Mitsubishi Electric MELFA RV-6SD Series User manual

Mitsubishi Industrial Robot
RV-6SD/6SDL Series
Standard Specifications Manual
(CR2DA-700 series/CR3D-711M Controller)
BFP-A8654-Y

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.)
En orcement o sa ety training
For teaching work, prepare a work plan related to the methods and procedures
o operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work ollowing this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation o 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 o 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 o teaching work in progress
Provide a ence or enclosure during operation to prevent contact o the
operator and robot.
Installation o sa ety ence
Establish a set signaling method to the related operators or starting work, and
ollow this method.
Signaling o 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 o maintenance work in progress
Be ore starting work, inspect the robot, emergency stop switch and other
related devices, etc., and con irm that there are no errors.
Inspection be ore 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
WARNING
CAUTION
CAUTION
CAUTION

The points o the precautions given in the separate "Sa ety Manual" are given below.
Re er to the actual "Sa ety Manual" or details.
Use the robot within the environment given in the speci ications. Failure to do
so could lead to a drop or reliability or aults. (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 aults
rom 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 ar away rom noise sources as possible. I placed near a noise
source, positional deviation or mal unction could occur.
Do not apply excessive orce on the connector or excessively bend the cable.
Failure to observe this could lead to contact de ects 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
aults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage i the object comes o or
lies o during operation.
Securely ground the robot and controller. Failure to observe this could lead to
mal unctioning 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 or the robot control. Failure to observe this could lead to
personal injuries or damage i 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 inter erence with the workpiece or peripheral devices.
A ter editing the program, always con irm the operation with step operation
be ore starting automatic operation. Failure to do so could lead to inter erence
with peripheral devices because o programming mistakes, etc.
Make sure that i the sa ety ence 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 modi ications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to aults or ailures.
When the robot arm has to be moved by hand rom an external area, do not
place hands or ingers in the openings. Failure to observe this could lead to
hands or ingers catching depending on the posture.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. I the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely a ected. Moreover,
it may inter ere with the peripheral device by drop or move by inertia o the arm.
Do not turn o the main power to the robot controller while rewriting the
internal in ormation o the robot controller such as the program or parameters.
I the main power to the robot controller is turned o while in automatic
operation or rewriting the program or parameters, the internal in ormation o the
robot controller may be damaged.
Use the network equipments (personal computer, USB hub, LAN hub, etc)
con irmed by manu acturer. The thing unsuitable or the FA environment
(related with con ormity, temperature or noise) exists in the equipments
connected to USB, RS-232 or LAN. When using network equipment, measures
against the noise, such as measures against EMI and the addition o the errite
core, may be necessary. Please ully con irm the operation by customer.
Guarantee and maintenance o the equipment on the market (usual o ice
automation equipment) cannot be per ormed.
CAUTION
CAUTION
CAUTION

■ Revision history
Date of print Specifications No. Details of revisions
2008-09-05 BFP-A8654 First print.
2008-11-10 BFP-A8654-A ･ MvTune, Fine J an Fine P comman s were a e .
・ CE Marking specification was a e .
2008-12-18 BFP-A8654-B ･ Difference of connector assignment of of sink an source type of parallel I/O interface/
unit were a e .
2009-02-10 BFP-A8654-C ･ EC Declaration of Conformity were a e .
2009-03-06 BFP-A8654-D ・ The type of the caster specification controller was a e
・ Against wall was a e to Installation posture.
・ flange was change into mechanical interface
・ The escription of the fretting was correcte .
・ The example of emergency stop connection of the example of safety measures was
improve .
・ Functional escription of the enabling evice was improve .
・ The screw epth of the mechanical interface was correcte .
2009-04-22 BFP-A8654-E The following expressions were correcte
1.1.2 Special specifications, 1.1.3 Options, 1.1.4 Maintenance parts, 1.2 Mo el type name
of robot, 1.5 Instruction manuals, 1.6.1 Robot arm, Exten e machine cable(Table 1-3),
Han output cable(Table 1-3), Han input cable(Table 1-3), CC-Link interface(Table 1-
3), Controller specification with countermeasure against oil mist(Table 1-3),
Recommen ation article of the USB cable, 2.2.5 Protection specifications, (1)Machine
cable(special specifications an option), Table 3-1 Stan ar specifications of controller,
The operation lock of the power switch,
The following errors in writing were correcte ,
Stopper for changing the operating range of the J1 axis(Table 1-3),, Caster specifications
controller(Table 1-3),
The following was a e
Serial enco er interface(Table 3-1),
2009-07-17 BFP-A8654-F A itional Axis Function an Tracking Function Manual were a e to the pro uct configu-
ration of Instruction Manual.
The English expression was correcte .
Safety Precautions , 1.1.2 Special specifications , Table 1.3: The list of Option equipment
an special specification , Caution of USB evices , 2.6.1 Shipping special specifications ,
6.1.7 Examples of safety measures
Parameter AREA*CS was a e .
2009-09-10 BFP-A8654-G The examples of safety measures ( Wiring example 3 ～ 5 ) were correcte .
2009-10-26 BFP-A8654-H ・ The figure of key switch in "3.6.3 Door switch function " was correcte . (Error in writing)
・ The figure of example of safety measures in "6.1.7 Examples of safety measures " was
correcte . (connects the enabling switch)
・ The EC Declaration of Conformity was change .
(Correspon to the EMC irective; 2006/42/EC)
2009-12-04 BFP-A8654-J ・ Fuse rating of pneumatic han isnterface (RZ365/375) was correcte .
・The text of "This interface is pre-installe on the controller" in pneumatic han interface
was elete .
2009-12-11 BFP-A8654-K ・ The example of connection with the Mitsubishi sequencer of Parallel I/O unit was
change into Q series.
2010-06-17 BFP-A8654-L ・ The type name of robot controller was change with specification change.(CR2D to
CR2DA)
2010-07-27 BFP-A8654-M ・ Cover packing was a e to the consumable part.
・ The escription of protection specification was change . (The cutting oil which examine
was up ate , an replacement of the cover packing was a e )
・ EC Declaration of Conformity were a e .
2010-08-25 BFP-A8654-P ・ The input voltage range of the CR2DA controller was correcte .
("3-phase, AC180 to 253" was the previous.)
2010-10-13 BFP-A8654-Q ・ The imensions of the hole which raws the power cable were a e (CR2DA controller).
・ The EC Declaration of Conformity were a e .
2010-11-30 BFP-A8654-R ・ The EC Declaration of Conformity were a e .
2010-12-21 BFP-A8654-S ・ The sink / source expression of pin assignment of han input cable was correcte .
(Sink / Source are common)
2011-02-02 BFP-A8654-T ・ The note about temperature of the air to supply for han was a e .
・ Part co e was a e to the consumable part.

2011-05-09 BFP-A8654-U ・ Table 1-4: Recommen ation article of the USB cable was correcte .
・ The pressure of the ry air for pressurization was correcte (error in writing).
・ The epth in which the screw of the mechanical interface section is tightene was a e .
2011-06-01 BFP-A8654-V ・ The user's gui e was a e base on South Korean Ra io Law.
・ Fuse rating of pneumatic han interface (RZ365/375) was correcte . (error in writing).
・ The setting value range of parameter SFC*ME an AREA*ME were correcte . (error in
writing).
2011-07-01 BFP-A8654-W ・ The note about the connection of the emergency stop was a e .
・ The signal assignment list of parallel I/O interface an parallel I/O unit were correcte .
(Assignment of the e icate signal was a e .)
2012-01-26 BFP-A8654-X ・ The EC Declaration of Conformity were change .
2012-07-11 BFP-A8654-Y ・ QJ61BT11N (Q series) was a e to the master station of the CC-Link interface.
・ The "Emergency stop output" in the controller stan ar specification table was elete .
(Overlappe with "Robot error output".)
・The "Table 3-3 ： Emergency stop/Door switch input" in "3.4 External input/output" was
elete . (Overlappe with "Table 3-5 ： Special input/output terminal".)
・ The Effective sectional area of the solenoi valve (optional) was correcte . (Error in
writing)
・ The note about the connection of the emergency stop was a e .
・ The notes about frequent installation an removal of TB an the ummy connector were
a e .
・ The explanation about the controller of KC mark specification was a e to " ■
Intro uction".
Date of print Specifications No. Details of revisions

■ Introduction
This series is a ull-scale industrial vertical multi-joint type robot that is designed or use in machining
processes and assembling. This series supports the oil mist environment as standard, o ering a variety o
speci ications including clean speci ication and long-arm speci ication.
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 standard speci ications, we have edited them so that the Mitsubishi robot's charac-
teristics and speci ications can be easily understood by users considering the implementation o robots.
However, i there are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard speci ications and use our robots.
The controller di er corresponding to the speci ication o robot. Please re er to Page 2, "1.2 Model type
name o robot".
Note that in this speci ication document the speci ications related to the robot arm is described Page 7,
"2 Robot arm", the speci ications related to the controller Page 39, "3 Controller", and so tware unc-
tions and a command list Page 113, "4 So tware" separately.
This document has indicated the speci ication o the ollowing types robot.
*RV-6SD
*RV-6SDC
*RV-6SDL
*RV-6SDLC
About KC mark specifications
This robot acquires certi ication o KC mark by the special speci ication (S19).
The external orm o controller which have KC mark speci ication is same as the controller which
described as "CE Marking speci ication".
Re er to the place described as "CE Marking speci ication" about the external orm o KC mark
speci ication's controller. (However, the parallel I/O inter ace (2D-TZ378) is not installed at
shipping) Especially the places with no distinction are common speci ications.
・ No part o this manual may be reproduced by any means or in any orm, without prior consent rom
Mitsubishi.
・ The contents o this manual are subject to change without notice.
・ The speci ications values are based on Mitsubishi standard testing methods.
・ The in ormation 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 per ormed." or "alarm
may occur".
Please contact your nearest dealer i you ind any doubt ul, wrong or skipped point.
・ This speci ications is original.
・ Microso t, Windows, Microso t Windows NT are either registered trademarks or trademarks o
Microso t Corporation in the United States and/or other countries.
Copyright(C) 2008-2012 MITSUBISHI ELECTRIC CORPORATION

Contents
i
Page
1 General con iguration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.1 Standard structural equipment .................................................................................................................................. 1-1
1.1.2 Special speci ications .................................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Model type name o robot .................................................................................................................................................... 1-2
1.2.1 How to identi y the robot model ................................................................................................................................ 1-2
1.2.2 Combination o the robot arm and the controller .............................................................................................. 1-2
1.3 CE marking speci ications .................................................................................................................................................... 1-2
1.4 Indirect export .......................................................................................................................................................................... 1-2
1.5 Instruction manuals ................................................................................................................................................................ 1-2
1.6 Contents o the structural equipment ............................................................................................................................ 1-3
1.6.1 Robot arm ........................................................................................................................................................................... 1-3
1.6.2 Controller ............................................................................................................................................................................ 1-4
1.7 Contents o the Option equipment and special speci ication .............................................................................. 1-5
2 Robot arm ........................................................................................................................................................................................... 2-7
2.1 Standard speci ications ........................................................................................................................................................ 2-7
2.1.1 The counter- orce applied to the installation sur ace ..................................................................................... 2-8
2.2 De inition o speci ications .................................................................................................................................................. 2-9
2.2.1 Pose repeatability ............................................................................................................................................................ 2-9
2.2.2 Rated load (mass capacity) ....................................................................................................................................... 2-10
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed ...................... 2-11
(1) Setting Load Capacity and Size (Hand Conditions) .................................................................................... 2-11
2.2.4 Vibrations at the Tip o the Arm during Low-Speed Operation o the Robot ..................................... 2-11
2.2.5 Protection speci ications ............................................................................................................................................ 2-12
(1) Types o protection speci ications .................................................................................................................... 2-12
(2) About the use with the bad environment ........................................................................................................ 2-13
2.2.6 Clean speci ications ...................................................................................................................................................... 2-14
(1) Types o clean speci ications ............................................................................................................................... 2-14
2.3 Names o each part o the robot .................................................................................................................................... 2-15
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-16
(1) RV-6SD/6SDC ........................................................................................................................................................... 2-16
(2) RV-6SDL/6SDLC ..................................................................................................................................................... 2-18
2.5 Tooling ........................................................................................................................................................................................ 2-20
2.5.1 Wiring and piping or hand .......................................................................................................................................... 2-20
2.5.2 Internal air piping ............................................................................................................................................................ 2-21
2.5.3 Internal wiring or the pneumatic hand output cable ...................................................................................... 2-21
2.5.4 Internal wiring or the hand check input cable (Standard type/Clean type) ........................................ 2-21
2.5.5 Spare Wiring ..................................................................................................................................................................... 2-21
(1) Standard type ............................................................................................................................................................. 2-21
2.5.6 Wiring and piping system diagram or hand ......................................................................................................... 2-22
2.5.7 Electrical speci ications o hand input/output .................................................................................................. 2-24
2.5.8 Air supply circuit example or the hand ............................................................................................................... 2-25
2.6 Shipping special speci ications, options, and maintenance parts ...................................................................... 2-26
2.6.1 Shipping special speci ications ................................................................................................................................. 2-26
(1) Machine cable ............................................................................................................................................................. 2-27
2.7 Options ....................................................................................................................................................................................... 2-28
(1) Machine cable extension ........................................................................................................................................ 2-29
(2) Changing the operating range .............................................................................................................................. 2-31
(3) Solenoid valve set ..................................................................................................................................................... 2-32
(4) Hand input cable ........................................................................................................................................................ 2-34
(5) Hand output cable ..................................................................................................................................................... 2-35
(6) Hand curl tube ............................................................................................................................................................ 2-36
2.8 About Overhaul ...................................................................................................................................................................... 2-37

Contents
ii
Page
2.9 Maintenance parts ................................................................................................................................................................. 2-37
3 Controller .......................................................................................................................................................................................... 3-39
3.1 Standard speci ications ...................................................................................................................................................... 3-39
3.1.1 Standard speci ications ............................................................................................................................................... 3-39
3.1.2 Protection speci ications and operating supply ................................................................................................ 3-41
3.2 Names o each part .............................................................................................................................................................. 3-42
(1) Padlock speci ication ............................................................................................................................................... 3-44
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-50
3.3.1 Outside dimensions ....................................................................................................................................................... 3-50
3.3.2 Installation dimensions ................................................................................................................................................. 3-54
3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-56
3.4 External input/output .......................................................................................................................................................... 3-58
3.4.1 Types .................................................................................................................................................................................. 3-58
3.5 Dedicated input/output ...................................................................................................................................................... 3-59
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-61
3.6.1 Connection o the external emergency stop ...................................................................................................... 3-61
3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-65
3.6.3 Door switch unction .................................................................................................................................................... 3-67
3.6.4 Enabling device unction ............................................................................................................................................. 3-67
(1) When door is opening ............................................................................................................................................... 3-67
(2) When door is closing ................................................................................................................................................ 3-67
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-68
3.7 Additional Axis Function ..................................................................................................................................................... 3-69
3.7.1 Wiring o the Additional Axis Inter ace ................................................................................................................. 3-69
3.8 Magnet contactor control connector output (AXMC) or addition axes ........................................................ 3-73
3.9 Options ....................................................................................................................................................................................... 3-76
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-77
(2) Pneumatic hand inter ace ...................................................................................................................................... 3-80
(3) Parallel I/O inter ace ............................................................................................................................................... 3-83
(4) External I/O cable ..................................................................................................................................................... 3-89
(5) Parallel I/O unit ......................................................................................................................................................... 3-91
(6) External I/O cable .................................................................................................................................................. 3-102
(7) Personal computer cable .................................................................................................................................... 3-104
(8) CC-Link inter ace .................................................................................................................................................. 3-105
(9) Extension memory cassette .............................................................................................................................. 3-108
(10) RT ToolBox2/RT ToolBox2 mini ................................................................................................................... 3-109
(11) Instruction Manual(bound edition) ................................................................................................................ 3-111
3.10 Maintenance parts ........................................................................................................................................................... 3-112
4 So tware ......................................................................................................................................................................................... 4-113
4.1 List o commands ............................................................................................................................................................... 4-113
4.2 List o parameters .............................................................................................................................................................. 4-116
5 Instruction Manual ..................................................................................................................................................................... 5-118
5.1 The details o each instruction manuals ................................................................................................................... 5-118
6 Sa ety .............................................................................................................................................................................................. 6-120
6.1 Sa ety ...................................................................................................................................................................................... 6-120
6.1.1 Sel -diagnosis stop unctions ................................................................................................................................ 6-120
6.1.2 External input/output signals that can be used or sa ety protection measures ........................... 6-121
6.1.3 Precautions or using robot .................................................................................................................................... 6-121
6.1.4 Sa ety measures or automatic operation ........................................................................................................ 6-122
6.1.5 Sa ety measures or teaching ............................................................................................................................... 6-122
6.1.6 Sa ety measures or maintenance and inspections, etc. ........................................................................... 6-122
6.1.7 Examples o sa ety measures ................................................................................................................................ 6-123