200

Outside dimension

Fig.3-26 Outside dimension

3-201 Controller protection box

3 Controller

Names of each part

Fig.3-27 Names of each part

3 Controller

Controller protection box 3-202

Wiring system diagram

Fig.3-28 Wiring system diagram

[ Note] The figure above is a diagrammatic illustration. The layout inside the controller protection box shown in the figure differs from the actual layout.

3-203 Controller protection box

3 Controller

Installation dimensions

Fig.3-29 Installation dimensions

3 Controller

MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro 3-204

(5) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro

Order type MELSOFT RT ToolBox3 *For windows DVD-ROM : 3F-14C-WINE

MELSOFT RT ToolBox3 mini *For windows DVD-ROM : 3F-15C-WINE

MELSOFT RT ToolBox3 Pro *For windows DVD-ROM : 3F-16D-WINE

Outline This is handy software that fully uses the personal computer functions. It can be used in various stages from the robot specifications study (tact study, etc.) to the design support (creation and editing of programs), start up support (execution, control and debugging of program), and maintenance (maintenance forecast).

Configuration Table 3-21 Product configuration

Features (1) Simple operation with guidance method and menu method

The Windows standard is used for windows operation, so the controller initialization and startup operations can be carried out easily by following the instructions given on the screen. Even a beginner can easily carry out the series of operations from program creation to execution.

(2) Increased work efficiency with ample support functions The work efficiency is greatly improved with the multi-window method that carries out multiple steps and dis- plays in parallel. The renumbering function, and copy, search, syntax check and step execution are especially sufficient, and are extremely useful when editing or debugging the program. With the simulation function support of MELSOFT RT ToolBox3, the program can be debugged and the tact checked before starting the machine at the site. This allows the on-site startup work efficiently to be greatly improved. MELSOFT RT ToolBox3 Pro allows a simulation of robot operation on three-dimensional CAD software Solid- Works.

(3) The maintenance forecast function increases the efficiency of maintenance work. Analyze the load condition while the robot is actually operating. Based on this analysis, calculate the time for maintenance, such as lubri- cation and belt replacement. By utilizing this information, the line stop time as well as the maintenance costs can be reduced.

(4) The position recovery support function increases the recovery efficiency in the event of origin position dis- placement. This function compensates the origin settings and position data by just reproducing several previ- ous teaching points when hand and/or arm displacement occurs, when replacing the motor and the belts, or when reloading the robot. This function can reduce the time required for recovery.

Part name Type Medium Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

RT ToolBox3 3F-14C-WINE DVD-ROM 0.2

RT ToolBox3 mini 3F-15C-WINE DVD-ROM 0.2

RT ToolBox3 Pro 3F-16D-WINE DVD-ROM 0.2

3-205 MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini/MELSOFT RT ToolBox3 Pro

3 Controller

Functions Table 3-22 Functions

Function Functional existenceNote1)

Note1) The functions included with the MELSOFT RT ToolBox3 ,MELSOFT RT ToolBox3 mini, and the MELSOFT RT ToolBox3 Pro are shown below. : Function provided : Function not provided

Details

Compatible model

Personal computer running Windows 7, Windows 8, Windows 8.1, or

Windows 10. Note2)

Note2) Recommend corresponding to CE Marking, an FCC standard, and a VCCI standard.

Program editing

functions

Editing functions

MELFA BASIC V, VI language compatible

Multiple editing screen simultaneously display

Command input, comment writing

Position data editing

File operation (writing to controller, personal computer)

Search and replace function (using characters, line Nos., labels)

Copy, cut, paste, insert (per character, line), undo (per command

statement, position conversion)

Line No. automatic generation, renumbering

Batch syntax check

Command template

Position conversion batch editing

Position variable template

Print, print preview

Control func- tions

Program file control (list, copy, movement, delete, content com- parison, name change, protect)

Debugging func- tions

Direct editing of program in controller

Confirmation of robot program operation (step execution, direct

execution)

Simulation function

Off-line simulation of robot program operation using CG (com- puter graphics)

Tact time calculation

Monitor functions

Robot operation monitor (robot operation state, stop signal, error

monitor, program monitor (execution program, variables), general-

purpose input/output signals (forced output possible), dedicated

input/output signals, operation confirmation (operation range, cur- rent position, hand, etc.)

Operation monitor (working time statistics, production informa- tion, robot version)

Servo monitor (load)

Maintenance function

Parameter setting

Batch, divided backup

Simulation function on SolidWorks.

Off-line simulation of robot program operation using CG (com- puter graphics)

Tact time calculation

Complex motion path generation, etc.

RT ToolBox3 mini

3F-15C-WINE

RT ToolBox3

3F-14C-WINE

RT ToolBox3 Pro

3F-16D-WINE

3 Controller

Instruction Manual (bookbinding) 3-206

(6) Instruction Manual (bookbinding)

Order type: 5F-GG01-PE01 .............RH-FRH series

Outline

This is a printed version of the CD-ROM (instruction manual) supplied with this product.

Configuration Table 3-23 Product configuration

Name Type Mass (Kg) Note1)

Note1) Mass indicates one set.

Specifications

Instruction Manual 5F-GG01-PE01 3.0 The instructions manual set of RH-FRH series.

Safety Manual BFP-A3541 - Items relating to safety in handling the robot

Standard Specifications BFP-A3468 - Specification of the robot arm and controller

Robot Arm Setup & Maintenance BFP-A3472 - Installation method of the robot arm, jog operation, and

maintenance and inspection procedures

Controller Setup, Basic Operation and Maintenance BFP-A3476 - Installation method of the controller, basic operation,

and maintenance and inspection procedures

Detailed Explanation of Functions and Operations BFP-A3478 - Functions of the controller and T/B, operation

method, and explanation of MELFA-BASIC VI.

Troubleshooting BFP-A3480 - Causes of errors occurred and their countermeasures

Additional axis function BFP-A3504 - Function of the additional axis, operation method.

Tracking Function BFP-A3520 - Function of the tracking, operation method.

GOT Direct Connection Extended Function BFP-A3546 -

Explains of data configuration of shared memory,

monitoring, and operating procedures, between the

GOT and controller.

iQ Platform Supporting Extended Function Instruction

Manual BFP-A3528 -

Explains of data configuration of shared memory,

monitoring, and operating procedures, between the

PLC and robot controller.

Safety communication function BFP-A3772 - Using the safety communication function.

Ethernet Function BFP-A3379 - Ethernet communication method between personal

computer and robot controller.

3-207 Parallel I/O interface

3 Controller

3.9.2 CR800-D controller (1) Parallel I/O interface

Order type 2D-TZ368 (Sink type)/2D-TZ378 (Source type)

Outline

This is used to expand the external inputs and outputs.

The connecting cable with external equipment is not attached. Since we are preparing the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.

Notes)Although the combined use with the parallel input-and-output unit (2A-RZ361/2A- RZ371) of another option is also possible, please use the setup of the station number by the different number separately. The station number is automatically determined by the position of the option slot which installed this interface. (station number 0 to 1)

Configuration Table 3-24 Configuration device

Specifications Table 3-25 Electrical specifications of input circuits

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Parallel I/O interface 2D-TZ368 Either

one pc.

0.4 Input/output 32 points/32 points 2D-TZ368 is sink type. 2D-TZ378 is source type.

2D-TZ378

Item Specification Internal circuit

Type DC input

Number of input points 32

Insulation method Photo coupler insulation

Rated input voltage DC12V DC24V

Rated input current Approx. 3mA Approx.9mA

Working voltage range DC10.2 26.4V

(Ripple factor should be less than 5)

ON voltage/ON current DC8V or more/2mA or more

OFF voltage/ OFF current DC4V or less/1mA or less

Input resistance Approx. 2.7k

Response time OFF-ON 10ms or less(DC24V)

ON-OFF 10ms or less(DC24V)

Common method 32 points per common

External cable connection

method

Connector

Input

+24V/+12V (COM)

2.7K

820

2.7K

820

24G/12G

Input

3 Controller

Parallel I/O interface 3-208

Table 3-26 Electrical specifications for the output circuits

*A voltage exceeding the rated voltage or incorrect wiring may damage the circuit.

The protection fuse of the output circuit prevents the failure at the time of the load short circuit and incorrect connection. The load connected of the customer should be careful not to exceed maximum rating current. The internal transistor may be damaged if maximum rating current is exceeded.

Installation method The expansion parallel input/output interface is installed in the controller. Refer to separate "Instruction Manual/ Controller setup, basic operation, and maintenance" for details on the installing method.

If it installs in the option SLOT of the controller, the station number will be assigned automatically.

SLOT1: station number 0 (0 to 31)

SLOT2: station number 1 (32 to 63)

If it uses together with parallel input-and-output unit 2A-RZ361/2A-RZ371, please do not overlap with the station number of the parallel input-and-output interface.

Fig.3-30 Parallel I/O interface installation position

Item Specification Internal circuit

Type Transistor output

No. of output points 32

Insulation method Photo-coupler insulation

Rated load voltage DC12V/DC24V

Rated load voltage range DC10.2 30V (peak voltage DC30V)

Max. load current 0.1A/point (100%)

Leakage current at OFF Within 0.1mA

Max. voltage drop at ON DC0.9V(TYP.) Note1)

Note1) The maximum voltage drop value at signal ON. Refer to it for the equipment connected to the output circuit.

Respons

e time

OFF-ON 10ms or less(Resistance load) (hardware response time)

ON-OFF 10ms or less(Resistance load) (hardware response time)

Fuse rating Fuse 1.6A(one per common)

Replacement possible max. 3

Common method 16 points per common (common terminal: 2points)

External wire connection

method

Connector

External

power

supply

Voltage DC12/24V(DC10.2 30V)

Current 60mA(TYP.DC24V per common)(base drive current)

+24V/+12V

Output

24G/12G

Fuse

+24V/+12V

24G/12G

Fuse

Output

Caution

Caution

3-209 Parallel I/O interface

3 Controller

Pin layout of connector

Fig.3-31 Pin layout of connector

Connector pin No. and signal assignment The station number is fixed by the slot to install and the allocation range of the general-purpose input-and- output signal is fixed.

Table 3-27 The slot number and the station number

The connector pin number of the parallel input-and-output interface installed in SLOT1 and signal number allocation are shown in Table 3-28 and Table 3-29. If it installs in other slots, please interpret and utilize.

Slot number Station number

Range of the general-purpose input-and-output signal

Connector <1> Connector <2>

SLOT1 0 Input 0 to 15 Output 0 to 15

Input 16 to 31 Output 16 to 31

SLOT2 1 Input 32 to 47 Output 32 to 47

Input 48 to 63 Output 48 to 63

1B

1A 20A

20B

1D

1C 20C

20D

Connector<2> Output 16 to 31 Input 16 to 31 (when station number 0)

Connector<1> Output 0 to 15 Input 0 to 15 (when station number 0)

3 Controller

Parallel I/O interface 3-210

Table 3-28 Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Table 3-29 Connector<2> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1)

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1C Orange/Red a 24G/12G: For pins 5D-

20D

1D Orange/Black a +24V/+12V(COM): For

pins 5D-20D

2C Gray/Red a COM For pins

5C-20CNote1)

Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G

2D Gray/Black a Reserved

3C White/Red a Reserved 3D White/Black a Reserved

4C Yellow/Red a Reserved 4D Yellow/Black a Reserved

5C Pink/Red a General-purpose input 15 5D Pink/Black a General-purpose output 15

6C Orange/Red b General-purpose input 14 6D Orange/Black b General-purpose output 14

7C Gray/Red b General-purpose input 13 7D Gray/Black b General-purpose output 13

8C White/Red b General-purpose input 12 8D White/Black b General-purpose output 12

9C Yellow/Red b General-purpose input 11 9D Yellow/Black b General-purpose output 11

10C Pink/Red b General-purpose input 10 10D Pink/Black b General-purpose output 10

11C Orange/Red c General-purpose input 9 11D Orange/Black c General-purpose output 9

12C Gray/Red c General-purpose input 8 12D Gray/Black c General-purpose output 8

13C White/Red c General-purpose input 7 13D White/Black c General-purpose output 7

14C Yellow/Red c General-purpose input 6 14D Yellow/Black c General-purpose output 6

15C Pink/Red c General-purpose input 5 Operation rights input

signal Note2)

Note2) The dedicated signal is assigned at shipping. It can change with the parameter.

15D Pink/Black c General-purpose output 5

16C Orange/Red d General-purpose input 4 Servo ON input signal Note2)

16D Orange/Black d General-purpose output 4

17C Gray/Red d General-purpose input 3 Start input Note2) 17D Gray/Black d General-purpose output 3 Operation rights output

signal Note2)

18C White/Red d General-purpose input 2 Error reset input signal Note2)

18D White/Black d General-purpose output 2 Error occurring output

signal Note2)

19C Yellow/Red d General-purpose input 1 Servo OFF input signal Note2)

19D Yellow/Black d General-purpose output 1 In servo ON output

signal Note2)

20C Pink/Red d General-purpose input 0 Stop input Note3)

Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

20D Pink/Black d General-purpose output 0 Operating output Note2)

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1A Orange/Red a 24G/12G: For pins 5B-

20B

1B Orange/Black a +24V/+12V(COM): For

pins 5B-20B

2A Gray/Red a COM For pins 5A-

20ANote1)

Note1) Sink type: +24V/+12V(COM), Source type: 24G/12G

2B Gray/Black a Reserved

3A White/Red a Reserved 3B White/Black a Reserved

4A Yellow/Red a Reserved 4B Yellow/Black a Reserved

5A Pink/Red a General-purpose input 31 5B Pink/Black a General-purpose output 31

6A Orange/Red b General-purpose input 30 6B Orange/Black b General-purpose output 30

7A Gray/Red b General-purpose input 29 7B Gray/Black b General-purpose output 29

8A White/Red b General-purpose input 28 8B White/Black b General-purpose output 28

9A Yellow/Red b General-purpose input 27 9B Yellow/Black b General-purpose output 27

10A Pink/Red b General-purpose input 26 10B Pink/Black b General-purpose output 26

11A Orange/Red c General-purpose input 25 11B Orange/Black c General-purpose output 25

12A Gray/Red c General-purpose input 24 12B Gray/Black c General-purpose output 24

13A White/Red c General-purpose input 23 13B White/Black c General-purpose output 23

14A Yellow/Red c General-purpose input 22 14B Yellow/Black c General-purpose output 22

15A Pink/Red c General-purpose input 21 15B Pink/Black c General-purpose output 21

16A Orange/Red d General-purpose input 20 16B Orange/Black d General-purpose output 20

17A Gray/Red d General-purpose input 29 17B Gray/Black d General-purpose output 19

18A White/Red d General-purpose input 18 18B White/Black d General-purpose output 18

19A Yellow/Red d General-purpose input 17 19B Yellow/Black d General-purpose output 17

20A Pink/Red d General-purpose input 16 20B Pink/Black d General-purpose output 16

3-211 Parallel I/O interface

3 Controller

The example of connection with our PLC

Fig.3-32 Connection with a Mitsubishi PLC (Example of sink type)

The following shows an example of a protective circuit.

Fig.3-33 Connection with a Mitsubishi PLC (Example of sink type) for use of a protective circuit

3 Controller

Parallel I/O interface 3-212

Fig.3-34 Connection with a Mitsubishi PLC (Example of source type)

The following shows an example of a protective circuit.

Fig.3-35 Connection with a Mitsubishi PLC (Example of source type) for use of a protective circuit

3-213 External I/O cable

3 Controller

(2) External I/O cable

Order type 2D-CBL Note The numbers in the boxes refer to the length. 05: 5m, 15: 15m

Outline This is the dedicated cable used to connect an external peripheral device to the con- nector on the parallel I/O interface. For parallel I/O unit is another option 2A-CBL**. One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

Configuration Table 3-30 Configuration device

Specifications Table 3-31 Specifications

Connector pin numbers and cable colors Table 3-32 Connector pin numbers and cable colors

Notes Pin number of connector<1> are 1C, 2C, ....20C, 1D, 2D, ....20D, connector<2> are 1A, 2A, ....20A, 1B, 2B, ....20B.

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

External I/O cable 2D-CBL 1 pc. 0.7(5m)

1.84(15m) 5m or 15m

Items Specifications

Number of cables x cable size AWG #28 x 20P 40 cores

Total length 5m, 15m

Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors Pin no. Cable colors

1A/C Orange/Red a 11A/C Orange/Red c 1B/D Orange/Black a 11B/D Orange/Black c

2A/C Gray/Red a 12A/C Gray/Red c 2B/D Gray/Black a 12B/D Gray/Black c

3A/C White/Red a 13A/C White/Red c 3B/D White/Black a 13B/D White/Black c

4A/C Yellow/Red a 14A/C Yellow/Red c 4B/D Yellow/Black a 14B/D Yellow/Black c

5A/C Pink/Red a 15A/C Pink/Red c 5B/D Pink/Black a 15B/D Pink/Black c

6A/C Orange/Red b 16A/C Orange/Red d 6B/D Orange/Black b 16B/D Orange/Black d

7A/C Gray/Red b 17A/C Gray/Red d 7B/D Gray/Black b 17B/D Gray/Black d

8A/C White/Red b 18A/C White/Red d 8B/D White/Black b 18B/D White/Black d

9A/C Yellow/Red b 19A/C Yellow/Red d 9B/D Yellow/Black b 19B/D Yellow/Black d

10A/C Pink/Red b 20A/C Pink/Red d 10B/D Pink/Black b 20B/D Pink/Black d

3 Controller

External I/O cable 3-214

Connections and outside dimensions The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color speci- fications in "Table 3-41: Connector pin numbers and cable colors" when making the connections.

Fig.3-36 Connections and outside dimensions

(Eg.) Pin number: color indication

Orange Red a

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Line color type

a type

Pattern of the print mark

One dot

Two dots

Three dots

Four dots

b type

c type

d type

1A/C 1B/D

20A/C 20B/D

or

Plug (OTAX Corporation) Connector N361J040AU

Cover N360C040B

3-215 Parallel I/O unit

3 Controller

(3) Parallel I/O unit

Order type: 2A-RZ361(Sink type)/2A-RZ371(Source type)

Outline This is used to expand the external inputs and outputs.

The connection cable is not included. .Prepare the optional external input/output cable (2A-CBL05 or 2A-CBL15).

Use 2A-RZ361 if the external input/output signal logic is of the sink type and 2A- RZ371 for source type signal logic.

Notes) Although the combined use with the parallel I/O interface (2D-TZ368/2D-TZ378) of another option is also possible, please use the setup of the station number by the different number separately. The station num- ber is automatically fixed by the position of the option slot which installed the parallel I/O interface in 0-1.

Configuration Table 3-33 Configuration device

Specifications 1) Up to eight stations can be connected to this unit (one station occupies one unit).

The combined use with another optional parallel I/O interface (2D-TZ368/2D-TZ378) is possible, but the maximum number of stations is eight in total. In this case, set any of station numbers carefully so that they do not duplicate.

2) The power supply (24V) must be prepared by the customer and connected with the power connection cable (DCcable-2) A separate 24V power supply is required for the input/output circuit wiring.

Table 3-34 Electrical specifications of input circuits

Part name Type Qty. Mass (kg) Note1)

Note1) Mass indicates one set.

Remarks

Parallel I/O unit 2A-RZ361 Either one

pc. 0.7

Input/output 32 points/32 points 2A-RZ361 is the sink type. 2A-RZ371 is the source type.2A-RZ371

Robot I/O link connec- tion connector

NETcable-1 2 sets - Connector with pins. The cable must be prepared and wired by the customer.

Power connection con- nector

DCcable-2 Each 1

set -

Connector with pins. The cable must be prepared and wired by the customer.

Terminator R-TM 1 pc. - 100(1/4W)

Item Specification Internal circuit

Type DC input

Number of input points 32

Insulation method Photo coupler insulation

Rated input voltage 12VDC 24VDC

Rated input current Approx 3mA Approx 7mA

Working voltage range 10.2 to 26.4VDC(Ripple factor should be less than 5%.)

ON voltage/ON current 8VDC or more/ 2mA or more

OFF voltage/ OFF current 4VDC or less/ 1mA or less

Input resistance Approx. 3.3k

Response time OFF-ON 10ms or less (24VDC)

ON-OFF 10ms or less (24VDC)

Common method 8 points per common

External cable connection method Connector

+24V/+12V (COM)

3.3K

820 Input

3.3K

820

24G/12G

Input

3 Controller

Parallel I/O unit 3-216

Table 3-35 Electrical specifications for the output circuits

*A voltage exceeding the rated voltage or incorrect wiring may damage the circuit.

The output circuit protective fuses prevent failure in case of load short-circuit and improper connections. Please do not connect loads that cause the current to exceed the maximum rated current. If the maximum rated current is exceeded, the internal transistors may be damaged.

Inputs the power supply for control (DCcable-2) then inputs the controllers power supply.

Item Specification Internal circuit

Type Transistor output

No. of output points 32

Insulation method Photo-coupler insulation

Rated load voltage 12VDC/24VDC

Rated load voltage range 10.2 to 30VDC(peak voltage 30VDC)

Max. load current 0.1A/point (100)

Leakage current at OFF 0.1mA or less

Max. voltage drop at ON 0.9VDC(TYP.) Note1)

Note1) The maximum voltage drop value at signal ON. Refer to it for the equipment connected to the output circuit.

Response time

OFF-ON 2ms or less

(hardware response time)

ON-OFF 2ms or less

(Resistance load) (hardware response time)

Fuse rating Fuse 3.2A (one per common) Replacement not possible

Common method 8 points per common (common terminal: 4 points)

External wire connection

method Connector

External power

supply

Voltage 12VDC/24VDC(10.2 to 30VDC)

Current 60mA (TYP. 24VDC per common) (base drive current)

+24V/+12V

24G/12G

Output

Fuse

+24V/+12V

24G/12G

Output

Fuse

CAUTION

CAUTION

3-217 Parallel I/O unit

3 Controller

Fig.3-37 Specifications for the connection cable

Note 1) The 24V power supply is prepared by customer (The power consumption is approx. 0.3A.) In the customer's system, do not ground the + side of 24V power supply prepared by customer for connect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condi- tion that the + side is grounded, it will lead to failure of controller.

Note 2) The cable for general purpose can be used to the network cable. However, use the twisted shield cable of AWG#22

(0.3mm2) or more.

List of parts and manufacturer

Type Connector type Contact type Resistant Manufacturer

NETcable-1

1-178288-3 (2) 1-175218-2 (6) - Tyco Electronics

51103-0300 (1) 50351-8100 (3) - MOLEX

J21DF-06V-KX-L (1) SJ2F-01GF-P1.0 (4) - JST

DCcable-2 2-178288-3 (1) 1-175218-5 (3) - Tyco Electronics

R-TM 1-178288-3 (1) 1-175218-3 (2) 100(1/4W) (1) Equivalent to KOA.

3 Controller

Parallel I/O unit 3-218

Installation method The expansion parallel input/output unit is installed outside of the controller. Connect with the network

connection cable (NETcable-1) from the RIO connector in the front of the controller.

Fig.3-38 Installing the parallel I/O unit

6 0 5 4 6

1 50

6 1 56

2 -

6

1 68

1 2 8

(1 7 5 )

1 00

(40 )

< 2A -R Z 361 >

2A -R Z 36 1/2 A -R Z 37 1

6

< 2A -R Z 371 >

Installation dimensions of 2A-RZ361/2ARZ-371 (The controller outside installation.)

Upside

Wiring space

H e at

r ad

ia ti o n

sp ac

e

2-M5 screw

Downside

R ad

ia ti o n / w

ir in

g sp

ac e

Control panel installation dimensions

3-219 Parallel I/O unit

3 Controller

Fig.3-39 Connection method of expansion parallel I/O unit

1 . . . 6

CN100 CN300

7

CN100

CN300

NETcable-1

R-TM

1 . . . . 6 7

RIO

DCIN

RIO2RIO1

NETcable-1

DCcable-2

RIO2

RIO1

DCIN

FGFG

1)

1)

RIO2RIO1

DCIN

DCcable-2

100mm *1)

FG *2)

2030mm

*2)

200300mm

*1)100mm

2)

*1) Install the ferrite core in within 100mm from each connector.

I

Parallel I/O unit 1 . . . 6 Parallel I/O unit 7 Station No.

setting

1 . . . 6

Station No.

setting

7

Note) NE cable

1 connector

RIO1 connector RIO2 connector RIO1 connector RIO2 connector

Note) NETcable-1 cable

DCIN connector

DCcable-2 cable DCcable-2

cable

DCIN connector

RI connector

D I connector

R-TM terminator

I/O unit the bottom connecter layout

Connect the NET cable-1 to the RIO connector on the front of the controller. Each unit is connected to from a daisy chain. Always install a terminator (R-TM) to the last unit. Note 1) Use a shield cable for NET cable-1 as a measure against noise.

The unit could malfunction because of noise if the shield cable is not used. Always connect the shield to FG. Install the attached ferrite core in both ends.

Note 2) Install the ferrite core on the cable as required. Recommended ferrite core: E04SR301334 (manufacture: SEIWA ELECTRIC MFG

Within 100mm

Ferrite core

Front side

Metal braid section

Sheath Sheath

Peel the sheath in the position about 200-300mm from the connector end of the cable, so you can install and remove the cover. * Don't damage the shield line.

) Grounding terminal position

Sheath Sheath

Metal braid section Peel the sheath in the position about 2 0-300mm from the connector end of the cable, so you can install and remove the cover. * Don't damage the shield line.

3 Controller

Parallel I/O unit 3-220

Pin arrangement of the connector

Fig.3-40 Pin arrangement of the parallel I/O unit

Assignment of pin number and signal The assignment range of the general-purpose input-and-output signal is fixed by the setup of the station number.

Although the combined use with the parallel I/O interface (2D-TZ368/2D-TZ378) of another option is also possi- ble, please use the setup of the station number by the different number separately.

Table 3-36 Assignment of pin number and signal

The connector pin number of the parallel I/O unit of the station number 0 and signal number assignment are shown in Table 3-37 and Table 3-38. If it is set as other station number, please interpret and utilize.

Unit Number Station number

CN100 CN300

1st set 0 Input 0 to 15 Output 0 to 15

Input 16 to 31 Output 16 to 31

2nd set 1 Input 32 to 47 Output 32 to 47

Input 48 to 63 Output 48 to 63

3rd set 2 Input 64 to 79 Output 64 to 79

Input 80 to 95 Output 80 to 95

4th set 3 Input 96 to 111 Output 96 to 111

Input 112 to 127 Output 112 to 127

5th set 4 Input 128 to 143 Output 128 to 143

Input 144 to 159 Output 144 to 159

6th set 5 Input 160 to 175 Output 160 to 175

Input 176 to 191 Output 176 to 191

7th set 6 Input 192 to 207 Output 192 to 207

Input 208 to 223 Output 208 to 223

8th set 7 Input 224 to 239 Output 224 to 239

Input 240 to 255 Output 240 to 255

50

26

25

1

Channel No. setting

TXD LED display

Input 0 to 15 Output 0 to 15

CN100

CN300 Input 16 to 31 Output 16 to 31

*2A-RZ361/2 A-RZ371 are 32/32 input-and-output units. (One-station occupancy)

*1)

*1)TXD LED display

Indicator for the communication status. The dimly lit lamp indicates that the unit is in the normal condition. The brightness of the light depends on the communication conditions.

3-221 Parallel I/O unit

3 Controller

Parallel I/O interface (First expansion unit) Table 3-37 Connector CN100pin No. and signal assignment list (2A-CBL )

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1 Orange/Red A FG 26 Orange/Blue A FG

2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38

3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32

4 Yellow/Red A General-purpose output 0 Operating output Note1)

Note1) The dedicated signal is assigned at shipping. It can change with the parameter.

29 Yellow/Blue A General-purpose output 4

5 Pink/Red A General-purpose output 1 In servo ON output signal Note1)

30 Pink/Blue A General-purpose output 5

6 Orange/Red B General-purpose output 2 Error occurring output signal Note1)

31 Orange/Blue B General-purpose output 6

7 Gray/Red B General-purpose output 3 Operation rights output sig- nal Note1)

32 Gray/Blue B General-purpose output 7

8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38

9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38

10 Pink/Red B General-purpose output 8 35 Pink/Blue B General-purpose output 12

11 Orange/Red C General-purpose output 9 36 Orange/Blue C General-purpose output 13

12 Gray/Red C General-purpose output 10 37 Gray/Blue C General-purpose output 14

13 White/Red C General-purpose output 11 38 White/Blue C General-purpose output 15

14 Yellow/Red C COM0:For pins 15-22 Note2)

Note2) Sink type:12V/24V(COM),Source type:0V(COM)

39 Yellow/Blue C COM1:For pins 40-47 Note2)

15 Pink/Red C General-purpose input 0 Stop input Note3)

Note3) The dedicated input signal (STOP) is assigned at shipping. The signal number is fixing.

40 Pink/Blue C General-purpose input 8

16 Orange/Red D General-purpose input 1 Servo OFF input signal Note1)

41 Orange/Blue D General-purpose input 9

17 Gray/Red D General-purpose input 2 Error reset input signal Note1)

42 Gray/Blue D General-purpose input 10

18 White/Red D General-purpose input 3 Start input Note1) 43 White/Blue D General-purpose input 11

19 Yellow/Red D General-purpose input 4 Servo ON input signal Note1) 44 Yellow/Blue D General-purpose input 12

20 Pink/Red D General-purpose input 5 Operation rights input sig- nal Note1)

45 Pink/Blue D General-purpose input 13

21 Orange/Red E General-purpose input 6 46 Orange/Blue E General-purpose input 14

22 Gray/Red E General-purpose input 7 47 Gray/Blue E General-purpose input 15

23 White/Red E Reserved 48 White/Blue E Reserved

24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved

25 Pink/Red E Reserved 50 Pink/Blue E Reserved

3 Controller

Parallel I/O unit 3-222

Table 3-38 Connector CN300pin No. and signal assignment list (2A-CBL )

Pin No.

Line color

Function name Pin No.

Line color

Function name

General-purpose Dedicated/power supply,

common General-purpose

Dedicated/power supply, common

1 Orange/Red A FG 26 Orange/Blue A FG

2 Gray/Red A 0V:For pins 4-7, 10-13 27 Gray/Blue A 0V:For pins 29-32, 35-38

3 White/Red A 12V/24V:For pins 4-7 28 White/Blue A 12V/24V:For pins 29-32

4 Yellow/Red A General-purpose output 16 29 Yellow/Blue A General-purpose output 20

5 Pink/Red A General-purpose output 17 30 Pink/Blue A General-purpose output 21

6 Orange/Red B General-purpose output 18 31 Orange/Blue B General-purpose output 22

7 Gray/Red B General-purpose output 19 32 Gray/Blue B General-purpose output 23

8 White/Red B 0V:For pins 4-7, 10-13 33 White/Blue B 0V:For pins 29-32, 35-38

9 Yellow/Red B 12V/24V:For pins 10-13 34 Yellow/Blue B 12V/24V:For pins 35-38

10 Pink/Red B General-purpose output 24 35 Pink/Blue B General-purpose output 28

11 Orange/Red C General-purpose output 25 36 Orange/Blue C General-purpose output 29

12 Gray/Red C General-purpose output 26 37 Gray/Blue C General-purpose output 30

13 White/Red C General-purpose output 27 38 White/Blue C General-purpose output 31

14 Yellow/Red C COM0:For pins 15-22Note1)

Note1) Sink type:12V/24V(COM),Source type:0V(COM)

39 Yellow/Blue C COM1:For pins 40-47 Note1)

15 Pink/Red C General-purpose input 16 40 Pink/Blue C General-purpose input 24

16 Orange/Red D General-purpose input 17 41 Orange/Blue D General-purpose input 25

17 Gray/Red D General-purpose input 18 42 Gray/Blue D General-purpose input 26

18 White/Red D General-purpose input 19 43 White/Blue D General-purpose input 27

19 Yellow/Red D General-purpose input 20 44 Yellow/Blue D General-purpose input 28

20 Pink/Red D General-purpose input 21 45 Pink/Blue D General-purpose input 29

21 Orange/Red E General-purpose input 22 46 Orange/Blue E General-purpose input 30

22 Gray/Red E General-purpose input 23 47 Gray/Blue E General-purpose input 31

23 White/Red E Reserved 48 White/Blue E Reserved

24 Yellow/Red E Reserved 49 Yellow/Blue E Reserved

25 Pink/Red E Reserved 50 Pink/Blue E Reserved

3-223 Parallel I/O unit

3 Controller

The example of connection with our PLC

Fig.3-41 Connection with a Mitsubishi PLC (Example of sink type)

The following shows an example of a protective circuit.

Fig.3-42 Connection with a Mitsubishi PLC (Example of sink type) for use of a protective circuit

3 Controller

Parallel I/O unit 3-224

Fig.3-43 Connection with a Mitsubishi PLC (Example of source type)

The following shows an example of a protective circuit.

Fig.3-44 Connection with a Mitsubishi PLC (Example of source type) for use of a protective circuit

3-225 External I/O cable

3 Controller

(4) External I/O cable

Order type: 2A-CBL Note The numbers in the boxes refer to the length. 05: 5m 15: 15m

Outline This is the dedicated cable used to connect an external peripheral device to the con- nector on the parallel input/output unit.

One end matches the connector on the parallel input/output unit, and the other end is free. Connect the peripheral device's input/output signal using the free end.

One cable correspond to the input 16 points and output 16 points.

Two cables are needed to connection of (input 32 points and output 32 points) with built-in standard.

Configuration Table 3-39 Configuration device

Specifications Table 3-40 Specifications

Connector pin numbers and cable colors Table 3-41 Connector pin numbers and cable colors

Part name Type Qty. Mass(kg)Note1)

Note1) Mass indicates one set.

Remarks

External I/O cable 2A-CBL 1pc. 0.7(5m)

1.84(15m) 5m or 15m

Items Specifications

Number of cables x cable size 50 cores x AWG #28

Total length 5m or 15m

Pin no. Cable colors Pin

no. Cable colors Pin no. Cable colors Pin

no. Cable colors Pin no. Cable colors

1 Orange/Red A 11 Orange/Red C 21 Orange/Red E 31 Orange/Blue B 41 Orange/Blue D

2 Gray/Red A 12 Gray/Red C 22 Gray/Red E 32 Gray/Blue B 42 Gray/Blue D

3 White/Red A 13 White/Red C 23 White/Red E 33 White/Blue B 43 White/Blue D

4 Yellow/Red A 14 Yellow/Red C 24 Yellow/Red E 34 Yellow/Blue B 44 Yellow/Blue D

5 Pink/Red A 15 Pink/Red C 25 Pink/Red E 35 Pink/Blue B 45 Pink/Blue D

6 Orange/Red B 16 Orange/Red D 26 Orange/Blue A 36 Orange/Blue C 46 Orange/Blue E

7 Gray/Red B 17 Gray/Red D 27 Gray/Blue A 37 Gray/Blue C 47 Gray/Blue E

8 White/Red B 18 White/Red D 28 White/Blue A 38 White/Blue C 48 White/Blue E

9 Yellow/Red B 19 Yellow/Red D 29 Yellow/Blue A 39 Yellow/Blue C 49 Yellow/Blue E

10 Pink/Red B 20 Pink/Red D 30 Pink/Blue A 40 Pink/Blue C 50 Pink/Blue E

3 Controller

External I/O cable 3-226

Connections and outside dimensions The sheath of each signal cable (50 lines) is color indicated and marked with dots. Refer to the cable color speci- fications in "Table 3-41: Connector pin numbers and cable colors" when making the connections.

Fig.3-45 Connections and outside dimensions

(Eg.) Pin number: color indication

Orange Red

Type of dot mark (see figure below)

Color of dot mark

Color of sheath

Type of dot mark

A type

B type

C type

D type

E type

F type

G type

H type

I type

J type

Dot pattern

Receptacle type (PCB side)57AE-40500-21D(D8)

Plug type cable side57YE-30500-2(D8)

DDK

Maker

DDK

26

5000

6 6

50 25

1

18.5

1

18.5

18.5

Continuous

18.5

1.5

1.5

1.5

1.5

18.5

3

3

3

18.5

18.5

18.5

7.5

7.5

Continuous

35.7

13.54

16.2 9.27

76 .7

4

64 .5

3

5 1.

81 6

2 .1

59

Type of dot mark Dot pattern

Note1) The type of the plug shows the specification of this cable. The following connector is recommended when user make the cable. Plug type (cable side) : 57E series (Soldering type).....................................................DDK 57FE series (Flat cable pressure connection type)......DDK

Note1)

3-227 CC-Link interface

3 Controller

(5) CC-Link interface

Order type: 2D-TZ576

Outline The CC-Link interface is the optioninterface to not only add bit data to the robot controller, but also to add CC-Link field network function that allows cyclic transmission of word data.

Configuration Table 3-42 Configuration device

Table 3-43 Procured by the customer

Fig.3-46 Example of CC-Link Product Configuration

Part name Type Qty. Mass(kg)Note1)

Note1) Mass indicates one set.

Remarks

CC-Link interface TZ576 1 0.6

Manual BFP-A8634 1 - CD-ROM

Ferrite core E04SR301334 2 -

Be sure to install this for noise countermeasure.Cable clamp AL4 2 -

AL5 2 -

On-line connector for

communication

A6CON-LJ5P 1 -

Terminal resistor A6CON-TR11N 1 - Resistance value: 100

One-touch connector plug for

communication

A6CON-L5P 2 -

Part name Type Qty. Remarks

Master station

FX3U-16CCL-M (FX series)

1

RJ61BT11 (R series)

QJ61BT11 (Q series)

QJ61BT11N (Q series)

AJ61QBT11 (QnA series)

A1SJ61QBT11 (QnAS series)

AJ61BT11 (A series)

A1SJ61BT11 (AnS series)

A80BD-J61BT11 (personal computer board)

Communication cable - 1 Ddedicated cable

3 Controller

CC-Link interface 3-228

Specifications Table 3-44 Specifications

Item Specifications Remarks

Communication function Bit data and word data can be transmitted. Word data are used by the registers.

Station type Intelligent device station Note1)

Note1) Not available for the transient transmission function and FX-series models that do not support intelligent devices.

Support station Local station No master station function

The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.

Mountable option slot Slot 1, 2

Number of mountable CC-Link interface cards 1 Multiple CC-Link interface cards cannot be

inserted.

Number of stations 1 to 64 stations When four stations are occupied, continuous

station numbers are used. The station

numbers are set by a DIP switch.

Transmission speed 10M/5M/2.5M/625K/156K bps This is set by the rotary SW.

Station number 1 to 64 When two or more stations are occupied,

continuous station numbers are used. Number of occupied stations 1/2/3/4

Extended cyclic setup 1/2/4/8

Maximum link point Remote I/O

(RX, RY).

Each 896 points The two last cannot be used.

Remote register

(RWr, RWw)

Each 128 register 16 bits/register

Extended cyclic setup - 1 fold

setup

2 fold

setup

3 fold

setup

4 fold

setup

Link point

per set

When one

station is

occupied

Remote I/O

(RX, RY).

32 point 32 point 64 point 128 point

Remote register

( RWw)

4 word 8 word 16 word 32 word

Remote register

(RWr)

4 word 8 word 16 word 32 word

When two

stations is

occupied

Remote I/O

(RX, RY).

64 point 96 point 192 point 384 point

Remote register

( RWw)

8 word 16 word 32 word 64 word

Remote register

(RWr)

8 word 16 word 32 word 64 word

When three

stations is

occupied

Remote I/O

(RX, RY).

96 point 160 point 320 point 640 point

Remote register

( RWw)

12 word 24 word 48 word 96 word

Remote register

(RWr)

12 word 24 word 48 word 96 word

When four

stations is

occupied

Remote I/O

(RX, RY).

128 point 224 point 448 point 896 point

Remote register

( RWw)

16 word 32 word 64 word 128 word

Remote register

(RWr)

16 word 32 word 64 word 128 word

Number of the maximum occupancy station 4 stations

The I/O first number of the robot controller. No. 6000 -.

The number corresponding to the station

number by the setup of the parameter

"CCFIX."

3-229 CC-Link interface

3 Controller

Functions (1) Communication function

The number of usable points is 896 points maximum for bit control and 128 points maximum for word control.

(2) Easy setup The CC-Link interface card can be set by a rotary switch or DIP switch. No separate space is required to mount the CC-Link interface card as it is embedded in the robot controller (can only be mounted into slot 2).

Easy wiring since only four terminals need to be connected. Dedicated commands have been added to MELFA-BASIC V, VI (robot programming language); thus, no complex interface programming is required.

(3) High-speed response The link scan time when connecting 64 stations is approximately 7.2 ms. A transmission speed can be selected from 10M, 5M, 2.5M, 625K and 156K bps according to the transmission distance.

3 Controller

SD memory card 3-230

(6) SD memory card Order type: 2F-2GBSD

Outline

This card is used as an extended memory.

Insert this card to the slot (SD CARD) on the front of the controller, and store robot programs, logging data, or other data.

Configuration Table 3-45 Configuration device

Part name Type Qty. Remarks

SD memory card 2F-2GBSD 1 Memory card capacity: 2GB

3-231 Maintenance parts

3 Controller

3.10 Maintenance parts

The consumable parts used in the controller are shown in Table 3-46. Purchase these parts from your dealer when required. Some Mitsubishi-designated parts differ from the maker's standard parts. Thus, confirm the part name, robot arm and controller serial No. and purchase the parts from your dealer.

Table 3-46 Controller consumable parts list

No. Name Type Note1)

Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type.

Qty. Usage place Supplier

1 Filter BKOFA0773H42 1 Inside the filter cover Mitsubishi Electric

2 Lithium battery Q6BAT 1 Robot CPU unit: For

Q172DSRCPU

(CR800-Q controller only)

Mitsubishi Electric

4Software

List of commands 4-232

4 Software

4.1 List of commands

The available new functions in MELFA-BASIC VI are given in Table 4-1.

Table 4-1 List of MELFA-BASIC VI commands

Type Class Function Input format (example)

Structured

program- ming

Function procedure Defines the Function procedure.

Function procedure summarizes a series of processing enclosed by

the Function statement and the FEnd statement.

Function M Func(M1, M2)

M3=M1+M2

Func=M3

Exit Function

FEnd

Library

function

#Include statement Reads the designated program. #Include "PRG1"

Position

and

operation

control

Joint interpolation Moves to the designated position with joint interpolation. Mov P1

Linear interpolation Moves to the designated position with linear interpolation. Mvs P1

Circular interpolation Moves along a designated arc (start point passing point start

point (end point)) with 3-dimensional circular interpolation (360

degrees).

Mvc P1,P2,P1

Moves along a designated arc (start point passing point end

point) with 3-dimensional circular interpolation.

Mvr P1,P2,P3

Moves along the arc on the opposite side of a designated arc (start

point reference point end point) with 3-dimensional circular

interpolation.

Mvr2 P1,P9,P3

Moves along a set arc (start point end point) with 3-dimensional

circular interpolation.

Mvr3 P1,P9,P3

Speed designation Designates the speed for various interpolation operations with a

percentage (0.1% unit).

Ovrd 100

Designate the speed for joint interpolation operation with a per- centage

(0.1% unit).

JOvrd 100

Designates the speed for linear and circular interpolation with a

numerical value (mm/s unit).

Spd 123.5

Designates the acceleration/deceleration time as a percentage in

respect to the predetermined maximum acceleration/deceleration.

(1% unit)

Accel 50,80

Automatically adjusts the acceleration/deceleration according to

the parameter setting value.

Oadl ON

Sets the hand and work conditions for automatic adjustment of the

acceleration/deceleration.

Loadset 1,1

Operation Adds a process unconditionally to the operation. Wth

Adds a process conditionally to the operation. WthIf

Designates smooth operation. Cnt 1,100,200

Performance of movement is upgraded corresponding to the appli- cation.

MvTune 4

Designates the positioning completion conditions with a No. of

pulses.

Fine 200

Designates the positioning completion conditions with a distance in

a straight line

Fine 1, P

Turns the servo power ON/OFF for all axes. Servo OFF

Limits the operation of each axis so that the designated torque is

not exceeded.

Torq 4,10

Position control Designates the base conversion data. Base P1

Designates the tool conversion data. Tool P1

Float control The robot arm rigidity is lowered and softened. (XYZ coordinate

system)

Cmp Pos ,&B00000011

The robot arm rigidity is lowered and softened. (JOINT coordinate

system)

Cmp Jnt ,&B00000011

The robot arm rigidity is lowered and softened. (TOOL coordinate

system)

Cmp Tool ,&B00000011

The robot arm rigidity is returned to the normal state. Cmp Off

The robot arm rigidity is designated. CmpG

1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0

4-233 List of commands

4Software

Position

and opera- tion control

Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1

Operates the pallet grid point position. Plt 1,M1

Singular point pas- sage

Move to a specified position using linear interpolation passing

through a singular point.

Mvs P1 Type 0,2

Branching Branches unconditionally to the designated place. GoTo *LBL

Branches according to the designated conditions. If M1=1 Then GoTo *L100

Else GoTo *L200

EndIf

Repeats until the designated end conditions are satisfied. For M1=1 To 10

Next M1

Repeats while the designated conditions are satisfied. While M1<10

WEnd

Branches corresponding to the designated expression value. On M1 GoTo *La1, *Lb2, *Lc3

Executes program block corresponding to the designated expres- sion value.

Select

Case 1

Break

Case 2

Break

End Select

Moves the program process to the next line. Skip

Collision detection Set to enable/disable the collision detection. ColChk On/Off

Set the detection level of the collision detection. ColLvl 100,80,,,,,,

Subroutine Executes the designated subroutine. (Within program) GoSub *L200

Returns from the subroutine. Return

Executes the designated program. CallP "P10",M1,P1

Defines the program argument executed with the CALLP command. FPrm M10,P10

Executes the subroutine corresponding to the designated expres- sion value.

On M1 GoSub*La1,*La2,*La3

Interrupt Defines the interrupt conditions and process. Def Act 1, M1=1 GoTo *L123

Enables/disables the interrupt. Act 1=1

Defines the start line of the program to be executed when an inter- rupt is generated from the communication line.

On Com(1) GoSub *LABC

Enables the interrupt from the communication line. Com(1) On

Disables the interrupt from the communication line. Com(1) Off

Stops the interrupt from the communication line. Com(1) Stop

Wait Designates the wait time, and the output signal pulse output time.

(0.01s unit)

Dly 0.5

Waits until the variable becomes the designated value. Wait M_In(20)=1

Stop Stops the program execution. Hlt

Generates an error. During program execution, continue, stop or

servo OFF can be designated.

Error 9000

End Ends the program execution. End

Hand Hand open Opens the designated hand. HOpen 1

Hand close Closes the designated hand. HClose 1

Input/out- put

Assignment Defines the input/output variables. Def IO PORT1=Bit,99

Input Retrieves the general-purpose input signal. M1=M_In (78)

Output Calls out the general-purpose output signal. M_Out(23) =0

Parallel

execution

Mechanism designa- tion

Acquires the mechanism with the designated mechanism No. GetM 1

Releases the mechanism with the designated mechanism No. RelM 1

Selection Selects the designated program for the designated slot. XLoad 2,"P102"

Start/stop Carries out parallel execution of the designated program. XRun 3,"100",0

Stops parallel execution of the designated program. XStp 3

Returns the designated program's execution line to the head and

enters the program selection enabled state.

XRst 3

Type Class Function Input format (example)

4Software

List of commands 4-234

Others Definition Defines the integer type or real number type variable. Def Inte KAISUU

Defines the character string variable. Def Char MESSAGE

Defines the layout variable. (Up to 3-dimensional possible) Dim PDATA(2,3)

Defines the joint variable. Def Jnt TAIHI

Defines the position variable. Def Pos TORU

Defines the function. Def FN TASU(A,B)=A+B

Clear Clears the general-purpose output signal, variables in program, vari- ables between programs, etc.

Clr 1

File Opens a file. Open "COM1:" AS #1

Closes a file. Close #1

Inputs data from a file. Input #1,M1

Outputs data to a file. Print #1,M1

Comment Describes a comment. Rem "ABC"

Label Indicates the branching destination. *SUB1

Type Class Function Input format (example)

4-235 List of parameters

4Software

4.2 List of parameters

Show the main parameter in the Table 4-2.

Table 4-2 List of parameters

Parameter Details

Standard tool coordinates. MEXTL Set the default value for the tool data.

Unit: mm or deg.

Standard base coordinates MEXBS Set the relation of the world coordinate system and robot coordinate system.

Unit: mm or deg.

XYZ operation range MEPAR Designate the overrun limit value for the world coordinate system.

JOINT operation range MEJAR Set the overrun limit value for each joint axis.

Free plane limit This is the overrun limit set with the free plane.

Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of

the plane as the outside operation range (error). The following three types of parameters are

used.

SFC1P

:

SFC8P

Eight types of free plane limits can be set in SFC1P to SFC8P.

There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.

SFC1ME

:

SFC8ME

Designate which mechanism to use eight types of set free plane limits.

The mechanism No. to use is set with 1 to 3.

SFC1AT

:

SFC8AT

Set the validity of the eight types of set free plane limits.

(Valid 1/Valid 2/invalid = 1/-1/0)

User-defined area An area (cube) defined with two XYZ coordinate points can be designated and that area set

as the outside operation range. Furthermore, a signal can be output when the axis enters

that area. Up to 32 types of area can be designated.

AREA1CS

:

AREA32CS

Specify the coordinate system of the user definition area *.

0: Base coordinate system (conventional compatibility)

1: Robot coordinate system

AREA1P1

:

AREA32P1

Designated the 1st point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

AREA1P2

:

AREA32P2

Designated the 2nd point of the area.

There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.

(L1 and L2 are the additional axes.)

AREA1ME

:

AREA32ME

Designate which mechanism to use the 32 types of set area.

The mechanism No. to use is set with 1 to 3.

AREA1AT

:

AREA32AT

Designate the area check type.

(Invalid/zone/interference = 0/1/2)

Zone: The dedicated output signal USRAREA turns ON.

Interference: An error occurs..

Automatic return setting RETPATH Set to restart the program after returning to the interrupt position when resuming operation

after an interruption.

Buzzer ON/OFF BZR Designate whether to the turn buzzer ON or OFF.

Jog setting JOGJSP Designate the joint jog and step operation speed.

(Set dimension H/L amount, max. override.)

JOGPSP Designate the linear jog and step operation speed.

(Set dimension H/L amount, max. override.)

Jog speed limit value JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]

Hand type HANDTYPE Set the hand type of the single/double solenoid, and the signal No.

(Single/double = S/D)

Set the signal No. after the hand type. Example) D900

Stop input B contact desig- nation

INB Change the dedicated input (stop) to either of normal open or normal close.

4Software

List of parameters 4-236

User-designated origin USERORG Designate the user-designated origin position.

Program selection memory SLOTON Select the program selected previously when initializing the slot. The non-selected state will

be entered when not set.

Communication setting CBAU232 Set the baud rate.

CLEN232 Set the character length.

CPRTY232 Set the parity.

CSTOP232 Set the stop bit.

CTERM232 Set the end code.

Slot table SLT1

:

SLT32

Make settings (program name, operation type, order of priority, etc.) for each slot during slot

initialization.

No. of multi-tasks TASKMAX Designate the No. of programs to be executed simultaneously. (Max. 32)

Multi CPU system setting QMLTCPUN At the multi CPU system, set the number of CPU units with which the standard base unit is

equipped.

QMLTCPUn Sets the high-speed communication area of each CPU unit in the multi CPU system.

QMLTCPUS Sets the input offset of each CPU unit in the multi CPU system.

Select the function of

singular point adjacent alarm

MESNGLSW Designate the valid/invalid of the singular point adjacent alarm. (Invalid/Valid =0/1)

When this parameter is set up "VALID", this warning sound is buzzing even if parameter:

BZR (buzzer ON/OFF) is set up "OFF".

Display language LNG Sets the display language on the RT ToolBox3 (option).

Parameter Details

5-237 The details of each instruction manuals

5Instruction Manual

5 Instruction Manual

5.1 The details of each instruction manuals

The contents and purposes of the documents enclosed with this product are shown below. Use these documents according to the application.

For special specifications, a separate instruction manual describing the special section may be enclosed.

Manual name Description

Safety Manual Explains the common precautions and safety measures to be taken for robot handling, system design

and manufacture to ensure safety of the operators involved with the robot.

Standard Specifications Explains the product's standard specifications, factory-set special specifications, option configuration

and maintenance parts, etc.

Precautions for safety and technology, when incorporating the robot, are also explained.

Robot Arm Setup & Maintenance Explains the procedures required to operate the robot arm (unpacking, transportation, installation,

confirmation of operation), and the maintenance and inspection procedures.

Controller setup, basic operation,

and maintenance

Explains the procedures required to operate the controller (unpacking, transportation, installation,

confirmation of operation), basic operation from creating the program to automatic operation, and the

maintenance and inspection procedures.

Detailed explanations of functions

and operations

Explains details on the functions and operations such as each function and operation, commands used

in the program, connection with the external input/output device, and parameters, etc.

Troubleshooting Explains the causes and remedies to be taken when an error occurs. Explanations are given for each

error No.

Additional axis function Explains the specifications, functions and operations of the additional axis control.

Tracking Function Explains the control function and specifications of conveyor tracking.

GOT Direct Connection Extended

Function

Explains the detailed description of data configuration of shared memory, monitoring, and operating

procedures about the GOT (standalone type robot).

iQ Platform Supporting Extended

Function

Explains the detailed description of data configuration of shared memory, monitoring, and operating

procedures about the PLC (iQ Platform compatible type robot).

Safety communication function Explains about the safety communication function which expands the robot safety functions by

communicating safely with a safety programmable controller.

Ethernet Function Explains the measures to perform communication with personal computers on Ethernet with the

TCP/IP protocol.

6Safety

Safety 6-238

6 Safety

6.1 Safety

Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-2 for safe use.

Table 6-1 Self-diagnosis stop functions

Table 6-2 List of stop functions

No. Function Details Remarks

1 Overload protection func- tion

Activates when the total servo current time exceeds the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

2 Overcurrent diagnosis function

Activates when an overcurrent flows to the motor circuit.

The drive circuit is shut off. The robot stops, and an alarm displays.

3 Encoder disconnection diagnosis function

Activates when the encoder cable is disconnected. The drive circuit is shut off. The robot stops, and an alarm displays.

4 Deflection over diagnosis function

Activates when an error occurs between the com- mand value and actual position, and the error exceeds the specified amount.

The drive circuit is shut off. The robot stops, and an alarm displays.

5 AC power voltage drop diagnosis function

Activates when the AC power voltage drops below the specified value.

The drive circuit is shut off. The robot stops, and an alarm displays.

6 CPU error detection func- tion

Activates when an error occurs in the CPU. The drive circuit is shut off. The robot stops, and an alarm displays.

7 Overrun prevention function

Software limit detection

This is the limit provided by the software to enable operation only in the operation range.

The drive circuit is shut off. The robot stops, and an alarm displays.

Mechanical stopper

This is the mechanical stopper provided outside the software.

The robot mechanically stops, and function 1 or 2 activates.

Stop function

Teaching pen- dant

External input

Details

Emergency stop

The servo power is shut off and the mechanical brakes activate to stop the robot by stopping operation in an emergency. To recover, reset the alarm, and turn the servo ON with the servo ON command.

Stop The robot immediately decelerates to stop by stopping operation as usual. Note that the servo power is not shut off. Use this when using the collision evasion sensor, etc.

6-239 Safety

6Safety

6.1.2 External input/output signals that can be used for safety protection measures

Table 6-3 External input/output signals that can be used for safety protection measures

6.1.3 Precautions for using robot The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of the rules is given below.

(1) Robot installation Secure sufficient work space required to safely perform work such as teaching and maintenance related to the

robot. Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.) Install the controller where the entire robot operation can be viewed. Install display lamps, etc., to indicate the robot's operation state. Securely fix the robot arm onto the fixing table with the designated bolts.

(2) Prevention of contact with operator Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space. Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.

(3) Work procedures Create and observe work procedures for the robot teaching, operation, inspection and emergencies. Create hand signals to be followed when several operators are working together. Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is

in the robot's motion space so that other operators will not operate the operation panel (controller, control panel).

Signal Connection

point Parameter Functions Usage method

In p u t

External emer- gency stop Note1)

Note1) The external emergency stop input and the door switch input have duplicate NC contacts for redundancy. Thus, if the emergency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to Page 241, "6.1.7 Examples of safety measures"for details. And, refer to Page 185, "(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Set- tings"for the function of the door switch input and the mode selector switch input.

Connector

CNUSR11

- This servo power is shut off, and the

robot stops immediately.

Externally installed emergency stop switch.

Stopping at high-level error occurrence.

Door switch

input Note1)

- The door switch of the safe protection

fence.

Stop CR800-D:

Parallel I/O unit

or interface

CR800-R/Q:

Sequencer unit

STOP,

STOP2

The program execution is stopped, and

the robot stops. The servo power is not

shut off.

The robot is stopped when a peripheral

device fault occurs. The servo power is

not shut off.

Servo OFF SRVOFF The servo power can be shut off. The robot is stopped when a peripheral

device fault occurs. The servo power is

also shut off.

Automatic oper- ation enable

AUTOENA Disables automatic operation when inac- tive.

Door switch on safety protection fence.

O u tp

u t

Emergency stop output

Connector CNUSR11

- Outputs the input signal of external emergency stop or emergency stop switch of T/B turned on.

Display and warn the pilot lamp, the input signal of external emergency stop or the emergency stop switch of T/B turned on.

In servo ON CR800-D:

Parallel I/O unit

or interface

CR800-R/Q: Sequencer unit

SRVON The servo power ON/OFF state is out- put.

The servo power ON/OFF state is shown and alerted with the display lamps.

Waiting STOP, STOP2

Outputs that the robot is temporarily stopped.

The temporary stop state is shown and alerted with the display lamps.

In alarm Connector

CNUSR11

ERRRESET Outputs when an alarm occurs in the robot.

The alarm state is shown and alerted with the display lamps.

6Safety

Safety 6-240

(4) Training Train the operators about the operations, maintenance and safety required for the robot work. Only trained and registered operators must operate the robot.

Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com- mittee, etc., is recommended for safety training.

(5) Daily inspection and periodic inspection Always inspect the robot before starting daily operations and confirm that there are no abnormalities. Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and

perform periodic inspections. Make records when periodic inspections and repairs have been done, and store the records for three or more

years.

6.1.4 Safety measures for automatic operation (1) Install safety fences so that operators will not enter the operation area during operation and indicate that

automatic operation is in progress with lamps, etc. (2) Create signals to be given when starting operation, assign a person to give the signal, and make sure that the

operator follows the signals.

6.1.5 Safety measures for teaching Observe the following measures when teaching, etc., in the robot's operation range. (1) Specify and follow items such as procedures related to teaching work, etc. (2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-

ation can be restarted. (3) Take measures with the robot start switch, etc., to indicate that teaching work is being done. (4) Always inspect that stop functions such as the emergency stop device before starting the work. (5) Immediately stop the work when trouble occurs, and correct the trouble. (6) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs. (7) The teaching operator must have completed special training regarding safety. (Training regarding industrial

robots and work methods, etc.) (8) Create signals to be used when several operators are working together.

6.1.6 Safety measures for maintenance and inspections, etc. Turn the power OFF and take measures to prevent operators other than the relevant operator from pressing the start switch when performing inspections, repairs, adjustments, cleaning or oiling. If operation is required, take measures to prevent hazards caused by unintentional or mistaken operations. (1) Specify and follow items such as procedures related to maintenance work, etc. (2) Take measures so that operation can be stopped immediately in case of trouble, and measures so that oper-

ation can be restarted. (3) Take measures with the robot start switch, etc., to indicate that work is being done. (4) Take measures so that the work supervisor can immediately stop the robot operation when trouble occurs. (5) The operator must have completed special training regarding safety. (Training regarding industrial robots and

work methods, etc.) (6) Create signals to be used when several operators are working together.

6-241 Safety

6Safety

6.1.7 Examples of safety measures The controller's dedicated I/O terminal connector has a duplicate emergency stop circuit. The safety measure examples are shown in Fig. 6-1 to Fig. 6-4. Create a circuit as shown below for safety mea- sures. In addition, the figure shows the normal state which is not in the emergency stop state. [Note] In the emergency-stop related wiring by the customer, if the coil (is not the contact points) of the relay

prepared by the customer is connected to the controller, please be sure to implement the measure against the noise by the customer in the coil section. And, please also take the lifetime of noise suppres- sion parts into consideration.

Electric specification of the emergency-stop-related output terminal: 24V DC or less, related current 100mA or less.

In the customer's system, do not ground the + side of 24V power supply prepared by customer for con- nect to the controller. (related with emergency stop and parallel input/output) If it connects with the controller under the condition that the + side is grounded, it will lead to failure of controller.

Fig.6-1 Example of safety measures (wiring example 1)

: Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state.

6Safety

Safety 6-242

Fig.6-2 Example of safety measures (wiring example 2

: Connect the emergency stop switch, and door switch of peripheral equipment to the controller. The power supply for emergency stop input uses the power supply in the controller. Monitor the emer- gency stop state by the peripheral equipment side.

If the emergency stop switch of peripheral equipment is pushed, the robot will also be in the emergency stop state. When the controller power is OFF, the peripheral devices are in the emergency stop state.

6-243 Safety

6Safety

Fig.6-3 Example of safety measures (wiring example 3

: Connect the emergency stop switch of peripheral equipment, and the door switch to two controllers, and it interlocks. The power supply for emergency stop input uses the power supply in the controller. Monitor the emergency stop state by the peripheral equipment side.

6Safety

Safety 6-244

Fig.6-4 Example of safety measures (wiring example 4

: Connect the controller to the safety relay Use the controllers emergency stop button to input safety relay.

[Caution] 1) Setup a safety relay on the user equipment, and when using to input the emergency stop button on the controller,

please only use a safety relay that functions when connecting the input to the one end of the 2 systems (i.e. QS90SR2SP (Manufacture: Mitsubishi Electric Corporation)).

2) When connecting emergency stop button output to an exterior safety relay, please take note of the polarity and make sure that the electrical current flows in the same direction as indicated by the dotted arrows in the two places in the diagram. If the polarity is setup incorrectly this function will not operate correctly. Please connect 3 and 10 terminal of CNUSR11 connector to 24V.

6-245 Safety

6Safety

(1) External emergency stop connection [supplementary explanation]

(1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the safety fence's door. With a constantly open contact (normal open), wire to the

door switch input terminal so that the switch turns ON (is conducted) when the door is closed, and turns OFF (is opened) when the door is open.

(3) Use a manual-return type of normal close which have two lines for the emergency stop button. (4) Classify the faults into minor faults (faults that are easily restored and that do not have a great effect) and

major faults (faults that cause the entire system to stop immediately, and that require care in restoration), and wire accordingly.

[Caution] The emergency stop input (terminal block) on the user wiring in the controller can be used for safety measures as shown in figure above. Note that there are limits to the No. of switch contacts, capacity and cable length, so refer to the following and install.

Switch contact.......Prepare a 2-contact type.*1)

Switch contact capacityRelated current of 24 VDC or higher for a no-voltage contact. *1)

Cable length ............The length of the wire between the switch and terminal block must be max. 15m or less. Please use the shield line, in case of the cable may receive the noise etc. by other equipment, such as servo amplifier. And, if it is necessary, please fix a ferrite core (recommended model name: E04SR301334, manufacturer: Seiwa Electric Mfg. Co., Ltd.) to the shielded cable. The size of the wire that fits to use is shown below.

CNUSR11 connector: AWG24 to 16 (0.2 to 1.25mm2) Electric specification of the emergency stop related output circuit is 100mA/24V or less. Don't connect the equipment except for this range.

Be sure to perform wiring correctly. If there are mistakes in the wiring, the robot may not stop when the emergency stop button is pressed and there will be a risk of damage or personal injury occurring. After wiring, be sure to press each of the installed emergency stop switches and check whether the emergency stop circuit works properly.

Be sure to duplicate connection of the emergency stop, door switch and mode selector switch. If not duplicated, these functions may fail due to a broken relay used by customer, etc.

*1) The minimum load electric current of the switch is more than 5mA/24V.

CAUTION

CAUTION

6Safety

Working environment 6-246

6.2 Working environment

Avoid installation in the following places as the equipment's life and operation will be affected by the ambient environment conditions. When using in the following conditions, the customer must pay special attention to the preventive measures.

(1) Power supply Where the voltage fluctuation will exceed the input voltage range. Where a momentary power failure exceeding 20ms may occur. Where the power capacity cannot be sufficiently secured.

Please use the controller with an input power supply voltage fluctuation rate of 10% or less. In the case of 200 VAC input, for example, if the controller is used with 180 VAC during the day and 220 VAC during the night, turn the servo off once and then on again.

If this is not performed, an excessive regeneration or overvoltage error may occur.

(2) Noise Where a surge voltage exceeding 2000V, 5kHz (equivalent to EN 61000-4-4) may be applied on the primary volt- age. Locations where a strong electric field or magnetic field exists, such as near large inverters, high output fre- quency oscillator, large contactors and welding machines.

[Recommendation] A noise-cut transformer; a noise filter; reinforcement of ground lines and electromagnetic shields; isolation by keeping away from noise sources; reduction of noise level of emission.

This product has undergone EMC testing for products intended for use in industrial environments (tested to standards EN 61000-6-2 and EN 61000-6-4). This product is not intended to be connected to residential, commercial, or light-industrial power supplies.

(3) Temperature and humidity Where the atmospheric temperature exceeds 40 degree , lower than 0 degree. Where the relative humidity exceeds 85%RH, lower than 45%RH, and where dew may condense. Where the robot will be subject to direct sunlight or near heat generating sources such as heaters.

(4) Vibration Where excessive vibration or impact may be applied. (Use in an environment of 34m/s2 or less during transpor- tation and 5m/s2 or less during operation.)

(5) Installation environment Where strong electric fields or magnetic fields are generated. Where the installation surface is rough. (Avoid installing the robot on a bumpy or inclined floor.) Where there is heavy powder dust and oil mist present.

6.3 Precautions for handling (1) This robot has brakes on J3 axes. The precision of the robot may drop, looseness may occur and the reduction

gears may be damaged if the robot is moved with force with the brakes applied. (2) Avoid moving the robot arm by hand. When unavoidable, gradually move the arm. If moved suddenly, the accu-

racy may drop due to an excessive backlash, or the backed up data may be destroyed. (3) Note that depending on the posture, even when within the movement range, the shaft section could interfere

with the base section. Take care to prevent interference during jog. *1)

(4) The robot arm consists of precision parts such as bearing. Lubricants such as grease are also applied on the moving parts to keep the mechanical accuracy. In a cold start under low temperature or in the first start after being stored for one month or longer, lubricants may not be spread enough. Such condition may lower the posi- tioning accuracy, cause servo and overload alarms, and early wearing of the moving parts. To avoid such situ- ation, perform warm-up operation of the machine at a low speed (at about 20% of normal operation speed). Move the robot arm from the lower to the upper limit of the movable range with the 30 degree joint angle or

*1) Jog operation refers to operating the robot manually using the teaching pendant.

CAUTION

6-247 Precautions for handling

6Safety

more for about 10 minutes (RH-3FRHR series: for about 30 minutes). After that, speed up the operation grad- ually. Please use the warm-up operation. (About the details of the warm-up operation, refer to "INSTRUCTION MANUAL/Detailed explanations of functions and operations".)

(5) When the air hoses and cables are used inside the shaft (J3 axis), the grease for cable protection may ooze out or abrasion powders may be generated from the tip of the shaft while the robot is moving. However, move- ments and performance of the robot are not affected. Wipe off the grease or powders as required.

(6) The robot arm and controller must be grounded with 100 or less (class D grounding) to secure the noise resistance and to prevent electric shocks.

(7) The items described in these specifications are conditions for carrying out the periodic maintenance and inspections described in the instruction manual.

(8) When using the robot arm on a mobile axis or elevating table, the machine cables enclosed as standard config- uration may break due to the fixed installation specifications. In this case, use the "machine cable (replace- ment) for flexed" options.

(9) If this robot interferes with the workpiece or peripheral devices during operation, the position may deviate, etc. Take care to prevent interference with the workpiece or peripheral devices during operation.

(10) Do not attach a tape or a label to the robot arm and the controller. If a tape or a label with strong adhesive power, such as a packaging tape, is attached to the coated surfaces of the robot arm and controller, the coated surface may be damaged when such tape or label is peeled off.

(11) If the robot is operated with a heavy load and at a high speed, the surface of the robot arm gets very hot. It would not result in burns, however, it may cause secondary accidents if touched carelessly.

(12) Do not shut down the input power supply to stop the robot. If the power supply is frequently shut down during a heavy load or high-speed operation, the speed reducer may be damaged, backlash may occur, and the pro- gram data may be destroyed.

(13) During the robot's automatic operation, a break is applied to the robot arm when the input power supply is shut down by a power failure, for instance. When a break is applied, the arm may deviate from the operation path predetermined by automatic operation and, as a result, it may interfere with the mechanical stopper depending on the operation at shutdown. In such a case, take an appropriate measure in advance to prevent any dangerous situation from occurring due to the interference between the arm and peripheral devices. Example) Installing a UPS (uninterruptible power supply unit) to the primary power source in order to reduce

interference.

(14) Do not conduct an insulated voltage test. If conducted by mistake, it may result in a breakdown. (15) When the sequencer system becomes large too much, the robot's locus may deteriorate uncommonly. If this

phenomenon occurs, inform to the dealer. And, when it turns out that the system is enlarged in advance, please inform our company.

(16) Fretting may occur on the axis which moving angle or moving distance move minutely, or not moves. Fretting is that the required oil film becomes hard to be formed if the moving angle is small, and wear occurs. The axis which not moved is moving slightly by vibration etc. To make no fretting recommends to move these axes about once every day the 30 degree or more, or the 20mm or more.

(17) The United Nations Recommendations on the Transport of Dangerous Goods must be observed for trans- border transportation of lithium batteries by air, sea, and land. The lithium batteries (MR-BAT6V1, Q6BAT) used in Mitsubishi industrial robots contain lithium and fall under the definition. When the lithium batteries are shipped for storage, etc., they will be classified as Class 9: Miscellaneous dan- gerous substances and articles. Please contact your transportation company and must provide appropriate transport safety measures as the customers consignor.

(18) If the air supply temperature (primary piping) used for the tool etc. is lower than ambient air temperature, the dew condensation may occur on the coupling or the hose surface.

(19) Collision detection function is valid condition for both of automatic and jog operation at shipping. So, the robot stops immediately if the robot's tool or arm interferes with a peripheral device, minimizing dam- age. Therefore, please use in the valid condition.

(20) When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for dis- infecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our prod- ucts, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

6Safety

EMC installation guideline 6-248

6.4 EMC installation guideline

6.4.1 Outlines Industrial robots are one of the components of automation systems as well as main components. This section introduces methods and parts to ensure electromagnetic compatibility (EMC) in automation systems.

We test for EMC in the environment described in this manual, but the noise level varies depending on device types, layout, control panel structure, and wiring, etc. Please make final checks for EMC.

6.4.2 EMC EMC can be broadly classified into two categories: EMI and EMS.

(1) Emission (EMI: Electromagnetic Interference)...............The capacity not to generate the disturbance noise which has a bad influence outside.

(2) Immunity (EMS: Electromagnetic Susceptibility) ..........The capacity which does not malfunction for the distur- bance noise from the outside.

Each contents are shown below.

6.4.3 EMC measures There are mainly following items in the EMC measures.

(1) Store into the sealed metal board. (2) Grounding all the conductor that have floated electrically (makes the impedance low). (3) Wiring so that the power source wire and signal wire are separated. (4) Use the shield cable for the cable which wired outside of the metal board. (5) Install the noise filter.

To suppress the noise emitted out of the board, be careful of the following item.

(1) Ensure grounding of the equipment. (2) Use the shield cable. (3) Separate the metal board electrically. Narrows the distance/hole.

The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency of cable and the distance of metal board, so it should be careful.

Item Name Contents

Emission

(EMI)

Radiative noise disturbance The electromagnetic noise etc. which are emitted to environs.

Electrical-conduction noise disturbance The electromagnetism noise etc. which flow out of the power-

supply line.

Immunity

(EMS)

Electrostatic discharge immunity test The noise from the electrified human body.

Radiated, radio-frequency, electromagnetic field

immunity test susceptibility test

The electromagnetism noise from the transceiver, the broadcast- ing station, etc.

Electrical fast transient burst immunity test The relay noise or the electromagnetism noise etc. which are

caused in power-supply ON/OFF.

Immunity to conducted distrurbances induced radio-

frequency fields

The electromagnetism noise etc. which flow in through the power

source wire and the grounding wire.

Power frequency magnetic field immunity test The electromagnetism noise with a power supply frequency of 50/

60 Hz etc.

Voltage dips, short interruptions and voltage variations

immunity test

The noise in the variation of the source voltage of the power dis- patching, etc.

Surge immunity test The electromagnetism noise by the thunderbolt, etc.

6-249 EMC installation guideline

6Safety

6.4.4 Example of EMC measures Industrial robots are designed for use with other devices. We test our industrial robots for conformity with EMC standards in the following system architecture. However, it does not mean that every system meets the require- ments of EMC standards.

Electromagnetic compatibility depends on the relationship between the industrial robot and devices in the system, wiring conditions, layout, or other factors. Therefore, check whether the entire machinery/system meets the requirements.

Fig.6-5 Example of EMC measures

1) Attach the shield tube <3> to the machine cable and ground both ends of the tube. 2) Install the ferrite cores <4> on the cable of the teaching pendant. 3) Attach the noise filters <2> and surge protector <1> to the power cable.

Table 6-4 Parts for EMC measures

6.4.5 Parts for EMC measures For details on the parts for EMC measures described on Page 249, "6.4.4 Example of EMC measures", contact

your nearest Mitsubishi branch or dealer.

No. Item Model Quantity Manufacturer

1 Surge protector LV275DI-Q4 1 OKAYA ELECTRIC INDUSTRIES CO., LTD.

2 Noise filter RSMN-2016 2 TDK-Lambda Corporation

3 Shield tube MTFX40 1 Zippertubing (Japan), Ltd.

4 Ferrite core E04SR301334 2 SEIWA ELECTRIC MFG CO.Ltd

7Appendix

Inertia calculation method Appendix-250

7 Appendix

Appendix 1 Inertia calculation method

An allowable moment of inertia in the mechanical interface at the tip of the robot arm is determined. If a load exceeding the allowable moment of inertia is put, on the tip of the arm, vibration during operation and an overload alarm may occur. Therefore, consider the matching/appropriateness of the hand and load to be mounted on the tip of the arm for the robot specifications when you select a robot. The following describes the load inertia calculation method.

Calculate the total moment of inertia about the J4 axis.

I = Iz1 + Iz2 + W1L12 + W2L22

L1

L2

W1

W2

I: total moment of inertia about the J4 axis Iz: load inertia W: mass (kg)

Rectangular shape Cylindrical shape

a2 + b2 Load inertia: Iz = W

12 r2

Load inertia: Iz = W 2

[Calculation example]

a b

r

Hand

Workpiece

Center of gravity of the hand

Center of gravity of the workpiece

Total moment of inertia about the J4 axis

I = 0.0068 + 0.0012 + 2.5 x 0.052 + 1.5 x 0.12

= 0.030 kgm2

The calculation result (0.030 kgm2) is greater than the allowable inertia (rating) of 0.01 kgm2 for RH-6FRH. However, if the center of gravity of the hand is aligned with the axis of rotation of J4 and the workpiece is held directly below the J4 axis, both L1 and L2 become zero and the total inertia around the J4 axis is calculated as follows.

I = 0.0068 + 0.0012 = 0.008 kgm2 < 0.01 kgm2

The result is smaller than the allowable inertia.

50

100

2.5kg

1.5kg

Hand Workpiece

0.152 + 0.12 Load inertia: Iz1 = 2.5

= 0.0068kgm2 = 0.0012kgm2

12 0.042

Load inertia: Iz1 =1.5 2

150 100

40

Hand

Workpiece

Center of gravity of the hand

Center of gravity of the workpiece

Appendix-251 Classification of functions using external input/output signals

7Appendix

Appendix 2 Classification of functions using external input/output signals

Before using the functions, note the following.

Table 7-1 Classification of functions using external input/output signals

Classification Function Description

Safety signal Emergency stop input Detects emergency stop inputs. The safety diagnosis function for the emergency

stop input circuit makes the STO function meet the requirements of Category 4,

PL e.

At factory settings, the STO function meets the requirements of Category 3, PL

d. To make the STO function meet the requirements of Category 4, PL e, change

the parameter setting by referring to Page 252, "Appendix 3 Safety diagnosis

function (Test pulse diagnosis)".

Mode selector switch input Switches the controller mode between MANUAL and AUTOMATIC.

Door switch input Receives the status of the switch installed on the door of the safety fence to

detect the opening of the door.

Non-safety signal Emergency stop output Monitors whether the robot is in the emergency stop state.

Mode output Monitors whether the robot operates in MANUAL or AUTOMATIC mode.

Robot error output Monitors the error status of the robot.

Additional axis synchronization

output

Synchronizes the state of the additional axes (servo ON/OFF) with that of the

robot arm.

For details, refer to Page 190, "3.8 Additional axis synchronization output".

7Appendix

Safety diagnosis function (Test pulse diagnosis) Appendix-252

Appendix 3 Safety diagnosis function (Test pulse diagnosis)

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

When using this function, connect emergency stop switches by seeing Fig. 7-2.

Make sure to prevent test pulses of this function from causing faulty operation of peripheral devices.

Fig.7-1 Test pulse diagnosis

Table 7-2 Parameter details

Fig.7-2 How to wire emergency stop lines

Item Description

Parameter name TPOEMG

Function This enables configuring the pulse output function for outputting test pulse signals from

emergency stop ports (EXTEMG11, EXTEMG21).

What parameter settings means 0: Outputs no test pulses

1: Outputs test pulses

Default 0

Appendix-253 Safety block diagram

7Appendix

Appendix 4 Safety block diagram

Fig.7-3 Safety block diagram

7Appendix

Origin position adjustment of J2 axis Appendix-254

Appendix 5 Origin position adjustment of J2 axis

When a calculated point is used for a robot's work point, the accuracy of J2 axis is important. This paragraph "Appendix 5 Origin position adjustment of J2 axis" gives the details of an origin position adjustment by the configuration flag (RIGHT/LEFT).

Fig.7-4 Origin position adjustment

For the origin position adjustment, a reference point is an axis center of a shaft. When a center of the hand is offset from a center of the shaft, the hand must be removed before the origin position adjustment.

Origin position adjustment procedure

1) Designate any point as an origin position.

2) Match the center of the shaft with the origin position in a right hand coordinate system.

3) Perform teaching work to the joint variables JR.

4) Match the center of the shaft with the origin position in a left hand coordinate system.

5) Perform teaching work to the joint variables JL.

6) Execute the following commands in the order presented.

7) Move J2 axis to 0 degrees, and check the robot position.

MDJNT_J2=(JR.J2+JL.J2)/2

JDJNT_Data=(0,0,0,0,0,0)

JDJNT_Data.J2=JDJNT_Data.J2-(MDJNT_J2)

PrmWrite 1,"DJNT",JDJNT_Data

After the origin position adjustment, an adjusted value is stored in the parameter DJNT.

For another origin position adjustment with retaining an earlier adjusted value after the first adjustment is finished, change

"JDJNT_Data=(0,0,0,0,0,0)" into "PrmRead 1,"DJNT",JDJNT_Data" before command execution.

As a repeat of command execution causes an accumulation of the adjusted values, clear the parameter DJNT back to 0 before another

origin position adjustment.

Appendix-255 Specifications discussion material (RH-3FRH series)

7Appendix

Appendix 6 Specifications discussion material (RH-3FRH series)

Customer information

Purchased model

Shipping special specifications

Options (Installable after shipment)

Maintenance parts (Consumable parts)

Robot selection check list

Company name Name

Address Telephone

Item Type Arm length Stroke Controller

General specification RH-3FRH 15-D 350 450 550 150 CR800-03HD

RH-3FRH 15-R CR800-03HR

RH-3FRH 15-Q CR800-03HQ

Clean specification RH-3FRH 12C-D 350 450 550 120 CR800-03HD

RH-3FRH 12C-R CR800-03HR

RH-3FRH 12C-Q CR800-03HQ

Item Standard specification Special shipping specifications

Controller Robot CPU unit connecting cable

10m Not provided 5m 20m 30m

Item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-01 Not provided Provided

Robot arm Machine cable (replacement) 1F- UCBL-41 Fixed type: Not provide 2m 10m 15m 20m

1F- LUCBL-41 Flexed type: Not provide 10m 15m 20m

Solenoid valve set 1F-VD0 -01 1F-VD0 E-01

Not provide 1F-VD0 -01 (Sink type): 1set 2set 3set 4set 1F-VD0 E-01 (Source type): 1set 2set 3set 4set

Hand input cable 1F-HC35C-01 Not provided Provided

Hand output cable 1F-GR60S-01 Not provided Provided

Hand curl tube 1E-ST0408C-300 Not provided Provided

External Wiring/Piping box 1F-UT-BOX Not provided Provided

Controller Simple teaching pendant R32TB- Not provided 7m 15m

Highly efficient teaching pendant R56TB- Not provided 7m 15m

Parallel I/O interface 2D-TZ368/ 2D-TZ378

Not provided 2D-TZ368(Sink type)/ -1pc. -2pc. 2D-TZ378(Source type)/ -1pc. -2pc.

External I/O cable (For parallel I/O interface)

2D-CBL (2D-TZ368/TZ378)

Not provided 5m-( )pc. 15m-( )pc.

Parallel I/O unit 2A-RZ361/ 2A-RZ371

Not provided 2A-RZ361(Sink type)/( ) unit 2A-RZ371(Source type)/( ) unit

External I/O cable (For Parallel I/O unit)

2A-CBL (2A-RZ361/RZ371)

Not provided 5m-( )pc. 15m-( )pc.

CC-Link interface 2D-TZ576 Not provided Provided

EtherNet/IP interface 2D-TZ535 Not provided Provided

PROFINET interface 2D-TZ535-PN Not provided Provided

CC-Link IE Field interface 2F-DQ535 Not provided Provided

EtherCAT interface 2F-DQ535-EC Not provided Provided

Function extension card 2F-DQ510 MELFA Smart Plus card pack (A-type): Not provided Provided

2F-DQ520 MELFA Smart Plus card pack (AB-type): Not provided Provided

2F-DQ511 MELFA Smart Plus card (A-type): Not provided Provided

2F-DQ521 MELFA Smart Plus card (B-type): Not provided Provided

SD memory card 2F-2GBSD Not provided Provided

Safety option 4F-SF002-01 Not provided Provided

Controller protection box CR800-MB Not provided Provided

RT ToolBox3 3F-14C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 mini 3F-15C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 Pro 3F-16D-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

Instructions manual 5F-GG01-PE01 Not provided Provided ( ) sets

Function extension

Force sensor set 4F-FS002H-W200 Not provided Provided

4F-FS002H-W1000 Not provided Provided

MELFA-3D Vision 3.0 3F-53U-WINM Not provided Provided

Maintenance parts Backup batteries MR-BAT6V1 ( ) pcs. Backup batteries Q6BATNote1) ( ) pcs. Grease ( ) cans

Note1) Only the CR800-Q controller is applicable.

Work description Material handling Assembly Machining L/UL Sealing Testing and inspection Other ( )

Workpiece mass ( ) Hand mass ( ) Atmosphere General environment Clean

Other ( )

Remarks

7Appendix

Specifications discussion material (RH-6FRH series) Appendix-256

Appendix 7 Specifications discussion material (RH-6FRH series)

Customer information

Purchased model

Shipping special specifications

Options (Installable after shipment)

Maintenance parts (Consumable parts)

Robot selection check list

Company name Name

Address Telephone

Item Type Arm length Stroke Controller

General specification RH-6FRH -D

350 450 550 200 340

CR800-06HD

RH-6FRH -R CR800-06HR

RH-6FRH -Q CR800-06HQ

Clean specification RH-6FRH C-D

350 450 550 200 340

CR800-06HD

RH-6FRH C-R CR800-06HR

RH-6FRH C-Q CR800-06HQ

Oil mist specification RH-6FRH M-D

350 450 550 200 340

CR800-06HD

RH-6FRH M-R CR800-06HR

RH-6FRH M-Q CR800-06HQ

Item Standard specification Special shipping specifications

Controller Robot CPU unit connecting cable

10m Not provided 5m 20m 30m

Item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-01 Not provided Provided

Robot arm

Machine cable (replacement) 1F- UCBL-41 Fixed type: Not provide 2m 10m 15m 20m

1F- LUCBL-41 Flexed type: Not provide 10m 15m 20m

Solenoid valve set 1F-VD0 -01 1F-VD0 E-01

Not provide 1F-VD0 -01 (Sink type): 1set 2set 3set 4set 1F-VD0 E-01 (Source type): 1set 2set 3set 4set

Hand input cable 1F-HC35C-01 Not provided Provided

Hand output cable 1F-GR60S-01 Not provided Provided

Hand curl tube 1E-ST0408C-300 Not provided Provided

External Wiring/Piping box 1F-UT-BOX Not provided Provided

Internal Wiring/Piping for hand 1F-HS408S-01 Not provided Provided (For 200mm stroke)

1F-HS408S-02 Not provided Provided (For 340mm stroke)

Controller Simple teaching pendant R32TB- Not provided 7m 15m

Highly efficient teaching pendant R56TB- Not provided 7m 15m

Parallel I/O interface 2D-TZ368/ 2D-TZ378

Not provided 2D-TZ368(Sink type)/ -1pc. -2pc. 2D-TZ378(Source type)/ -1pc. -2pc.

External I/O cable (For parallel I/O interface)

2D-CBL (2D-TZ368/TZ378)

Not provided 5m-( )pc. 15m-( )pc.

Parallel I/O unit 2A-RZ361/ 2A-RZ371

Not provided 2A-RZ361(Sink type)/( ) unit 2A-RZ371(Source type)/( ) unit

External I/O cable (For Parallel I/O unit)

2A-CBL (2A-RZ361/RZ371)

Not provided 5m-( )pc. 15m-( )pc.

CC-Link interface 2D-TZ576 Not provided Provided

EtherNet/IP interface 2D-TZ535 Not provided Provided

PROFINET interface 2D-TZ535-PN Not provided Provided

CC-Link IE Field interface 2F-DQ535 Not provided Provided

EtherCAT interface 2F-DQ535-EC Not provided Provided

Function extension card 2F-DQ510 MELFA Smart Plus card pack (A-type): Not provided Provided

2F-DQ520 MELFA Smart Plus card pack (AB-type): Not provided Provided

2F-DQ511 MELFA Smart Plus card (A-type): Not provided Provided

2F-DQ521 MELFA Smart Plus card (B-type): Not provided Provided

SD memory card 2F-2GBSD Not provided Provided

Safety option 4F-SF002-01 Not provided Provided

Controller protection box CR800-MB Not provided Provided

RT ToolBox3 3F-14C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 mini 3F-15C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 Pro 3F-16D-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

Instructions manual 5F-GG01-PE01 Not provided Provided ( ) sets

Function extension

Force sensor set 4F-FS002-W200 Not provided Provided

4F-FS002-W1000 Not provided Provided

MELFA-3D Vision 3.0 3F-53U-WINM Not provided Provided

Maintenance parts Backup batteries MR-BAT6V1 ( ) pcs. Backup batteries Q6BATNote1) ( ) pcs. Grease ( ) cans

Note1) Only the CR800-Q controller is applicable.

Work description Material handling Assembly Machining L/UL Sealing Testing and inspection Other ( )

Workpiece mass ( ) Hand mass ( )

Atmosphere General environment Clean Oil mist:

Confirm oil proof request (Oil name: )/ not request Note1) Other ( )

Note1) Refer to Page 54, "2.2.8 Protection specifications" about oil resistance.

Remarks

Appendix-257 Specifications discussion material (RH-12FRH series)

7Appendix

Appendix 8 Specifications discussion material (RH-12FRH series)

Customer information

Purchased model

Shipping special specifications

Options (Installable after shipment)

Maintenance parts (Consumable parts)

Robot selection check list

Company name Name

Address Telephone

Item Type Arm length Stroke Controller

General specification RH-12FRH -D

550 700 850 350 450

CR800-12HD

RH-12FRH -R CR800-12HR

RH-12FRH -Q CR800-12HQ

Clean specification RH-12FRH C-D

550 700 850 350 450

CR800-12HD

RH-12FRH C-R CR800-12HR

RH-12FRH C-Q CR800-12HQ

Oil mist specification RH-12FRH M-D

550 700 850 350 450

CR800-12HD

RH-12FRH M-R CR800-12HR

RH-12FRH M-Q CR800-12HQ

Item Standard specification Special shipping specifications

Controller Robot CPU unit connecting cable

10m Not provided 5m 20m 30m

item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-02 Not provided Provided

Robot arm

Machine cable (replacement) 1F- UCBL-41 Fixed type: Not provide 2m 10m 15m 20m

1F- LUCBL-41 Flexed type: Not provide 10m 15m 20m

Solenoid valve set 1S-VD0 -01 1S-VD0 E-01

Not provide 1S-VD0 -01 (Sink type): 1set 2set 3set 4set 1S-VD0 E-01 (Source type): 1set 2set 3set 4set

Hand input cable 1F-HC35C-02 Not provided Provided

Hand output cable 1F-GR60S-01 Not provided Provided

Hand curl tube 1N-ST0608C-01 Not provided Provided

External Wiring/Piping box 1F-UT-BOX-01 Not provided Provided

Internal Wiring/Piping for hand 1F-HS604S-01 Not provided Provided (For 350mm stroke)

1F-HS604S-02 Not provided Provided (For 450mm stroke)

Controller Simple teaching pendant R32TB- Not provided 7m 15m

Highly efficient teaching pendant R56TB- Not provided 7m 15m

Parallel I/O interface 2D-TZ368/ 2D-TZ378

Not provided 2D-TZ368(Sink type)/ -1pc. -2pc. 2D-TZ378(Source type)/ -1pc. -2pc.

External I/O cable (For parallel I/O interface)

2D-CBL (2D-TZ368/TZ378)

Not provided 5m-( )pc. 15m-( )pc.

Parallel I/O unit 2A-RZ361/ 2A-RZ371

Not provided 2A-RZ361(Sink type)/( ) unit 2A-RZ371(Source type)/( ) unit

External I/O cable (For Parallel I/O unit)

2A-CBL (2A-RZ361/RZ371)

Not provided 5m-( )pc. 15m-( )pc.

CC-Link interface 2D-TZ576 Not provided Provided

EtherNet/IP interface 2D-TZ535 Not provided Provided

PROFINET interface 2D-TZ535-PN Not provided Provided

CC-Link IE Field interface 2F-DQ535 Not provided Provided

EtherCAT interface 2F-DQ535-EC Not provided Provided

Function extension card 2F-DQ510 MELFA Smart Plus card pack (A-type): Not provided Provided

2F-DQ520 MELFA Smart Plus card pack (AB-type): Not provided Provided

2F-DQ511 MELFA Smart Plus card (A-type): Not provided Provided

2F-DQ521 MELFA Smart Plus card (B-type): Not provided Provided

SD memory card 2F-2GBSD Not provided Provided

Safety option 4F-SF002-01 Not provided Provided

Controller protection box CR800-MB Not provided Provided

RT ToolBox3 3F-14C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 mini 3F-15C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 Pro 3F-16D-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

Instructions manual 5F-GG01-PE01 Not provided Provided ( ) sets

Function extension

Force sensor set 4F-FS002-W200 Not provided Provided

4F-FS002-W1000 Not provided Provided

MELFA-3D Vision 3.0 3F-53U-WINM Not provided Provided

Maintenance parts Backup batteries MR-BAT6V1 ( ) pcs. Backup batteries Q6BATNote1) ( ) pcs. Grease ( ) cans

Note1) Only the CR800-Q controller is applicable.

Work description Material handling Assembly Machining L/UL Sealing Testing and inspection Other ( )

Workpiece mass ( ) Hand mass ( )

Atmosphere General environment, Clean Oil mist:

Confirm oil proof request (Oil name: )/ not requestNote1) Dusts (Please take measures such as a jacket.), Chemicals (Please consult), Other ( )

Note1) Refer to Page 54, "2.2.8 Protection specifications" about oil resistance.

Remarks

7Appendix

Specifications discussion material (RH-20FRH series) Appendix-258

Appendix 9 Specifications discussion material (RH-20FRH series)

Customer information

Purchased model

Shipping special specifications

Options (Installable after shipment)

Maintenance parts (Consumable parts)

Robot selection check list

Company name Name

Address Telephone

Item Type Arm length Stroke Controller

General specification RH-20FRH -D

850 1000 350 450

CR800-20HD

RH-20FRH -R CR800-20HR

RH-20FRH -Q CR800-20HQ

Clean specification RH-20FRH C-D

850 1000 350 450

CR800-20HD

RH-20FRH C-R CR800-20HR

RH-20FRH C-Q CR800-20HQ

Oil mist specification RH-20FRH M-D

850 1000 350 450

CR800-20HD

RH-20FRH M-R CR800-20HR

RH-20FRH M-Q CR800-20HQ

Item Standard specification Special shipping specifications

Controller Robot CPU unit connecting cable

10m Not provided 5m 20m 30m

item Type Provision, and specifications when provided.

J1 axis operating range change 1F-DH-02 Not provided Provided

Robot arm

Machine cable (replacement) 1F- UCBL-41 Fixed type: Not provide 2m 10m 15m 20m

1F- LUCBL-41 Flexed type: Not provide 10m 15m 20m

Solenoid valve set 1S-VD0 -01 1S-VD0 E-01

Not provide 1S-VD0 -01 (Sink type): 1set 2set 3set 4set 1S-VD0 E-01 (Source type): 1set 2set 3set 4set

Hand input cable 1F-HC35C-02 Not provided Provided

Hand output cable 1F-GR60S-01 Not provided Provided

Hand curl tube 1N-ST0608C-01 Not provided Provided

External Wiring/Piping box 1F-UT-BOX-01 Not provided Provided

Internal Wiring/Piping for hand 1F-HS604S-01 Not provided Provided (For 350mm stroke)

1F-HS604S-02 Not provided Provided (For 450mm stroke)

Controller Simple teaching pendant R32TB- Not provided 7m 15m

Highly efficient teaching pendant R56TB- Not provided 7m 15m

Parallel I/O interface 2D-TZ368/ 2D-TZ378

Not provided 2D-TZ368(Sink type)/ -1pc. -2pc. 2D-TZ378(Source type)/ -1pc. -2pc.

External I/O cable (For parallel I/O interface)

2D-CBL (2D-TZ368/TZ378)

Not provided 5m-( )pc. 15m-( )pc.

Parallel I/O unit 2A-RZ361/ 2A-RZ371

Not provided 2A-RZ361(Sink type)/( ) unit 2A-RZ371(Source type)/( ) unit

External I/O cable (For Parallel I/O unit)

2A-CBL (2A-RZ361/RZ371)

Not provided 5m-( )pc. 15m-( )pc.

CC-Link interface 2D-TZ576 Not provided Provided

EtherNet/IP interface 2D-TZ535 Not provided Provided

PROFINET interface 2D-TZ535-PN Not provided Provided

CC-Link IE Field interface 2F-DQ535 Not provided Provided

EtherCAT interface 2F-DQ535-EC Not provided Provided

Function extension card 2F-DQ510 MELFA Smart Plus card pack (A-type): Not provided Provided

2F-DQ520 MELFA Smart Plus card pack (AB-type): Not provided Provided

2F-DQ511 MELFA Smart Plus card (A-type): Not provided Provided

2F-DQ521 MELFA Smart Plus card (B-type): Not provided Provided

SD memory card 2F-2GBSD Not provided Provided

Safety option 4F-SF002-01 Not provided Provided

Controller protection box CR800-MB Not provided Provided

RT ToolBox3 3F-14C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 mini 3F-15C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 Pro 3F-16D-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

Instructions manual 5F-GG01-PE01 Not provided Provided ( ) sets

Function extension

Force sensor set 4F-FS002-W200 Not provided Provided

4F-FS002-W1000 Not provided Provided

MELFA-3D Vision 3.0 3F-53U-WINM Not provided Provided

Maintenance parts Backup batteries MR-BAT6V1 ( ) pcs. Backup batteries Q6BATNote1) ( ) pcs. Grease ( ) cans

Note1) Only the CR800-Q controller is applicable.

Work description Material handling Assembly Machining L/UL Sealing Testing and inspection Other ( )

Workpiece mass ( ) Hand mass ( )

Atmosphere General environment, Clean Oil mist:

Confirm oil proof request (Oil name: )/ not requestNote1) Dusts (Please take measures such as a jacket.), Chemicals (Please consult), Other ( )

Note1) Refer to Page 54, "2.2.8 Protection specifications" about oil resistance.

Remarks

Appendix-259 Specifications discussion material (RH-3FRHR series)

7Appendix

Appendix 10 Specifications discussion material (RH-3FRHR series)

Customer information

Purchased model

Shipping special specifications

Options (Installable after shipment)

Maintenance parts (Consumable parts)

Robot selection check list

Company name Name

Address Telephone

Item Type Arm length Stroke Controller

General specification RH-3FRHR3515-D

350 150

CR800-03HRD

RH-3FRHR3515-R CR800-03HRR

RH-3FRHR3515-Q CR800-03HRQ

Clean specification RH-3FRHR3512C-D

350 120

CR800-03HRD

RH-3FRHR3512C-R CR800-03HRR

RH-3FRHR3512C-Q CR800-03HRQ

Waterproof specification RH-3FRHR3512W-D

350 120

CR800-03HRD

RH-3FRHR3512W-R CR800-03HRR

RH-3FRHR3512W-Q CR800-03HRQ

Item Standard specification Special shipping specifications

Controller Robot CPU unit connecting cable

10m Not provided 5m 20m 30m

item Type Provision, and specifications when provided.

Stopper for changing the operating range

1S-DH-05J1 Not provided Provided

1S-DH-05J2 Not provided Provided

Robot arm

Machine cable (replacement) 1F- UCBL-41 Fixed type: Not provide 2m 10m 15m 20m

1F- LUCBL-41 Flexed type: Not provide 10m 15m 20m

Solenoid valve set 1S-VD04-05 1S-VD04E-05

Standard specification: Not provide 1S-VD04-05 (Sink type) 1S-VD04E-05(Source type)

1S-VD04W-05 1S-VD04WE-05

Clean/Waterproof specification: Not provide 1S-VD04W-05 (Sink type) 1S-VD04WE-05(Source type)

Hand input cable 1S-HC00S-01 Not provided Provided

Hand output cable 1S-GR35S-02 Not provided Provided

Hand tube 1S-ST0304S Not provided Provided

Controller Simple teaching pendant R32TB- Not provided 7m 15m

Highly efficient teaching pendant R56TB- Not provided 7m 15m

Parallel I/O interface 2D-TZ368/ 2D-TZ378

Not provided 2D-TZ368(Sink type)/ -1pc. -2pc. 2D-TZ378(Source type)/ -1pc. -2pc.

External I/O cable (For parallel I/O interface)

2D-CBL (2D-TZ368/TZ378)

Not provided 5m-( )pc. 15m-( )pc.

Parallel I/O unit 2A-RZ361/ 2A-RZ371

Not provided 2A-RZ361(Sink type)/( ) unit 2A-RZ371(Source type)/( ) unit

External I/O cable (For Parallel I/O unit)

2A-CBL (2A-RZ361/RZ371)

Not provided 5m-( )pc. 15m-( )pc.

CC-Link interface 2D-TZ576 Not provided Provided

EtherNet/IP interface 2D-TZ535 Not provided Provided

PROFINET interface 2D-TZ535-PN Not provided Provided

CC-Link IE Field interface 2F-DQ535 Not provided Provided

EtherCAT interface 2F-DQ535-EC Not provided Provided

Function extension card 2F-DQ510 MELFA Smart Plus card pack (A-type): Not provided Provided

2F-DQ520 MELFA Smart Plus card pack (AB-type): Not provided Provided

2F-DQ511 MELFA Smart Plus card (A-type): Not provided Provided

2F-DQ521 MELFA Smart Plus card (B-type): Not provided Provided

SD memory card 2F-2GBSD Not provided Provided

Safety option 4F-SF002-01 Not provided Provided

Controller protection box CR800-MB Not provided Provided

RT ToolBox3 3F-14C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 mini 3F-15C-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

RT ToolBox3 Pro 3F-16D-WINE Not provided Windows 7/8/8.1/10 English DVD-ROM

Instructions manual 5F-GG01-PE01 Not provided Provided ( ) sets

Function extension

Force sensor set 4F-FS002-W200 Not provided Provided

4F-FS002-W1000 Not provided Provided

MELFA-3D Vision 3.0 3F-53U-WINM Not provided Provided

Maintenance parts Backup batteries MR-BAT6V1 ( ) pcs. Backup batteries Q6BATNote1) ( ) pcs. Grease ( ) cans

Note1) Only the CR800-Q controller is applicable.

Work description Material handling Assembly Machining L/UL Sealing Testing and inspection Other ( )

Workpiece mass ( ) Hand mass ( )

Atmosphere General environment, Clean Oil mist:

Confirm oil proof request (Oil name: )/ not requestNote1) Dusts (Please take measures such as a jacket.), Chemicals (Please consult), Other ( )

Note1) Refer to Page 54, "2.2.8 Protection specifications" about oil resistance.

Manualsnet FAQs

If you want to find out how the RH-3FRH Mitsubishi works, you can view and download the Mitsubishi RH-3FRH Robot Specification Manual on the Manualsnet website.

Yes, we have the Specification Manual for Mitsubishi RH-3FRH as well as other Mitsubishi manuals. All you need to do is to use our search bar and find the user manual that you are looking for.

The Specification Manual should include all the details that are needed to use a Mitsubishi RH-3FRH. Full manuals and user guide PDFs can be downloaded from Manualsnet.com.

The best way to navigate the Mitsubishi RH-3FRH Robot Specification Manual is by checking the Table of Contents at the top of the page where available. This allows you to navigate a manual by jumping to the section you are looking for.

This Mitsubishi RH-3FRH Robot Specification Manual consists of sections like Table of Contents, to name a few. For easier navigation, use the Table of Contents in the upper left corner.

You can download Mitsubishi RH-3FRH Robot Specification Manual free of charge simply by clicking the “download” button in the upper right corner of any manuals page. This feature allows you to download any manual in a couple of seconds and is generally in PDF format. You can also save a manual for later by adding it to your saved documents in the user profile.

To be able to print Mitsubishi RH-3FRH Robot Specification Manual, simply download the document to your computer. Once downloaded, open the PDF file and print the Mitsubishi RH-3FRH Robot Specification Manual as you would any other document. This can usually be achieved by clicking on “File” and then “Print” from the menu bar.