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Mitsubishi Electric CR800-05VD Standard Specifications Manual
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Mitsubishi Electric CR800-05VD Standard Specifications Manual

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RV-5AS-D Standard Specifications Manual
BFP-A3727-A

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Summary of Contents for Mitsubishi Electric CR800-05VD

  • Page 1 Mitsubishi Electric Industrial Robot CR800-05VD Controller RV-5AS-D Standard Specifications Manual BFP-A3727-A...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Collaborative Robot Safety Manual" before starting use of the robot to learn the required measures to be taken. ■Basic precautions and important points when using collaborative robots Collaborative robots have a variety of safety functions, so unlike conventional industrial robots, they can work in the same space as humans without being separated by a machine guard.
  • Page 4 ■Revision history Date of print Specifications No. Details of revisions 2020-04-10 BFP-A3727 • First print. 2020-07-30 BFP-A3727-A • Revised the battery name.
  • Page 5 • Referenced Standard (Requirement of Chinese standardized law): This Product is designed and manufactured accordance with GB 11291.1. • Illustrations in this Instruction Manual may differ from the actual products. Copyright(C) 2020 MITSUBISHI ELECTRIC CORPORATION...

  • Page 6: Table Of Contents

    Contents Page 1 General configuration ........................1-1 1.1 Structural equipment ......................... 1-1 1.1.1 Standard structural equipment .................... 1-1 1.1.2 Options ..........................1-1 1.1.3 Maintenance parts ......................1-1 1.2 Model type name of robot ......................1-2 1.2.1 How to identify the robot model ..................1-2 1.3 Contents of the structural equipment ..................
  • Page 7 Page 3 Controller ............................3-41 3.1 Standard specifications ......................3-41 3.1.1 Basic specifications ......................3-41 (1) CR800-05VD controller ....................3-41 (2) Safety extension unit ............3-43 3.1.2 Protection specifications and operating supply ..............3-45 (1) Protection specifications ....................3-45 (2) Operating supply ......................3-45 3.2 Names of each part .........................
  • Page 8 Contents Page 7Appendix .......................... Appendix-105 Appendix 1: Inertia calculation method ................Appendix-105 (1) Load moment calculation example (for J5 axis with flange facing downwards) ..Appendix- (2) Load inertia calculation example (for J6 axis) ..........Appendix-105 Appendix 2: Classification of external I/O functions ............Appendix-106 Appendix 3: Safety diagnosis function (test pulse diagnosis) ........

  • Page 9: General Configuration

    1 General configuration 1 General configuration 1.1 Structural equipment Structural equipment consists of the following types. 1.1.1 Standard structural equipment The following items are enclosed as a standard. 1) Robot arm 2) Controller 3) Machine cable 4) Safety extension unit 5) Robot arm installation bolts 6) CD-ROM (Instruction manual) 1.1.2 Options...

  • Page 10: Model Type Name Of Robot

    1 General configuration 1.2 Model type name of robot This robot has arranged the type name corresponding to load mass, arm length, and environment specifica- tion. 1.2.1 How to identify the robot model RV - ◊ AS - D (b) (c) 　 　 (d) (a) RV .........

  • Page 11: Contents Of The Structural Equipment

    1 General configuration 1.3 Contents of the structural equipment 1.3.1 Robot arm The list of structural equipment is shown in below. 6-axis vertical multi-joint robot (RV-5AS-D) Machine cable (Fixed type: 5m) Machine cable (replacement) • Fixed type: 1F-□□UCBL-41 * Refer to Page 12, "2.1 Standard specifications"...

  • Page 12: Controller

    1 General configuration 1.3.2 Controller The devices shown below can be installed on the controller. Controller Teaching pendant (T/B) • CR800-05VD • R32TB Parallel I/O interface Safety extension unit CC-Link interface 2D-TZ368 (Sink) • 4F-SFUNIT 2D-TZ576 High efficient teaching 2D-TZ378 (Source) pendant (T/B) •...

  • Page 13: Function Extension Device

    1 General configuration 1.3.3 Function extension device These devices (option) are used to extend the function of the robot. Force sensor set MELFA-3D Vision • 4F-3DVS2-PKG3 • 4F-FS002H-W200 Fig.1-3: Function extension device...

  • Page 14: Minimum Equipment Required To Operate The Robot

    Refer to the emergency stop switch catalog to select a con- nector cable. Note1) Earth-leakage circuit breaker Recommended product: Single phase NV30FAU-2P-10A- AC100-240V-30mA (manufactured by Mitsubishi Electric) Make sure to attach the TCS-05FA2 terminal cover (manu- factured by Mitsubishi Electric). Note1) Primary power supply connection cable Min.
  • Page 15 1 General configuration Name Specifications/Recommended products Note1) 24 V power supply cable Recommended cable specifications • Conductor size: 0.5 to 1.42 mm (20 to 16 AWG) • Outer sheath diameter: 1.8 to 2.8 mm • Shielded Robot grounding cable Min. size: #11 AWG (4.2 mm Electric hand Use manipulators that satisfy the needs of the customer.

  • Page 16: Contents Of The Option Equipment

    1 General configuration 1.4 Contents of the Option equipment A list of all Optional equipment is shown below. 1.4.1 List of the robot arm option equipment Table 1-2: The list of robot option equipment Item Type Specifications Description Machine cable 1F-□□UCBL-41 For fixing "...

  • Page 17: Function Extension Device

    1.4.4 Recommended vision sensors Table 1-5: List of recommended vision sensors Inquiries (As of April Type name Manufacturer Remarks 2020) VS80M-202 Mitsubishi Electric Mitsubishi Electric Only available in Japan. ® VS80M-202-R Mitsubishi Electric Mitsubishi Electric Supports PatMax RedLine ®...

  • Page 18: Recommended Hands

    1 General configuration 1.4.5 Recommended hands Table 1-6: List of recommended hands Type name Manufacturer Inquiries (As of April 2020) Remarks Co-act EGP-C40 N-N- SCHUNK Europe Electric hand Assista SCHUNK GmbH & Co. KG Weight: 885 g (including installation parts Bahnhofstrase 106-134, 74348 and the fingers) Lauffen/Neckar, Germany...
  • Page 19 [Reference]:The recommendation products of the USB cable are shown below Table 1-7: Recommendation article of the USB cable Outside Name Type name Supplier dimensions USB cable MITSUBISHI ELECTRIC SYSTEM & SERVICE GT09-C30USB-5P Fig. 1-5 (USB A type-USB mini B type) CO., LTD. MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD. Fig. 1-6 Caution Be careful to the USB cable to apply neither the static electricity nor the noise.

  • Page 20: Robot Arm

    2 Robot arm 2 Robot arm 2.1 Standard specifications 2.1.1 Basic specifications Table 2-1: Standard specifications of RV-5AS-D robot Item Unit Specifications Type RV-5AS-D Environment Oil mist environments Degree of freedom Installation posture Floor mounted / ceiling mounted Structure Vertical, multiple-joint type Drive system AC servo motor (brake provided on all axes) Position detection method...

  • Page 21: The Counter-Force Applied To The Installation Surface

    Note7) The protection performance may not be ensured depending on the oil characteristics. Please consult the dealer. Note8) Clean-room specifications are based on values acquired from Mitsubishi Electric's in-house tests. Note9) For further information on the meaning of each color, refer to Page 21, "2.3.2 Status indicator...

  • Page 22: Definition Of Specifications

    2 Robot arm 2.2 Definition of specifications The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as fol- lows. 2.2.1 Pose repeatability For this robot, the pose repeatability is given in accordance with JIS B 8432 (Pose repeatability). Note that the value is based on 100 measurements (although 30 measurements are required according to JIS).

  • Page 23: Rated Load (Mass Capacity)

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

  • Page 24: Relationships Among Mass Capacity, Speed, And Acceleration/Deceleration Speed

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

  • Page 25: Collision Detection

    2 Robot arm 2.2.5 Collision detection This series of robots has the "Collision detection function", which detects torque differences caused by colli- sions with the robot arm. This function is set to "disabled" from the factory. It is not a safety function. This function can be enabled/disabled with the COL parameter or ColChk command.

  • Page 26: About The Use With The Bad Environment

    2 Robot arm (2) About the use with the bad environment This robot has protection methods that conform to IEC IP54 standards. Usage conditions are shown below. 1) The robot is designed for use in combination with machining device. 2) The inside of the robot arm can be pressurized to ensure that the robot reliably meets IP54 beyond the warranty period.

  • Page 27: Names Of Each Part Of The Robot

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

  • Page 28: Operation Buttons

    2 Robot arm 2.3.1 Operation buttons Operation buttons are located on the top of the forearm. Button Description Hold for 2+ seconds to turn direct teaching On/Off. Press once to change the direct teaching mode. Press once to teach a position. RT VisualBox is required for it to be possible to teach positions using this button.

  • Page 29: Status Indicator Led

    2 Robot arm 2.3.2 Status indicator LED The status indicator LED is located on the forearm. Status indicator LED Description Color Flashing Low-level error High level error Yellow Warning (Low-speed operation/Standard opera- Warning (High-speed operation) Note1) tion) Blue Stopped (Low-speed operation/Standard operation) Stopped (High-speed operation) Green Collaborative operation mode (Low-speed operation) Collaborative operation mode (Standard operation)
  • Page 30 2 Robot arm Description Color Flashing White High-speed operation: SFMODE output signal (default setting: 6) = ON During operation: START output signal (default set- ting: 0) = ON Green Low-speed operation: SFMODE output signal Standard operation: SFMODE output signal (default (default setting: 8) = ON setting: 7) = ON During operation: START output signal (default set-...

  • Page 31: Outside Dimension • Operating Range Diagram

    2 Robot arm 2.4 Outside dimension • Operating range diagram Rev.* (318) (625) (311) 70.5 Space required to connect cable Minimum 274 φ5H7 depth 8 （135） 4-M5 screw depth 8 67.5 67.5 (Installation surface) (80) Ra6.3 4-φ9 installation hole View A: Detail of mechanical interface View B: Detailed installation dimensions *1) The depth in which the screw is tightened is 7.5 to 8mm.
  • Page 32 2 Robot arm ■Marking and rating plate (Opposite side) Fig.2-4: Locations of the marking and rating plate Table 2-7: Details of the marking and rating plate Description Details Rating plate Robot model Load capacity Arm reach Mass (kg/lb) Serial No. Date of manufacture Motor power...
  • Page 33 2 Robot arm The following figure shows a robot at the position of: J1=0°, J2=0°, J3=90°, J4=0°, J5=0°, and J6=0° (Rev.*) P-point path P point Operating range for each axis: J1: ±240° J2: ±148° J3: ±150° J4: ±200° J5: ±120° J6: ±200°...

  • Page 34: Outside Dimensions Of Machine Cables

    2 Robot arm 2.4.1 Outside dimensions of machine cables [Controller side] [Robot arm] Approx.73 Approx.57 Mass: 5kg Approx.101 Minimum bending radius: 150mm Cable 150mm 2-26 Outside dimension • Operating range diagram...

  • Page 35: Tooling

    2 Robot arm 2.5 Tooling 2.5.1 Wiring and piping for hand Shows the wiring and piping configuration for a standard-equipped hand. Mechanical interface (1) Secondary AIROUT ports 1 to 4 Plug size: M3 Hose diameter: φ4 Enlarged view of secondary (3) Force sensor cable connector AIROUT ports (FS)
  • Page 36 2 Robot arm Table 2-8: Connector and pneumatic coupling Robot side (Robot arm Counter side (customer- side) prepared) Remarks Name Qty. Manufacturer Connectors, couplings Connectors, couplings Plug PF-M3 KQ2S04-M3G Remove the plugs (PF- M3) and install KQ2S04- M3G couplings. Coupling UKBL6 Koganei Corp.

  • Page 37: Internal Wiring And Piping

    2 Robot arm 2.5.2 Internal wiring and piping (1) Internal pneumatic plumbing 1) Primary plumbing consists of two φ6 air hoses that run internally from the air inlet port at the base of the robot to the interior of the base. The ends of the air hoses connect internally to two φ6 couplings on the side of the robot base.

  • Page 38: Wiring And Piping System Diagram For Hand

    2 Robot arm 2.5.3 Wiring and piping system diagram for hand The numbers 1 to 8 in this diagram correspond with the numbers in Table 2-8. (2)Φ6 quick coupling Air hose (φ6) Connection to the φ6 AIR IN primary air supply Air hose (φ6) nozzle (φ6) φ6...

  • Page 39: Electrical Specifications Of Hand Input/Output

    2 Robot arm 2.5.4 Electrical specifications of hand input/output Table 2-9: Electrical specifications of input circuit Item Specifications Internal circuit <Sink type> Type DC input No. of input points Insulation method Photo-coupler insulation Rated input voltage 24VDC Rated input current approx.7mA Working voltage range 10.2VDC to 26.4VDC (ripple rate within 5%)

  • Page 40: Air Supply Circuit Example For The Hand

    2 Robot arm 2.5.5 Air supply circuit example for the hand An example of pneumatic supply circuitry for the hand is shown below. 1) Make sure that a surge voltage protection circuit such as a diode is connected to the solenoid coil in parallel.

  • Page 41: Options

    2 Robot arm 2.6 Options ■What are options? There are a variety of options for the robot designed to make the setting up process easier for customer needs. customer installation is required for the options. Options 2-33...

  • Page 42: Machine Cable (Replacement)

    2 Robot arm (1) Machine cable (replacement) Fixed type: 1F-□□UCBL-41 ■Order type: ● Note) The numbers in the boxes □□ refer the length. ■Outline Replace the enclosed 5 m standard machine cables (fixed type) with these cables to reduce or extend the distance between the controller and the robot arm. ■Configuration Table 2-11: Configuration equipment and types Mass (kg)

  • Page 43: Solenoid Valve Set

    2 Robot arm (2) Solenoid valve set ■Order type: One set: 1F-VD01-01(Sink type)/1F-VD01E-01(Source type) Two sets: 1F-VD02-01(Sink type)/1F-VD02E-01(Source type) ■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.
  • Page 44 2 Robot arm 80 mm 50 mm <Sink type> <Source type> Connector name Connector name <GR1> <GR1> White White +24V(COM) Reserved Reserved Black SOL1A SOL1A Black Black SOL1B SOL1B Black Black SOL2A SOL2A Black Reserved Reserved Black Reserved Reserved SOL2B SOL2B Black Part name...

  • Page 45: 2-Piece Force Sensor Conversion Cable Set

    2 Robot arm (3) 2-piece force sensor conversion cable set ■Order type: 1F-ASSISTA-ADCBL ■Outline This cable set includes a conversion cable for connecting a force sensor to the robot hand and a conversion cable for connecting a force sense interface unit to the base of the robot.

  • Page 46: Vision Sensor Mounting Bracket

    2 Robot arm (4) Vision sensor mounting bracket ■Order type: 1F-ASSISTA-2DVSFLG ■Outline Bracket required to connect a 2D vision sensor to the hand. Fig. 2-11 shows the mounting of a vision sensor using the bracket. Fig.2-11: Mounting of the vision sensor CAUTION Align the key of the vision sensor cable connector with the keyway of the receptacle on the robot before connecting the cable.

  • Page 47: About Overhaul

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

  • Page 48: Maintenance Parts

    2 Robot arm 2.8 Maintenance parts As with any other machine, prolonged use of industrial robots causes their parts to wear and degrade, ulti- mately causing failure. Periodic maintenance and inspection is required to prevent failure and keep the robot running smoothly over long periods of time. For further information on maintenance and inspection, refer to the section "Maintenance and Inspection"...

  • Page 49: Controller

    3 Controller 3 Controller 3.1 Standard specifications 3.1.1 Basic specifications (1) CR800-05VD controller Table 3-1: CR800-05VD controller specifications of controller Item Unit Specification Remarks Type CR800-05VD Note1) Number of control axis Simultaneously 6 Memory Programmed positions point 39,000 Number of program blocks when...
  • Page 50 Equivalent to Munsell: 3.5PB3.2/0.8, PANTONE: 432C Note1) Refer to the CR800-D controller Instruction Manual if the CR800-05VD controller is not mentioned in other Instruction Manuals related to this product. For further information refer to Page 92, "5.1 The details of each instruction manuals"page 81 "5.1 The details of each instruction manuals".

  • Page 51: Safety Extension Unit

    3 Controller (2) Safety extension unit Item Description Remarks Safety STO function The function electrically shuts off the driving IEC 60204-1 function energy to the motor of the robot arm. Corresponds to stop category 0 Note1) SS1 function The function to control and decelerate the IEC 60204-1 motor speeds of the robot.
  • Page 52 3 Controller Item Description Remarks Safety Power supply Voltage 24 V DC±5% Supplied by customer extension specifications Ripple 0.2 V (P-P) unit Maximum 300 mA consumption current Structure (IP rating) IP20 Weight 0.8kg Environment Operating 0 to 40°C It must be kept away from heat appli- temperature ances and other heat sources.

  • Page 53: Protection Specifications And Operating Supply

    3 Controller 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.

  • Page 54: Names Of Each Part

    3 Controller 3.2 Names of each part 3.2.1 CR800-05VD controller Controller front Air intake for fan <18> <19> <20> <6> <21> <7> <8> <9> <10> <11> <12> <13> <14> <15> <16> <17> Controller rear Air exhaust <1> <3> <2> Air exhaust <5>...
  • Page 55 3 Controller <7> LED ..........Four LEDs indicating the controller status. Details POWER Indicates the control power status. On: Control power ON Off: Control power OFF AUTO Indicates the controller mode. On: AUTOMATIC mode Off: MANUAL mode ERROR Indicates the error status. On: Error occurred.

  • Page 56: Safety Extension Unit

    3 Controller 3.2.2 Safety extension unit <9> <10> <16> <3> <4> <5> <1> <6> <15> <13> <2> <12> <7> <11> <8> <14> Fig.3-2: Names of safety extension unit parts <1> DCIN connector ......Socket used to connect the supplied DCIN cable (input voltage: 24 VDC) <2>...

  • Page 57: Outside Dimensions/Installation Dimensions

    3 Controller 3.3 Outside dimensions/Installation dimensions 3.3.1 Outside dimensions (1) CR800-05VD controller (30) Fig.3-3: Outside dimensions of controller Outside dimensions/Installation dimensions 3-49...
  • Page 58 3 Controller ■Warning labels and rating plate Fig.3-4: Location of the warning labels and rating plate Table 3-2: Details of the warning labels and rating plate Description Details External emergency stop switch, The input terminal of Emergency stop switch [1], Door switch [2], and Selector switch door switch, and selector switch [3] is open (unconnected).
  • Page 59 3 Controller Description Details IP rating of the robot controller IP20 Protection rating of the controller corresponds to IP20. External emergency stop switch, The input terminal of Emergency stop switch [1], Door switch [2], and Selector switch door switch, and selector switch [3] is open (unconnected).

  • Page 60: Safety Extension Unit

    3 Controller (2) Safety extension unit 3-M5 screw hole (*1) Fig.3-5: Safety extension unit external dimensions Fix the safety extension unit in place using either of the following: a) The holes indicated by "*1" in the diagram above b) A DIN rail located in an area that is free of vibration 3-52 Outside dimensions/Installation dimensions...

  • Page 61: Installation Dimensions

    3 Controller 3.3.2 Installation dimensions The following figures show the dimensions required installing the controller. For the placement of the controller on its side (the horizontal installation), two stacks is permitted. Horizontal installation Air intake 145mm 145mm 170mm 150mm Vertical installation 20mm 50mm 150mm...
  • Page 62 3 Controller CAUTION When storing the controller in a cabinet, etc., take special care to the heat radiating properties and ventilation properties so that the ambient temperature remains within the specification values. And, don't install the controller in the position where direct rays or the heat of lighting hits.

  • Page 63: External Input/Output

    3 Controller 3.4 External input/output 3.4.1 Types (1) Dedicated input/output..... These inputs and outputs carry out the robot remote operation and status display. (2) General-purpose input/output..These are inputs and outputs that the customer can program for peripheral device control. (3) Hand input/output ......

  • Page 64: Dedicated Input/Output

    3 Controller 3.5 Dedicated input/output Show the main function of dedicated input/output in the Table 3-3. Refer to attached instruction manual "Detailed explanations of functions and operations" in the product for the other functions. Each parameter indicated with the parameter name is used by designated the signal No., assigned in the order of input signal No.
  • Page 65 3 Controller Input Output Parameter Note1) name Name Function Level Name Function S1START Outputs the operating state for each Start input Starts each slot. In operation output slot. S32START S1STOP Outputs that each slot is temporarily Stop input Stops each slot. In wait output stopped.
  • Page 66 3 Controller Input Output Parameter Note1) name Name Function Level Name Function AIRERR1 Pneumatic Pneumatic pressure pressure error 1 error 1 output input signal signal. Request the pneumatic pressure Outputs that a pneumatic pressure error occurrence. error is occurring. AIRERR3 Pneumatic Pneumatic pressure pressure error 3...

  • Page 67: Emergency Stop Input And Output Etc

    3 Controller 3.6 Emergency stop input and output etc. Do wiring of the external emergency stop, the special stop input, the door switch, and the mode selector switch from the "special input/output" terminal connector. Table 3-4: Special input/output terminal Item Name Function Input...
  • Page 68 3 Controller CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way specified in the manual can result in errors, such as the emergency stop not being released. In order to prevent errors occurring, please be sure to check that all functions (such as the teaching box emergency stop, customer emergency stop, and door switch) are working properly after the wiring setup is completed.
  • Page 69 3 Controller Internal circuit structure (Customer) (Customer) (Controller side) T/B emergency stop +24V +24V +3.3V CNUSR11 +3.3V External emergen- cy stop input +3.3V +3.3V Control circuit 1 +3.3V +24V Door switch input CNUSR11 Mode output +3.3V +24V Mode selector Emergency stop switch input output Robot error output...
  • Page 70 3 Controller CNUSR12 connector CNUSR11 connector Wiring to a connector View A: Pin number of connector User wiring connector Lever CNUSR11 connector Cable Lever Latch Cable insertion hole Flathead screwdriver CNUSR12 connector Connection procedure Wire cables to the CNUSR11 and CNUSR12 user wiring connectors (attachment), and fit them into the corresponding connectors (ports) located on the rear side of the controller.

  • Page 71: Special Stop Input (Skip)

    3 Controller 3.6.2 Special stop input (SKIP) The SKIP is the input signal to stop the robot. Please connect the pin 4, 13 of the CNUSR12 connector shown in Fig. 3-11. Table 3-5: Special stop input electric specification Item Specifications Internal circuit Type DC input...

  • Page 72: Door Switch Function

    3 Controller 3.6.3 Door switch function This function uses the status of door switches to turn robot servos OFF when the door of a machine guard is opened. Follow the wiring example shown in Page 61 "Fig. 3-9: External emergency stop connection" Page 95, "6.1.3 Examples of safety measures".

  • Page 73: Automatic Operation/Jog Operation/Brake Release And Necessary Switch Settings

    3 Controller (1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings The following is a description of various operations performed on the robot and switch settings that are required. Table 3-7: Various operations and necessary switch settings Note1) Note2) Related switch settings Mode Method of Door switch...
  • Page 74 3 Controller Note2) "-" 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 68, "(1) Teaching pendant (T/B)" • T/B enable switch:............ Page 68, "(1) Teaching pendant (T/B)" •...

  • Page 75: Options

    3 Controller 3.7 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. 3-67...

  • Page 76: Teaching Pendant (T/B)

    "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch". The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
  • Page 77 3 Controller 195.2 105.5 Enable/Disable switch Emergency stop Operetion key Body Enable switch Cable (with connector) <side> <Back> <Front> <Bottom> Fig.3-13: Outside dimensions of teaching pendant ■Installation method The teaching pendant is connected to the TB connector on the front of the controller. Teaching pendant (T/B) 3-69...
  • Page 78 3 Controller ■Key layout and main functions 1) [Emergency stop] switch ....The robot servo turns OFF and the operation stops immediately. 2) [TB ENABLE] switch....... This switch changes the T/B key operation between enable and disable. 3) Enable switch ......... When the [Enable/Disable] switch "2)" is enabled, and this key is released or pressed with force, the servo will turn OFF, and the operating robot will stop immediately.

  • Page 79: High Efficient Teaching Pendant (T/B)

    "enable device" is at a specified position. With the Mitsubishi Electric industrial robot, the above "enable device" is configured of an "Enable/Disable switch" and "Enable switch". The 3-position enable switch has three statuses. The following modes are entered according to the switch state.
  • Page 80 3 Controller ■Outside dimensions and main functions ) 9) 19) 20) 37.2 55.3 21.5 1) TEACH button......This changeover switch is used to enable or disable the T/B key operations. The lamp (white) lights up during enabling state. 2) Wheel........Move the cursor to select the menu and so on. 3) Emergency stop switch .....

  • Page 81: Melsoft Rt Toolbox3/Melsoft Rt Toolbox3 Mini

    3 Controller (3) MELSOFT RT ToolBox3/MELSOFT RT ToolBox3 mini RT ToolBox3 ■Order type: ●MELSOFT *For windows DVD-ROM : 3F-14C-WINE RT ToolBox3 mini ●MELSOFT *For windows DVD-ROM : 3F-15C-WINE ■Outline RT ToolBox3 has a wide range of uses, which include assisting with program design (editing and creation), setup (program execution, management, debugging), mainte- nance, and checking robot specifications (tact time etc.).
  • Page 82 3 Controller ■Functions Table 3-13: Functions Functional Function Details Note1) existence Compatible model Personal computer running Windows 7, Windows 8, Windows 8.1, or ○ ○ Note2) Windows 10. Program editing Editing • MELFA BASIC V, VI language compatible functions functions •...

  • Page 83: Melsoft Rt Visualbox

    3 Controller (4) MELSOFT RT VisualBox ■Order type: ●MELSOFT RT VisualBox *For windows CD-ROM : 3G-30C-WINE ■Outline RT VisualBox is intuitive, easy-to-use software with support for touch-screen devices. It enables users to easily set up and program robots, even without specialist robot knowledge.
  • Page 84 3 Controller ■Functions Table 3-15: Functions Function Details Robot connection Used to select how the robot is connected. Initial settings Used to configure the initial settings (installation type, hand settings, workpiece settings, and workpiece grasp position). Programming Visual programming • Programs can be created by dragging and dropping program blocks. (main screen) •...

  • Page 85: Parallel I/O Interface

    3 Controller (5) Parallel I/O interface ■Order type : ●2D-TZ368 (Sink type)/2D-TZ378 (Source type) ■Outline This is used to expand the external inputs and outputs. • The connecting cable with external equipment is not attached. Since we are preparing the external input-and-output cable (2D-CBL05 or 2D-CBL15) as the option, please use.
  • Page 86 3 Controller Table 3-18: Electrical specifications for the output circuits Specification Internal circuit Item <Sink type> Type Transistor output No. of output points +24V/+12V Insulation method Photo-coupler insulation Rated load voltage 12VDC/24VDC Output Rated load voltage range 10.2VDC to 30VDC (peak voltage 30VDC) Max.
  • Page 87 3 Controller ■Pin layout of connector Connector<2> Output 16 to 31 Input 16 to 31 (when station number 0) Connector<1> Output 0 to 15 Input 0 to 15 (when station number 0) Fig.3-17: Pin layout of connector ■Connector pin No. and signal assignment The station number is fixed by the slot to install and the allocation range of the general-purpose input-and- output signal is fixed.
  • Page 88 3 Controller Table 3-20: Connector<1> pin assignment list and external I/O cable (2D-CBL**) color(SLOT1) Function name Function name Line color Line color Dedicated/power supply, Dedicated/power supply, General-purpose General-purpose common common 24G/12G: For pins Black a +24V/+12V(COM): Orange/Red Orange/ 5D-20D For pins 5D-20D COM: For pins Black a Reserved...
  • Page 89 3 Controller <Reference> The example of connection with our PLC <Sink> QX41 (Mitsubishi programmable Parallel I/O interface controller) （Output） 60mA (+24/+12V) Output Output Fuse (24G/12G) *The input/output circuit external External power supply (24 VDC) must be power supply QY41P prepared by the customer. (Mitsubishi programmable (Input) controller)

  • Page 90: External I/O Cable

    3 Controller (6) External I/O cable ■Order type : ●2D-CBL□□[Note]The numbers in the boxes□□ refer to the length. (05: 5m, 15: 15m) ■Outline This is the dedicated cable used to connect an external peripheral device to the connector on the parallel I/O interface. For parallel I/O unit is another option 2A- CBL□□.
  • Page 91 3 Controller ■Connections and outside dimensions The sheath of each signal cable (40 lines) is color indicated and marked with dots. Refer to the cable color specifications in "Table 3-24: Connector pin numbers and cable colors" when making the connections. (Eg.) Pin number: color indication Orange / Red / a Type of dot mark (see figure...

  • Page 92: Cc-Link Interface

    3 Controller (7) 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 3-25: Configuration device Part name...
  • Page 93 3 Controller ■Specifications Table 3-27: Specifications Item Specifications Remarks Communication function Bit data and word data can be transmitted. Word data are used by the registers. Station type Note1) Intelligent device station Support station Local station No master station function The version corresponding to CC-Link Ver.2 The extended cyclic setup is possible.
  • Page 94 3 Controller ■Functions (1) Communication function • The number of usable points is 896 points maximum for bit control and 128 points maximum for word control. (2) Easy setup • The CC-Link interface card can be set by a rotary switch or DIP switch. •...

  • Page 95: Sd Memory Card

    3 Controller (8) SD memory card ■Order type: 2F-2GBSD ■Outline This card is used as an extended memory. To save logging data, insert an SD card into the SD card slot on the front of the robot controller. ■Configuration Table 3-28: Configuration device Part name Type Qty.

  • Page 96: Easy-Setup Kit

    3 Controller (9) Easy-setup kit ■Order type: ●4F-ASSISTA-SETUP-JP (For Japan/North America) ●4F-ASSISTA-SETUP-EU (For Europe/China) ■Outline The Easy-setup kit is manufactured from the emergency stop switch, safety extension unit power supply, cables, and other devices shown in Table 1-1. ■Configuration Table 3-29: Product configuration Part name Type Qty.
  • Page 97 3 Controller ■Outside dimensions Emergency stop switch Mode selector switch (3000) 161.5 145.5 Mounting holes Fig.3-22: Dimensions of the EMG / Mode selector switch box SDI cable (1000) SDO cable (1000) Fig.3-23: Dimensions of SDIO cables for the safety extension unit For Europe/China For Japan/North America (6.5)

  • Page 98: Maintenance Parts

    Table 3-30: Controller consumable parts list Note1) Name Qty. Usage place Supplier Type Filter BKOFA0773H42 Inside the filter cover Mitsubishi Electric Note1) Confirm the robot arm serial No., and contact the dealer or service branch of Mitsubishi Electric Co., for the type. 3-90 Maintenance parts...

  • Page 99: Software

    4 Software 4 Software 4.1 List of commands Table 4-1 shows the main program blocks used in RT VisualBox and their descriptions. Table 4-1: Program block list Program Block name Description block Move Moves the robot (Tap/click to configure settings) Hand Opens/closes the hand (Tap/click to configure settings) Wait...

  • Page 100: Instruction Manual

    Describes how to enable the communications with a personal computer on Ethernet by BFP-A3379 Note1) Ethernet Function using the TCP/IP protocol. Note1) Instances where the CR800-D controller is mentioned also refer to the CR800-05VD. 5-92 The details of each instruction manuals...

  • Page 101: Safety

    6 Safety 6 Safety 6.1 Safety For information on safety, refer to the Collaborative Robot Safety Manual and take appropriate measures accordingly. 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- for safe use.

  • Page 102: External I/O Signals That Can Be Used For Preventative Safety Measures

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

  • Page 103: Examples Of Safety Measures

    6 Safety 6.1.3 Examples of safety measures The controller's dedicated I/O terminal connector has a duplicate emergency stop circuit. A Safety exten- sion unit must be connected to the robot. Figures Fig. 6-1 Fig. 6-6 are examples of safety measures. Refer to these figures when creating safety measures.
  • Page 104 6 Safety <Wiring example 1>: Not using a machine guard and running the robot in collaborative operation mode only Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emer- gency stop input uses the power supply in the controller. <Operation of the emergency stop>...
  • Page 105 6 Safety <Wiring example 2>: Using a safety sensor (such as an area sensor) to switch between collaborative operation mode and high-speed operation mode Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emer- gency stop input uses the power supply in the controller.
  • Page 106 6 Safety <Wiring example 3>: Using a machine guard and running the robot in high-speed operation mode only Connect the emergency stop switch of peripheral equipment to the controller. The power supply for emer- gency stop input uses the power supply in the controller. <Operation of the emergency stop>...
  • Page 107 6 Safety <Wiring example 4>: Connecting an emergency stop switch of a peripheral device when using collaborative operation mode The power supply for emergency stop input uses the power supply in the controller. Monitor the emergency stop state by the peripheral equipment side. <Operation of the emergency stop>...
  • Page 108 6 Safety <Wiring example 5>: Connecting an emergency stop switch of a peripheral device to two robot controllers when using collaborative operation mode The power supply for emergency stop input uses the power supply of peripheral equipment. Monitor the emergency stop state by the peripheral equipment side.
  • Page 109 (Example: QS90SR2SP (manufactured by Mitsubishi Electric)) 2) When connecting the output of the emergency stop switch to an external safety relay, set the polarity so that the elec- tric current flows in the direction as indicated by the dotted arrows in the wiring diagram above.

  • Page 110: External Emergency Stop Connection [Supplementary Explanation]

    6 Safety (1) External emergency stop connection [supplementary explanation] (1) Use a 2-contact type switch for all switches. (2) Install a limit switch on the doors of machine guards. Wire the switch to the Door switch input terminal so that the NO contact (Form-A) turns the terminal On when the door is closed (power applied to switch), and turns the terminal Off when the door is open (switch released).

  • Page 111: Working Environment

    6 Safety 6.2 Working environment Avoid installation in the following places as the equipment's life and operation will be affected by the ambi- ent environment conditions. When using in the following conditions, the customer must pay special atten- tion to the preventive measures. (1) Power supply •...
  • Page 112 Contact Mitsubishi Electric or your local distributor for replacement parts. Continued use of the robot after a collision without inspecting or changing parts will increase the risk of damaging reduction gears or other mechanisms.

  • Page 113: 7Appendix

    7 Appendix 7 Appendix Appendix 1: Inertia calculation method An allowable moment of inertia in the mechanical interface at the tip of the robot arm is determined. If a load exceeding the allowable moment of inertia is put, on the tip of the arm, vibration during operation and an overload alarm may occur.

  • Page 114: Appendix 2: Classification Of External I/O Functions

    7 Appendix Appendix 2: Classification of external I/O functions Take note of the following information regarding external I/O functions. Classification of external I/O functions Table 7-1: Classification Function Description Safety signals Emergency stop input This function detects emergency stop inputs. The STO function will meet Category 4, Performance Level e standards when the safety diagnosis function of the emergency stop input circuit is enabled.

  • Page 115: Appendix 3: Safety Diagnosis Function (Test Pulse Diagnosis)

    7 Appendix Appendix 3: Safety diagnosis function (test pulse diagnosis) The Safety diagnosis function checks the emergency stop status of the robot using the pulse output from the emergency stop signals (EXTEMG11, EXTEMG21). By changing the settings of TPOEMG, off pulses can be output regularly from EXTEMG11 and EXTEMG21.

  • Page 116: Appendix 4: Safety Block Diagram

    7 Appendix Appendix 4: Safety block diagram Robot arm Converter Inverter Current Motor sensor AC power Encoder PWM gate circuit Current feedback Servo CPU block Encoder feedback Gate control Gate control Servo block signal signal Position data Gate status Encoder feedback Emergency stop Safety function input...
  • Page 117 7 Appendix Appendix 5: Connections of recommended hands, recommended vision sensors and the force sen- This section explains the connections of recommended hands (all types), recommended vision sensors, and the force sensor. CAUTION When using a vision sensor, prevent the J5 and J6 axes from being at the following angles during Joint free mode (direct teaching).

  • Page 118: Appendix 5: Connections Of Recommended Hands, Recommended Vision Sensors And The Force Sensor

    Vision sensor mounting 1F-ASSISTA- bracket 2DVSFLG ○ ○ Screw for installing vision sen- (Manufactured by sor mounting brackets Mitsubishi Electric) (M4 hex socket screw x 2) Vision sensor VS80M-202, VS80M-202-R Screw for mounting vision sen- (Manufactured by sors Mitsubishi Electric) (M3 hex socket screw x 4) ○...
  • Page 119 7 Appendix Device used (○: Required, -: Not required) Hand, vision Name Model Hand and vision Hand and force Hand only sensor, and sensor sensor force sensor Flange for connecting force sensors to adapter plates Screw for mounting flanges to connect force sensors to adapter plates (Fabrication...
  • Page 120 7 Appendix Vision sensor connector cable Hand connector cable Force sensor connector cable Fig.7-6: Wiring of the hand (Co-act EGP-C40 N-N-Assista) and a vision sensor to the robot CAUTION Check that the cable fixed with a cable tie does not cross the dotted line as shown in the figure below.
  • Page 121 7 Appendix CAUTION To prevent interference due to cable sag, check that the hand connector has been installed at the angle shown below before attaching the hand. Hand connector Cable Connections of recommended hands, recommended vision sensors and the force sensor Appendix-113...

  • Page 122: Hand: Hrc-03-099455 (Manufactured By Zimmer Group)

    7 Appendix (2) Hand: HRC-03-099455 (Manufactured by Zimmer Group) Fig. 7-7 shows the connection details of a hand, vision sensor, and force sensor. The items required depend on which devices are used. Table 7-4 lists the items required for using each device. Purchase the relevant options. For details on the steps of mounting devices, refer to their Instruction Manuals.
  • Page 123 Vision sensor mounting 1F-ASSISTA- bracket 2DVSFLG ○ ○ Screw for installing vision sen- (Manufactured by sor mounting brackets Mitsubishi Electric) (M4 hex socket screw x 2) Vision sensor VS80M-202, VS80M-202-R Screw for mounting vision sen- (Manufactured by sors Mitsubishi Electric) (M3 hex socket screw x 4) ○...
  • Page 124 7 Appendix Device used (○: Required, -: Not required) Hand, vision Name Model Hand and vision Hand and force Hand only sensor, and sensor sensor force sensor Flange for connecting force sensors to adapter plates Screw for mounting flanges to connect force sensors to adapter plates (Fabrication...
  • Page 125 7 Appendix Vision sensor connector cable Hand connector cable Force sensor connector cable Fig.7-9: Wiring of the hand (HRC-03-099455) and a vision sensor to the robot CAUTION Check that the cable fixed with a cable tie does not cross the dotted line as shown in the figure below.

  • Page 126: Hand: Kit-Assista-G (Manufactured By Gimatic)

    7 Appendix (3) Hand: KIT-ASSISTA-G (Manufactured by GIMATIC) Fig. 7-10 shows the connection details of a hand, vision sensor, and force sensor. The items required depend on which devices are used. Table 7-5 lists the items required for using each device. Purchase the relevant options. For details on the steps of mounting devices, refer to their Instruction Manuals.
  • Page 127 Vision sensor mounting 1F-ASSISTA- bracket 2DVSFLG ○ ○ Screw for installing vision sen- (Manufactured by sor mounting brackets Mitsubishi Electric) (M4 hex socket screw x 2) Vision sensor VS80M-202, VS80M-202-R Screw for mounting vision sen- (Manufactured by sors Mitsubishi Electric) (M3 hex socket screw x 4) ○...
  • Page 128 7 Appendix Device used (○: Required, -: Not required) Hand, vision Name Model Hand and vision Hand and force Hand only sensor, and sensor sensor force sensor Flange for connecting force sensors to adapter plates Screw for mounting flanges to connect force sensors to adapter plates (Fabrication...
  • Page 129 7 Appendix Vision sensor connector cable Hand connector cable Force sensor connector cable Fig.7-12: Wiring of the hand (KIT-ASSISTA-G) and a vision sensor to the robot CAUTION Check that the cable fixed with a cable tie does not cross the dotted line as shown in the figure below.
  • Page 130 7 Appendix CAUTION To prevent interference due to cable sag, check that the hand connector has been installed at the angle shown below before attaching the hand. Hand connector Cable CAUTION Fingers must be created and attached to the hand (KIT-ASSISTA-G). Refer to the following figure "Opening and closing of the hand"...

  • Page 131: Hand: Rob-Set Ecbpm Assista (Manufactured By Schmalz)

    7 Appendix (4) Hand: ROB-SET ECBPM ASSISTA (Manufactured by SCHMALZ) Fig. 7-14 shows the connection details of a hand, vision sensor, and force sensor. The items required depend on which devices are used. Table 7-6 lists the items required for using each device. Purchase the relevant options. For details on the steps of mounting devices, refer to their Instruction Manuals.
  • Page 132 Vision sensor mounting 1F-ASSISTA- bracket 2DVSFLG ○ ○ Screw for installing vision sen- (Manufactured by sor mounting brackets Mitsubishi Electric) (M4 hex socket screw x 2) Vision sensor VS80M-202, VS80M-202-R Screw for mounting vision sen- (Manufactured by sors Mitsubishi Electric) (M3 hex socket screw x 4) ○...
  • Page 133 7 Appendix Fig.7-15: Overall view of the robot with the hand (ROB-SET ECBPM ASSISTA) and a vision sensor mounted Vision sensor connector cable Hand connector cable Force sensor connector cable Fig.7-16: Wiring of the hand (ROB-SET ECBPM ASSISTA) and a vision sensor to the robot Connections of recommended hands, recommended vision sensors and the force sensor Appendix-125...
  • Page 134 7 Appendix CAUTION Check that the cable fixed with a cable tie does not cross the dotted line as shown in the figure below. Cable tie Cable Cable tie Vision sensor connector Hand CAUTION To prevent interference due to cable sag, check that the hand connector has been installed at the angle shown below before attaching the hand.

  • Page 135: Appendix 6: Declaration Of Conformity

    7 Appendix Appendix 6: Declaration of Conformity The latest version of the Declaration of Conformity (hardcopy) is included with the product. Declaration of Conformity Appendix-127...
  • Page 136 7 Appendix Appendix-128 Declaration of Conformity...
  • Page 137 Address Telephone ■Purchased model Note1) Type Controller RV-5AS-D CR800-05VD Note1) Refer to the Page 2, "1.2 Model type name of robot" for the details of the robot arm type name. ■Options (Installable after shipment) Item Type Provision, and specifications when provided.

  • Page 138: Appendix 7: Specifications Discussion Material

    7 Appendix Appendix-130 Specifications discussion material...
  • Page 140 HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 5-1-14, YADA-MINAMI, HIGASHI-KU NAGOYA 461-8670, JAPAN Authorised representative: Mitsubishi Electric Europe B.V. FA - European Business Group Mitsubishi-Electric-Platz 1, D-40882 Ratingen, Germany Tel: +49(0)2102-4860 Jul. 2020 MEE Printed in Japan on recycled paper.