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

Contents
iii
Page
(1) External emergency stop connection [supplementary explanation] ................................................. 6-127
6.2 Working environment ......................................................................................................................................................... 6-128
6.3 Precautions or handling .................................................................................................................................................. 6-128
7Appendix ........................................................................................................................................................................... Appendix-130
Appendix 1 ： Speci ications discussion material ........................................................................................ Appendix-130

1-1 Structural equipment
1General configuration
1 General configuration
1.1 Structural equipment
Structural equipment consists o the ollowing types.
. . Standard structural equipment
The ollowing items are enclosed as a standard.
(1) Robot arm
(2) Controller
(3) Machine cable
(4) Robot arm installation bolts
(5) Sa ety manual, Instruction manual, CD-ROM (Instruction manual)
(6) Guarantee card
. .2 Special specifications
For the special speci ications, some standard con iguration equipments and speci ications have to be changed
be ore actory shipping. Con irm the delivery date and speci y the special speci ications at the order.
. .3 Options
User can install options a ter their delivery.
. .4 Maintenance parts
Materials and parts or the maintenance use.

1General configuration
Model type name of robot 1-2
1.2 Model type name of robot
.2. How to identify the robot model
RV-6SD L C -Sxx
( ａ ) ( ｂ ) ( ｃ ) ( ｄ )
(a). RV-6SD ................................... Indicates the RV-6SD series.
(b). L.................................................. Indicates long arm type.
Examples)
Blank: Standard type.
L: Long arm type.
(c). C ................................................. Indicates environment speci ication.
Examples）
Blank: Standard Speci ications
C: Clean Speci ications
(d). -Sxx........................................... [1] Indicates a special model number. In order, limit special speci ica-
tion.
[2] -SM6**..............Indicates a speci ication with protection speci i-
cation controller.
.2.2 Combination of the robot arm and the controller
Table 1-1 ： Combination o the robot arm and the controller
1.3 CE marking pecification
The robot shown in the table is the CE Marking speci ication.
Table 1-2 ： Robot models with CE marking speci ications
1.4 Indirect export
The display in English is available by setting parameter LNG as "ENG."
1.5 In truction manual
The instruction manuals supplied in CD-ROM, except or the Sa ety Manual. This CD-ROM (electronic manual)
includes instruction manuals in both Japanese and English versions.
Protection specification Robot arm Arm lengt Controller
Standard speci ication RV-6SD/6SDC standard arm CR2DA-711
RV-6SDL/6SDLC Long arm
-SM RV-6SD-SM600 standard arm CR3D-711MNote1)
Note1) The CR3D-711M is protection speci ication. (IP54) Especially, strengthened the protection per ormance
to oil mist.
RV-6SDL-SM600 Long arm
Robot type Controller External signal logic Language setting
RV-6SD-S12/6SDC-S12,
RV-6SDL-S12/6SDLC-S12 CR2DA-711-S12 Source type English (ENG)
RV-6SD-SM612/6SDL-SM612 CR3D-711-SM612

1-3 Contents of the structural equipment
1General configuration
1.6 Content of the tructural equipment
.6. Robot arm
The list o structural equipment is shown in Fig. 1-1.
Fig.1-1 ： Structural equipment (Robot arm)
Vertical six-axis
multiple-jointed type
RV-6SD/6SDL/6SDC/6SDLC
*Refer to Page 7, "2.1 Standard
spec f cat ons" for deta ls on the
spec f cat ons.
Hand output cable
・ 1S-GR35S-01 (4sets)
Hand input cable
・ 1S-HC25C-01
Solenoid valve set
(Special and output cable is attac ed)
<Sink type/Source type>
・ 1 set: 1S-VD01-02/1S-VD01E-02
・ 2 set: 1S-VD02-02/1S-VD02E-02
・ 3 set: 1S-VD03-02/1S-VD03E-02
・ 4 set: 1S-VD04-02/1S-VD04E-02
Hand curl tube
・ 1 set: 1E-ST0402C
・ 2 set: 1E-ST0404C
・ 3 set: 1E-ST0406C
・ 4 set: 1E-ST0408C
Stopper or changing the operating range
o the J1 axis
・ Stopper part: 1S-DH-02
*Installed by customer.
［Caution］ Standard con iguration
Special speci ications
Option
equipment
Prepared by customer
Pneumatic hand customer-manufactured parts
Mac ine cable extension
・Fix type: 1S- □□ CBL-01
・Flex type: 1S- □□ LCBL-01
Note1) □□ refer t e lengt .
Refer to Table 1-3 for details.
Note2) Extend by adding to t e arm side of t e
standard accessory cable (for fastening).
Machine cable
(Standard product: 5m attac ment)
Machine cable:
(Fix type: 2m)
・1S-02CBL-01

1 General configuration
1-4
.6.2 Controller
The devices shown below can be installed on the controller.
The controllers that can be connected di er depending on the speci ication o the robot.
Fig.1-2 ： Structural equipment
Pneumatic and interface
2A-RZ365(Sink)/
2A-RZ375(Source)
*3)
Personal computer cable
2D-232CBL03M
(RS-232)
*)Refer to Table 1-4 for
USB cable.
Teaching pendant (T/B)
R32TB R56TB
Parallel I/O unit
2A-RZ361(Sink)/
2A-RZ371(Source)
External I/O cable
・ 2D-CBL05 (5m)
・ 2D-CBL15 (15m)
Personal computer
Prepared by
customer
RT Tool Box2
(MS-Windows2000/XP/Vista)
・ 3D-11C-WINJ(CD-ROM)
RT Tool Box2 mini
(MS-Windows2000/XP/Vista)
・ 3D-12C-WINJ(CD-ROM)
Extension
memory
cassette
2D-TZ454
PLC(Programmable
Logic Controller)
External device
Prepared by
customer
Standard con iguration
Special speci ications
Options
Prepared by customer
［Caution］
equipment
The photograph is the image igure.
Controller
CR2DA-700 series
*1)
Instruction Manual(printed)
・ 5S-DB00-PE01
CC-Link
inter ace
2D-TZ576
*1) "-SM" spec's controller is
CR3D-711M.
*2)One parallel I/O
inter ace(2D-TZ378) is
installed at actory
shipping or "-S12"
speci ication only.
*3) Corresponding to t e sink
or source to be used,
setting of t e controller is
necessary.
Controller
CR3D-711M
（IP54）
Caster type
controller
CR3D-711M-S01
Parallel I/O interface
2D-TZ36 (Sink)/
2D-TZ37 (Source)
*2)
External I/O cable
・ 2A-CBL05 (5m)
・ 2A-CBL15 (15m)

1-5 Contents of the Option equipment and special specification
1 General configuration
1.7 Content of the Option equipment and pecial pecification
A list o all Optional equipments and special speci ications are shown below.
Table 1-3 ： The list o Option equipment and special speci ication
Item Type Specifications Classification
Note1)
Note1) ○ : option, □ : special speci ications.
Description
Stopper for changing the
operating range of the J1
axis
1S-DH-02 Stopper part
One each of the following can be
selecte .
+ si e: +135, +90, or +45 eg.
- si e: -135, -90, or -45 eg.
±170 eg. are use for the stan ar
specification.
○
This must be installe by the customer.
Machine cable(Replace
with shorter cable)Note2)
1S-02UCBL-03 For fixing
(Set of power an signal) ○・□2m(A 2 m cable is supplie instea of the 5 m
cable that is supplie as stan ar )
Exten e machine cable 1S- □□ CBL-01 For fixing
(Set of power an signal) ○ 5, 10, 15ｍ
1S- □□ LCBL-01 For ben ing
(Set of power an signal) ○ 5, 10, 15ｍ
Solenoi valve set 1S-VD01-02/
1S-VD01E-02 1 set (Sink type)/(Source type) ○
A solenoi valve set for the pneumatic han
1S-VD02-02/
1S-VD02E-02 2 set (Sink type)/(Source type) ○
1S-VD03-02/
1S-VD03E-02 3 set (Sink type)/(Source type) ○
1S-VD04-02/
1S-VD04E-02 4 set (Sink type)/(Source type) ○
Han output cable 1S-GR35S-01 Robot si e: connector.
Han si e: wire. ○The cable is connecte to the han output connector by the customer.
Han input cable 1S-HC25C-01 Robot si e: connector.
Han si e: wire. ○The cable is connecte to the sensor by the customer.
Han curl tube 1E-ST0402C For solenoi valve 1set.:Φ4x2 ○
Curl type air tube
1E-ST0404C For solenoi valve 2set.:Φ4x4 ○
1E-ST0406C For solenoi valve 3set.:Φ4x6 ○
1E-ST0408C For solenoi valve 4set.:Φ4x8 ○
Simple teaching pen ant R32TB Cable length 7m ○
With 3-position ea man switch IP65
R32TB-15 Cable length 15m ○
Highly efficient teaching
pen ant
R56TB Cable length 7m ○
R56TB-15 Cable length 15m ○
Pneumatic han interface 2A-RZ365 DO: 8 point(Sink type)○ It is necessary when the han output signal of
the robot arm is use .
2A-RZ375 DO: 8 point(Source type)○
Parallel I/O Interface 2D-TZ368 DO: 32 point (Sink type)/
DI : 32 point (Sink type)
Insulated type output signal (100mA/
point)
○
The card type external input-and-output
Interface Install to the slot of controller
2D-TZ378 DO: 32 point (Source type)/
DI : 32 point (Source type)
Insulated type output signal (100mA/
point)
○Note3)
External I/O cable
(For Parallel I/O Interface)
2D-CBL05 5m ○ Use to connect the external peripheral evice
to the parallel input/output interface.
2D-CBL15 15m ○
Parallel I/O Unit 2A-RZ361 DO: 32 point (Sink type)/
DI : 32 point (Sink type) ○The unit for expansion the external input/out- put.
Electrical isolate Type
(100mA/Point)
2A-RZ371 DO: 32 point (Source type)/
DI : 32 point (Source type) ○
External I/O cable
(For Parallel I/O Unit) 2A-CBL05 5m ○ Use to connect the external peripheral evice
to the parallel input/output unit
2A-CBL15 15m ○
CC-Link interface 2D-TZ576 Local station ○ for MELSEC PLC with CC-Link connection.
Exten e memory cassette
2D-TZ454 Teaching point number: 50,800 Steps number: 50,800
Program number: 512
○The battery backup function is provi e .
The value combine with the stan ar
Controller specification with
countermeasure against oil
mist CR3D-700M Floor type, Close type (IP54) □
Caster specifications
controller CR3D-700M Specifications with casters □ The controller height will be h =615
RT ToolBox2
(Personal computer Sup-
port software) 3D-11C-WINE CD-ROM ○ MS-Win ows2000/XP/Vista
(With the simulation function)
RT ToolBox2 mini
(Personal computer Sup-
port software mini) 3D-12C-WINE CD-ROM ○ MS-Win ows2000/XP/Vista
Personal computer
cableNote4) 2D-232CBL03M RS-232C cable 3m for PC-AT com-
patible mo el ○
Instruction Manual 5S-DB00-PE01 RV-6SD/6SDL series ○A set of the instructions manual bookbinding
editions

1 General configuration
Contents of the Option equipment and special specification 1-6
[Re erence]:The recommendation products o the USB cable are shown below.
Table 1-4 ： Recommendation article o the USB cable
Be care ul to the USB cable to apply neither the static electricity nor the noise.
Otherwise, it becomes the cause o mal unction.
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.
Note2) This option only applies to the CR2DA-700 series controller.
Note3) One 2D-TZ378(Source type) is installed or CE Marking speci ication at shipping. (Only "-S12" speci ication)
Note4) The recommendation products o the USB cable are shown in Table 1-4.
Name Type name Supplier
USB cable
(USB A type-USB mini B type)
KU-AMB530 SANWA SUPPLY INC
USB-M53 ELECOM CO , LTD
GT09-C30USB-5P MITSUBISHI ELECTRIC SYSTEM & SERVICE CO , LTD
MR-J3USBCBL3M MITSUBISHI ELECTRIC CO , LTD
USB adapter
(USB B type-USB mini B type) AD-USBBFTM5M ELECOM CO , LTD
Caution
Caution

2-7 Standard specifications
2Robot arm
2 Robot arm
2.1 Standard pecification
Table 2-1 ： Standard speci ications o robot
Item Unit Specifications
Type RV-6SD RV-6SDC RV-6SDL RV-6SDLC
Type of robot
6-axis stan ar arm 6-axis long arm
Stan ar Clean
(Special Specifications) Stan ar Clean
(Special Specifications)
Degree of free om 6
Installation posture On floor, hanging
(against wall Note1) )
Note1) W en used by mounting on t e wall, a special specification t at limits t e operating range of t e J1 axis will be used.
Please give an order separately.
On floor On floor, hanging
(against wall Note1))
On floor
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provi e on all axes)
Position etection metho Absolute enco er
Arm length Upper arm mm 280 380
Fore arm 315 425
Operating
range
Waist (J1)
Degree
340(-170 to +170)
Shoul er (J2) 227(-92 to +135)
Elbow (J3) 273(-107 to +166) 295(-129 to +166)
Wrist twist (J4) 320(-160 to +160)
Wrist pitch (J5) 240(-120 to +120)
Wrist roll (J6) 720(-360 to +360)
Spee of
motion
Waist (J1)
Degree/
s
401 250
Shoul er (J2) 321 267
Elbow (J3) 401 267
Wrist twist (J4) 352
Wrist pitch (J5) 450
Wrist roll (J6) 660
Maximum resultant velocity Note2)
Note2) T is is t e value on t e mec anical interface surface w en all axes are combined.
mm/sec Approx. 9,300 Approx. 8,500
Loa Maximum Note3)
Note3) T e maximum load capacity is t e mass wit t e mec anical interface posture facing down word at t e ±10°limit.
kg
(N)
6 (58.8)
Rating 5 (49.0)
Pose repeatability Note4)
Note4) T e pose repeatability details are given in Page 9, "2.2.1 Pose repeatability"
mm ±0.02
Ambient temperature ℃ 0 to 40
Mass kg Approx. 58 Approx. 60
Allowable
moment loa
Wrist twist (J4)
N･m
12
Wrist pitch (J5) 12
Wrist roll (J6) 4.5
Allowable
inertia
Wrist twist (J4)
kg ･ m2
0.29
Wrist pitch (J5) 0.29
Wrist roll (J6) 0.046 Note5)
Note5) Up to 0.092kg ･ m2 can be supported by performing variable acceleration/deceleration control and also by setting t e
load inertia.
Arm reachable ra ius front p-axis
center point mm 696 902
Tool wiring Note6)
Note6) T e pneumatic and interface (option) is required w en t e tool ( and) output is used. Also, if t e solenoid set
(option) is used, eig t points of and outputs are used for ot er options.
Han input 8 point / han output 8 point
Eight spare wires : AWG#27(0.1mm2)
(shiel e )
Tool pneumatic pipes Primary si e: Φ6×2 (Base to fore arm section)
Supply pressure MPa 0.49±10%
Protection specificationNote7)
Note7) T e protection specification details are given in Page 12, "2.2.5 Protection specifications".
J1 to J3 axis : IP54
J4 to J6 axis : IP65 -J1 to J3 axis : IP54 J4 to J6 axis : IP65 -
Degree of cleanlinessNote8)
Note8) T e clean specification details are given in Page 14, "2.2.6 Clean specifications" .A down flow(0.3m/s or more) in t e
clean room is t e necessary conditions for t e cleanliness.
-
10(0.3μm)
Internal suction
requirement
-
10(0.3μm)
Internal suction
requirement
Painting color Light gray （Equivalent to Munsell: 0.08GY7.64/0.81)

2Robot arm
Standard specifications 2-8
2.1.1 The counter- orce applied to the installation sur ace
The counter- orce applied to the installation sur ace or the strength design o the robot installation sur ace is
shown.
Table 2-2 ： Value o each counter- orce
Item Unit Value
Falls moment: MLN•m ８９２
Torsion moment: MTN•m ８９２
Horizontal translation force: FHN ８００
Vertical translation force: FVN １， ４００

2-9 Definition of specifications
2 Robot arm
2.2 Definition of pecification
The accuracy o pose repeatability mentioned in catalogs and in the speci ication manual is de ined as ollows.
2.2. Pose repeatability
For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value
is based on 100 measurements (although 30 measurements are required according to JIS).
［Caution］ The speci ied "pose repeatability" is not guaranteed to be satis ied under the ollowing conditions.
[1] Operation pattern actors
1) When an operation that approaches rom di erent 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 di erent
[2] Load luctuation actor
1) When work is present/absent in repeated operations
[3] Disturbance actor during operation
1) Even i approaching rom the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is per ormed hal way
[4] Temperature actors
1) When the operating environment temperature changes
2) When accuracy is required be ore and a ter a warm-up operation
[5] Factors due to di erences in accuracy de inition
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 unction *1) and a position
within the actual space
*1)
The pallet unction is a unction that teaches only the position o the work used as re erence (3 to 4 points) and
obtains the remaining positions by calculations, or an operation that arranges works orderly or or an operation
that unloads orderly arranged works. By using this unction, or example, in the case o an operation that arranges
works on grid points o 100 x 100, by teaching only three points o our corners, the remaining grid points are
automatically generated; thus, it is not necessary to teach all 10,000 points. For more in ormation about the pallet
unction, re er to the separate volume, "Instruction Manual/Detailed Explanation o Functions and Operations."