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