Mitsubishi RV-2F-D Series User manual

Mitsubishi Industrial Robot
RV-2F-D Series
Standard Specifications Manual
( CR750-D/CR751-D Controller)
BFP-A8900-B

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. 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.
*CR751-D or CR751-Q controller
Notes o the basic component are shown.
Please install the earth leakage breaker in the primary side supply power supply
o the controller o CR751-D or CR751-Q because o leakage protection.
CAUTION
CAUTION
CAUTION
CAUTION
保護アース端子
(PE)
漏電遮断器
(NV)
端子カバー
端子カバー
アース接続ネジ コネクタ
AC2 V
CR751コントローラ(前面)
CR751-D controller/CR751-Q drive unit
Earth leakage breaker
Cover
Cover
Connector
Grounding
screw
Grounding terminal
(PE)
Note) RV-2F series has operation panel

■Revision history
Date of print Specifications No. Details of revisions
2012-06-14 BFP-A8900 ・First print.
2012-10-04 BFP-A8900-A ・The power supply capacity was corrected.
・ The notes were added to "Fig 3-24: Example of EMC noise filter installation"
・ The lithium battery (ER6) was added to The United Nations’Recommendations on the
Transport of Dangerous Goods
・ The notes about installation of the controller and the robot arm were added (neither direct
rays nor the heat of lighting)
2012-10-11 BFP-A8900-B ・ ”Fig 2-5 ： Wiring and piping for hand” was corrected

■ Introduction
This series provides compact vertical multi-joint robots or use in machine processes and assemblies.
This series is especially designed to answer the needs o users who want to create compact and highly
lexible production acilities to cope with shortened product li e cycles as well as the di usion o small and
high density product groups in recent years, such as personal computer related devices, in ormation ter-
minal devices and small car-mounted electronic devices.
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.
Note that in this speci ication document the speci ications related to the robot arm is described Page 8,
"2 Robot arm", the speci ications related to the controllerPage 35, "3 Controller", and so tware unctions
and a command list Page 103, "4 So tware" separately.
This document has indicated the speci ication o the ollowing types robot.
*RV-2F-D (CR750-D controller) series
*RV-2F-D (CR751-D controller) series
・ 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) 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 Contents o the structural equipment ............................................................................................................................ 1-3
1.3.1 Robot arm ........................................................................................................................................................................... 1-3
1.3.2 Controller ............................................................................................................................................................................ 1-4
1.4 Contents o the Option equipment and special speci ication .............................................................................. 1-5
2 Robot arm ........................................................................................................................................................................................... 2-8
2.1 Standard speci ications ........................................................................................................................................................ 2-8
2.1.1 Basic speci ications ........................................................................................................................................................ 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 Vibrations at the Tip o the Arm during Low-Speed Operation o the Robot ..................................... 2-11
2.2.4 Collision detection ......................................................................................................................................................... 2-11
2.2.5 Protection speci ications ............................................................................................................................................ 2-11
(1) Types o protection speci ications .................................................................................................................... 2-11
2.3 Names o each part o the robot .................................................................................................................................... 2-12
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-13
(1) Outside dimension ................................................................................................................................................... 2-13
(2) Operating range .......................................................................................................................................................... 2-14
2.5 Tooling ........................................................................................................................................................................................ 2-15
2.5.1 Wiring and piping or hand .......................................................................................................................................... 2-15
2.5.2 Internal air piping ............................................................................................................................................................ 2-16
2.5.3 Internal wiring or the hand output cable ............................................................................................................ 2-16
2.5.4 Internal wiring or the hand input cable ................................................................................................................ 2-16
2.5.5 Wiring and piping system diagram or hand ......................................................................................................... 2-17
2.5.6 Electrical speci ications o hand input/output .................................................................................................. 2-19
2.5.7 Air supply circuit example or the hand ............................................................................................................... 2-20
2.6 Shipping special speci ications, options, and maintenance parts ...................................................................... 2-21
2.6.1 Shipping special speci ications ................................................................................................................................. 2-21
2.7 Options ....................................................................................................................................................................................... 2-22
(1) Machine cable extension ........................................................................................................................................ 2-23
(2) Stopper or changing the operating range ...................................................................................................... 2-27
(3) Solenoid valve set ..................................................................................................................................................... 2-28
(4) Hand input cable ........................................................................................................................................................ 2-30
(5) Hand output cable ..................................................................................................................................................... 2-31
(6) Hand curl tube ............................................................................................................................................................ 2-32
2.8 About Overhaul ...................................................................................................................................................................... 2-33
2.9 Maintenance parts ................................................................................................................................................................. 2-34
3 Controller .......................................................................................................................................................................................... 3-35
3.1 Standard speci ications ...................................................................................................................................................... 3-35
3.2 Protection speci ications and operating supply ....................................................................................................... 3-36
3.3 Names o each part .............................................................................................................................................................. 3-37
3.3.1 Controller .......................................................................................................................................................................... 3-37
(1) CR750 controller ....................................................................................................................................................... 3-37
(2) CR751 controller ....................................................................................................................................................... 3-39

Contents
ii
Page
3.4 Outside dimensions/Installation dimensions .............................................................................................................. 3-41
3.4.1 Outside dimensions ....................................................................................................................................................... 3-41
(1) CR750 controller ....................................................................................................................................................... 3-41
(2) CR751 controller ....................................................................................................................................................... 3-42
3.4.2 Installation dimensions ................................................................................................................................................. 3-43
(1) CR750 controller ....................................................................................................................................................... 3-43
(2) CR751 controller ....................................................................................................................................................... 3-45
3.5 External input/output .......................................................................................................................................................... 3-47
3.5.1 Types .................................................................................................................................................................................. 3-47
3.6 Dedicated input/output ...................................................................................................................................................... 3-48
3.7 Emergency stop input and output etc. ......................................................................................................................... 3-51
3.7.1 Connection o the external emergency stop ...................................................................................................... 3-51
(1) CR750 controller ....................................................................................................................................................... 3-53
(2) CR751 controller ....................................................................................................................................................... 3-57
3.7.2 Special stop input (SKIP) ........................................................................................................................................... 3-60
(1) CR750 controller ....................................................................................................................................................... 3-60
(2) CR751 controller ....................................................................................................................................................... 3-61
3.7.3 Door switch unction .................................................................................................................................................... 3-62
3.7.4 Enabling device unction ............................................................................................................................................. 3-62
(1) When door is opening ............................................................................................................................................... 3-62
(2) When door is closing ................................................................................................................................................ 3-63
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-63
3.8 Mode changeover switch input ........................................................................................................................................ 3-64
(1) Speci ication o the key switch inter ace ....................................................................................................... 3-64
(2) Connection o the mode changeover switch input ..................................................................................... 3-65
3.9 Additional Axis Function ..................................................................................................................................................... 3-66
3.9.1 Wiring o the Additional Axis Inter ace ................................................................................................................. 3-66
(1) CR750 controller ....................................................................................................................................................... 3-66
(2) CR751 controller ....................................................................................................................................................... 3-67
3.10 Magnet contactor control connector output (AXMC) or addition axes ..................................................... 3-70
(1) CR750 controller ....................................................................................................................................................... 3-70
(2) CR751 controller ....................................................................................................................................................... 3-71
3.11 Options .................................................................................................................................................................................... 3-72
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-73
(2) Parallel I/O inter ace ............................................................................................................................................... 3-76
(3) External I/O cable ..................................................................................................................................................... 3-81
(4) Parallel I/O unit ......................................................................................................................................................... 3-83
(5) External I/O cable ..................................................................................................................................................... 3-94
(6) CC-Link inter ace ..................................................................................................................................................... 3-96
(7) RT ToolBox2/RT ToolBox2 mini ......................................................................................................................... 3-99
(8) Instruction Manual(bookbinding) ....................................................................................................................... 3-101
3.12 Maintenance parts ........................................................................................................................................................... 3-102
4 So tware ......................................................................................................................................................................................... 4-103
4.1 List o commands ............................................................................................................................................................... 4-103
4.2 List o parameters .............................................................................................................................................................. 4-106
5 Instruction Manual ..................................................................................................................................................................... 5-108
5.1 The details o each instruction manuals ................................................................................................................... 5-108
6 Sa ety .............................................................................................................................................................................................. 6-109
6.1 Sa ety ...................................................................................................................................................................................... 6-109
6.1.1 Sel -diagnosis stop unctions ................................................................................................................................ 6-109
6.1.2 External input/output signals that can be used or sa ety protection measures ........................... 6-110
6.1.3 Precautions or using robot .................................................................................................................................... 6-110
6.1.4 Sa ety measures or automatic operation ........................................................................................................ 6-111

Contents
iii
Page
6.1.5 Sa ety measures or teaching ............................................................................................................................... 6-111
6.1.6 Sa ety measures or maintenance and inspections, etc. ........................................................................... 6-111
6.1.7 Examples o sa ety measures ................................................................................................................................ 6-112
(1) CR750 controller .................................................................................................................................................... 6-112
(2) CR751 controller .................................................................................................................................................... 6-117
(3) External emergency stop connection [supplementary explanation] ................................................. 6-122
6.2 Working environment ......................................................................................................................................................... 6-125
6.3 Precautions or handling .................................................................................................................................................. 6-125
7Appendix ........................................................................................................................................................................... Appendix-127
Appendix 1 ： Speci ications discussion material ........................................................................................ Appendix-127

1General configuration
Structural equipment 1-1
1 General configuration
1.1 Structural equipment
Structural equipment consists o the ollowing types.
1.1.1 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, CD-ROM (Instruction manual)
(6) Guarantee card
1.1.2 Special specifications
For the special speci ications, some standard con iguration equipment 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.
1.1. Options
User can install options a ter their delivery.
1.1.4 Maintenance parts
Materials and parts or the maintenance use.

1-2 Model type name of robot
1General configuration
1.2 Model type name of robot
1.2.1 How to identify the robot model
RV - 2F ▲- ●D -Sxx
(a) (b) (c) (d) (e)
(a). RV-2F....................................... Indicates the RV-2F series
(b). ▲ ............................................... Indicates the existence o the brake.
Ex)
Omitted: J2, J3, J5 axis has brake.
B: All axes have the brake.
(c). ● ............................................... Indicates the controller type.
Ex.）
Omitted: CR750 controller
1: CR751 controller
(d). D................................................. Indicates the controller type.
D: Stand alone type
(e). -Sxx.......................................... Indicates a special model. In order, limit special speci ication.
1.2.2 Combination of the robot arm and the controller
Table 1-1 ： Combination o the robot arm and the controller
Protection specification Robot arm Axial constitution Controller
Standard speci ication RV-2F-D/RV-2F -D 6-axis type CR750-02VD-1
RV-2F-1D/RV-2F -1D CR751-02VD-1

Contents of the structural equipment 1-3
1.3 Contents of the structural equipment
1. .1 Robot arm
The list o structural equipment is shown in below.
Fig.1-1 ： Structural equipment (Robot arm)
Machine cable extension
・ For CR750 controller
Fix type: 1S- □□ C L-11
Flex type: 1S- □□ LC L-11
・ For CR751 controller
Fix type: 1F- □□ UC L-11
Flex type:1F- □□ LUC L-11
Note1) □□ refer the length.
Refer to Table 1-2 for details.
Note2) Extend by adding to the arm
side of the standard accessory
cable (for fastening).
Vertical six-axis
multiple-jointed type
RV-2F series
* Refer to Page 8, "2.1 Standard
specifications" for details on
the specifications.
Solenoid valve set (Sink type)
(Hand output cable is attached)
・ 1 set: 1E-VD01/1E-VD01E
・ 2 set: 1E-VD02/1E-VD02E
Hand curl tube
・ 1 set: 1E-ST0402C
・ 2 set: 1E-ST0404C
Machine cable
(Fixed type: 5m)
Stopper or changing the operating
range
・ J1 axis: 1S-DH-11J1
・ J2 axis: 1S-DH-11J2
・ J3 axis: 1S-DH-11J3
*Refer to Table 1-2 for the angle
which can be changed
*Installed by customer.
Against wall speci ication
Limit the operation range of the J1 axis.
Hand output cable
・ 1E-GR35S
Hand input cable
・ 1S-HC30C-11
Pneumatic hand customer-manufactured
parts
Solenoid valve
Customer preparation
［Caution］ Standard con iguration
Special speci ications
Option
equipment
Prepared by customer
・ For CR751 controller
・ For CR750 controller

1-4
1 General configuration
1. .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. (Re er to Page 2, "1.2
Model type name o robot".)
Fig.1-2 ： Structural equipment
*)Refer to Table
1-4 for US
cable
Personal computer
Prepared by customer
CC-Link
inter ace
2D-TZ576
Parallel I/O unit
2A-RZ361(Sink)/
2A-RZ371(Source)
External I/O cable
・ 2D-C L05 (5m)
・ 2D-C L15 (15m)
PLC(Programmable Logic
Controller) External device
Prepared by customer
Teaching pendant （T/ ）
Simple T/B
・ R32T :
For CR750 controller
・ R33T :
For CR751 controller
Highly e icient T/B
・ R56T :
For CR750 controller
・ R57T :
For CR751 controller
Parallel I/O interface
2D-TZ368(Sink)/
2D-TZ378(Source)
External I/O cable
・ 2A-C L05 (5m)
・ 2A-C L15 (15m)
RT Tool Box2
・ 3D-11C-WINJ(CD-ROM)
(MS-Windows2000/XP/Vista/7)
RT Tool Box2 mini
・ 3D-12C-WINJ(CD-ROM)
(MS-Windows2000/XP/Vista/7)
Controller
・ CR750-02VD-1
or
・ CR751-02VD-1
Standard con iguration
Special speci ications
Options
Prepared by
［Caution］
equipment
customer
Instruction Manual(bookbinding)
・ 5F-FE01-PE01

1 General configuration
Contents of the Option equipment and special specification 1-5
1. Contents of the Option equipment and special specification
A list o all Optional equipment and special speci ications are shown below.
Table 1-2 ： The list o robot option equipment and special
Item Type Specifications
C assification
Note1)
Note1) Distinction o ○ (is option) and □ (is special speci ication at shipping) is shown or each pair with the
controller.
Description
CR750 CR751
Stopper for changing the
operating range
1S-DH-11J1 J1 axis
+ side: +210、 +150、 +90 deg
- side: -210、 -150、 -90 deg
One place selection is possible each for
+ side / - side
Standard specification is +/-240 deg
○○
This must be installed by the customer
1S-DH-11J2 J2 axis
+ side: +30 deg
- side: -30 deg
One place selection is possible each for
+ side / - side
Standard specification is +/-120 deg
○○
1S-DH-11J3 J3 axis
+ side: +70 deg
- side: Nothing
Standard specification is 0 to +160 deg
○○
Extended machine cable 1S- □□ CBL-11 For fixing
(Set of power and signal) ○ - 10, 15ｍ
1S- □□ LCBL-11 For flexing
(Set of power and signal) ○ - 5, 10, 15ｍ
1F- □□ UCBL-11 For fixing
(Set of power and signal) - ○ 10, 15ｍ
1F- □□ LUCBL-11 For flexing
(Set of power and signal) - ○ 5, 10, 15ｍ
Solenoid valve set 1E-VD01/1E-VD01E 1 set (Sink type)/(Source type) ○ ○ A solenoid valve set for the pneumatic
hand
1E-VD02/1E-VD01E 2 set (Sink type)/(Source type) ○ ○
Hand input cable 1S-HC30C-11 Robot side: connector
Hand side: wire ○○
The cable is connected to the sensor by
the customer
Hand output cable 1E-GR35S Robot side: connector
Hand side: wire
○○
The cable is connected to the hand out-
put connector by the customer
Attaches the cable clamp (drip proof
type)
Straight cable 600mm (total length)
Hand curl tube 1E-ST0402C For solenoid valve 1set: φ4x2 ○ ○ Curl type air tube
1E-ST0404C For solenoid valve 2set: φ4x4 ○ ○

1-6 Contents of the Option equipment and special specification
1 General configuration
Table 1-3 ： The list o controller option equipment and special speci ication
Item Type Specifications
C assification
Note1)
Note1) Distinction o ○ (is option) and □ (is special speci ication at shipping) is shown or each pair with the
controller.
Description
CR750 CR751
Simple teaching pendant R32TB Cable length 7m ○ - With 3-position enable switch IP65
R32TB-15 Cable length 15m ○ -
R33TB Cable length 7m - ○
R33TB-15 Cable length 15m - ○
Highly efficient teaching
pendant
R56TB Cable length 7m ○ -
R56TB-15 Cable length 15m ○ -
R57TB Cable length 7m - ○
R57TB-15 Cable length 15m - ○
Parallel I/O Interface 2D-TZ368
(Sink type)
DO: 32 point
DI: 32 point
Insulated type output signal
(0.1A/2 V /point) ○○
The card type external input-and-output.
Interface. Install to the slot of controller.
2D-TZ378
(Source type)
DO: 32 point/
DI: 32 point
Insulated type output signal
(9mA/ 2 V /point)
External I/O cable
(For Parallel I/O Interface)
2D-CBL05 5m ○○ Use to connect the external peripheral
device to the parallel input/output inter-
face
2D-CBL15 15m ○○
Parallel I/O Unit 2A-RZ361
(Sink type) DO: 32 point/ DI: 32 point
Insulated type output signal
(0.1A/2 V /point) ○○
The unit for expansion the external
input/output
Electrical isolated Type
(100mA/Point)
2A-RZ371
(Source type) DO: 32 point/ DI: 32 point
Insulated type output signal
(7mA/ 2 V /point)
External I/O cable
(For Parallel I/O Unit) 2A-CBL05 5m ○ ○ Use to connect the external peripheral device to the parallel input/output unit
2A-CBL15 15m ○ ○
CC-Link interface 2D-TZ576 Only Intelligent device station,
Local station ○○
For MELSEC PLC with CC-Link con-
nection
RT ToolBox2
(Personal computer Sup-
port software)
3D-11C-WINE CD-ROM ○○ MS-Windows2000/XP/Vista/7
(With the simulation function)
RT ToolBox2 mini
(Personal computer Sup-
port software mini)
3D-12C-WINE CD-ROM ○○
MS-Windows2000/XP/Vista/7
Instruction Manual 5F-FE01-PE01 RV-2F-D series ○○

1 General configuration
Contents of the Option equipment and special specification 1-7
[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. 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.
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
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2-8 Standard specifications
2Robot arm
2 Robot arm
2.1 Standard specifications
2.1.1 Basic specifications
Table 2-1 ： Standard speci ications o robot
Item Unit Specifications
Type RV-2F/2FB Note1)
Note1) RV-2F is with the brake to all the axes.
Degree of freedom 6
Installation posture On floor, hanging
(against wall Note2) )
Note2) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor
(RV-2F: J2, J3, J5 axes have the brake)
(RV-2FB: All axes have the brake)
Position detection method Absolute encoder
Arm length Upper arm ｍｍ 230
Fore arm 270
Operating
range
Waist (J1) Degree 480 (-240 to +240)
Shoulder (J2) 240 (-120 to +120)
Elbow (J3) 160 (0 to +160)
Wrist twist (J4) 400 (-200 to +200)
Wrist pitch (J5) 240 (-120 to +120)
Wrist roll (J6) 720 (-360 to +360)
Speed of
motion
Waist (J1) Degree/s 300
Shoulder (J2) 150
Elbow (J3) 300
Wrist twist (J4) 450
Wrist pitch (J5) 450
Wrist roll (J6) 720
Maximum resultant velocityNote3)
Note3) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 4,950
Load MaximumNote4)
Note4) The maximum load capacity is the mass with the mechanical interface posture facing down word at the ±10°limit.
kg 3 0
Rating 2 0
Pose repeatabilityNote5)
Note5) The pose repeatability details are given in Page 9, "2.2.1 Pose repeatability"
ｍｍ ±0 02
Ambient temperature ℃0 to 40
Mass kg 19
Allowable
moment
load
Wrist twist (J4)
N･m
4 17
Wrist pitch (J5) 4 17
Wrist roll (J6) 2 45
Allowable
inertia
Wrist twist (J4)
kg ･ ｍ
20 18 (0 27)
Wrist pitch (J5) 0 18 (0 27)
Wrist roll (J6) 0 04 (0 1)
Arm reachable radius front p-
axis center point
mm 504
Tool wiring Hand input 4 point / hand output 4 point
Tool pneumatic pipes Primary side: φ4 x 4 (Base to fore arm section)
Supply pressure MPa 0 5±10%
Protection specification Note6)
Note6) The protection specification details are given in Page 11, "2.2.5 Protection specifications".
IP30 （All axis）
Degree of cleanliness －
Painting color Light gray （Equivalent to Munsell: 0 08GY7 64/0 81)

2 Robot arm
Definition of specifications 2-9
2.2 Definition of specifications
The accuracy o pose repeatability mentioned in catalogs and in the speci ication manual is de ined as ollows.
2.2.1 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 and a position
within the actual space

2-10
Robot arm
2.2.2 Rated load (mass capacity)
The robot's mass capacity is expressed solely in terms o mass, but even or tools and works o similar mass,
eccentric loads will have some restrictions When designing the tooling or when selecting a robot, consider the ol-
lowing issues.
(1) The tooling should have the value less or equal than the smaller o the tolerable inertia and the tolerable
moment ound in Page 8, "2.1.1 Basic speci ications".
(2) Fig. 2-1 shows the distribution dimensions or the center o gravity in the case where the volume o the
load is relatively small. Use this igure as a re erence when designing the tooling.
(3) Even i the load is orce, not the mass, design the tooling so that moment does not exceed the allowable
moment. Re er to Page 8, "Table 2-1 ： Standard speci ications o robot" or details o allowable moment
value.
[Caution] The mass capacity is greatly in luenced by the operating speed o the robot and the motion posture.
Even i you are within the allowable range mentioned previously, an overload or generate an overcurrnt
alarm could occur. In such cases, it will be necessary to change the time setting or acceleration/deceler-
ation, the operating speed, and the motion posture.
[Caution] The overhang amount o the load, such as the mass capacity and the allowable moment o inertia
de ined in this section, are dynamic limit values determined by the capacity o the motor that drives axes
or the capacity o the speed reducer. There ore, it does not guarantee the accuracy on all areas o tooling.
Guaranteed accuracy is measured rom the center point o the mechanical inter ace sur ace. Please note
that i the point o operation is kept away rom the mechanical inter ace sur ace by long and low-rigid
tooling, the positioning accuracy may deteriorate or may cause vibration.
[Caution] Even within the allowable range previously mentioned, an overload alarm may be generated i an ascend-
ing operation continues at a micro-low speed. In such a case, it is necessary to increase the ascending
speed.
Fig.2-1 ： Position o center o gravity or loads ( or loads with comparatively small volume)
200
200
0
単位 : mm
J6軸回転中心
J5軸回転中心
100
2.0kg
100
100
400
170350 70
1.0kg
200
300
Unit: mm
J5 axis rotation center
J6 axis rotation center